Issues with Collision Using the Franka Model (franka_alt_fingers.usd) in Isaac Sim 4.1

Omniverse Isaac Sim
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1

Hello everyone,
I’ve been working with Isaac Sim 4.1 and specifically using the built-in asset: “franka_alt_fingers.usd”. While attempting to drive the robotic arm to grasp objects, I have encountered a recurring issue where one of the fingers penetrates the object. This issue occurs even though the collision properties of the object are set to either Bound Cube or Trimesh.

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Problem Description:
Software: Isaac Sim 4.1
Model: “franka_alt_fingers.usd”
Issue: One of the fingers of the robotic arm penetrates the object during grasping.
Object Collision Properties: Set to Bound Cube or Trimesh.

Observations:
We conducted some related tests, and it appears that the left finger is capable of colliding correctly with the object, while the right finger experiences the penetration issue.

Questions:

  1. Why is one of the fingers experiencing collision penetration despite setting appropriate collision properties?
  2. What are potential solutions or workarounds to prevent this penetration issue?

Any insights or suggestions to resolve this issue would be greatly appreciated. Thanks in advance!

Best regards.

1 Like
4

Thank you for bringing this issue to our attention. To better understand and reproduce the penetration issue you are experiencing with the Franka model (franka_alt_fingers.usd) in Isaac Sim 4.1, we need some additional details.

Could you please provide the following information?

  • Steps to Reproduce: A detailed, step-by-step description of the actions you took leading up to the issue. This will help us replicate the exact scenario in our environment.
  • Logs and Error Messages: Any relevant logs or error messages that appear when the issue occurs. This can provide insights into what might be going wrong.
5

Hey, I meet the same problem with “franka_alt_fingers.usd”。Did you solve it？
I look forward to your reply, thank you！

6

Could you please provide the information requested in my previous post?