Hi NVIDIA and fellow robotics friends,
I’m a PhD student currently working on deformable object grasping. I am trying to enable my surgical robot to grasp soft objects in Issac Gym. However, my objects keep slipping away from my robot’s gripper when the robot attempts to grasp them, as shown in the videos below.
da Vinci slips in Issac Gym 2 (1.5 MB) da Vinci slips in Issac Gym 1 (2.0 MB) da Vinci slips in Issac Gym (1.9 MB)
Over the past 3 days, I have tried tuning many parameters such as friction, thickness, Young, Poisson, etc., but unfortunately, none of those works. I already set both
static_friction to 100 but nothing improved.
Please give me some advice on how to eliminate slippage in Issac Gym
Flex. What parameters of the environment, the robot, and the soft object should I change to enable a robust grasp of the soft bodies?
You can reproduce my situation by running the
test_move_joints_independently_and_soft.py file in the Github repo I attach below.
For your convenience, here are the parameters I’m using:
Thanks a lot for your help,