Isaac Sim Version
4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Isaac Lab Version (if applicable)
1.2
1.1
1.0
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: NVIDIA GeForce RTX 2070
- Driver Version: 535.183.06
Topic Description
Detailed Description
I’m trying to use dvrk robot to grasp a deformable object.
I followed the style in the Deformable Body Demo to create a cube deformable object and then control my robot to grasp it. I can somehow grasp it but can’t hold it using my gripper.
My guess is to add friction to the gripper or add the force but not sure how to do this.
Screenshots or Videos
Additional Information
What I’ve Tried
Tuned the deformable material parameters (eg. youngs_modulus, dynamic_friction, etc).
Tuned the deformable body parameters (eg. solver_position_iteration_count, simulation_hexahedral_resolution, etc).
Changed the grasping pose and point.
Additional Context
I’ve checked * Franka Deformable Demo* to see how it controls to robot. Seems like it’s using specific controller franka_helpers.configure_franka_drives, assigning friction to finger materials etc. to make things work. But I don’t know how to integrate this into other robots.
It would be really helpful if I could get better documentation on how to use PhysX components.