How does Frank's robotic arm grasp deformable body? It seems that it can never grasp deformable body types

I made a deformable body (I can even use deformable bodies to simulate fabrics), and I want to use a robotic arm to grab it, but I found that the robotic arm can never grab the object of the deformable body.
Later, in the Physics Demo Scenes, I opened Franka Defoable and used it to grab the Defoable. However, I found that no matter how I adjusted its friction (even if I adjusted it very much), it seemed to never be able to grab this cube
I want to know how I can adjust my ability to use a robotic arm to grab ‘Defomable’
He is very important to my simulation and I hope to receive some help to solve this problem.


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I would be interested in how you get on with this. I’m looking at a different issue but I’d like to see if you resolved this.

I know that this is a tough problem. Please keep on touch about this. It’s not a simple problem.

I wonder if you need to make the fabric have depth even if it’s 1mm then use sdf…

@Sirens_uk
It cannot be solved, even if it is fabric or other objects with thickness, it cannot solve this problem. To my knowledge, it does not increase SDF collisions because it is a deformable body.

This feature is not supported. Please refer to this doc for more details.

@phennings Thank you for your reply. I have reviewed the document and it does not support static friction. I would like to know if there are any plans to improve it to support static friction. Also, what is the approximate time?

There will be improvements on friction for deformable surfaces later this year.

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