Gripper's pickers are passing through the target cube

Omniverse Isaac Sim
1

Operating System
Ubuntu 22.04

GPU
NVIDIA GeForce RTX 5070

IsaacSim
5.0.0

Hello, I have problem that gripper picker 1 and 2 (you could said it as gripper finger) cannot grip the target cube as they are passing through. From my experiment, the root cause is both pickers passing through to any object, not only targeted cube. The robot model is imported from URDF file.

What I have done to solve this problem are:

  1. set rigid body enabled for both pickers and targeted cube.
  2. adding a new cube in the picker as its new body and set rigid body enabled

however, all of these solution are still not working as expected. I want both pickers can grip the targeted cube very well.

I have put the usd file in here. The usd file is isaac_manipulator/simulation.usd

isaac_manipulator.zip (5.6 MB)

Thank you

2

The pickers name are World/movensys_manipulator/picker_1 and World/movensys_manipulator/picker_2

4

Hi @salazar88, can you share a video of how these interpenetrations happen? I tried it myself and did not see interpenetrations, but I only moved the target boxes to collide with the picker. I also removed the background as it seemed like a heavy mesh that was slowing my simulation. You might want to look into simplifying the background or removing its collider.

5

Hello!

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