Simulator behave weird when my robot touch the rigid cube

Omniverse Isaac Sim
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1

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 4060 Laptop
  • Driver Version: 535.183.01

Topic Description

Detailed Description

I try to use Franka robot arm to flip a soft object (yellow) and then grasp the rigid cube (red) underneath. It works fine except when the gripper touches the cube and things explode. I have no idea why this happens and wonder how to solve it.

Steps to Reproduce

  1. I’ve attached code to reproduce this situation.
    files.zip (21.9 KB)

Screenshots or Videos

2

Please port this application to Isaac Sim 4.5.0 (the latest version) and test it there.

3

I updated to Isaac Sim 4.5.0, it looks better than 4.2.0, where it seems like no huge crash.
But I still don’t know how to interpret this behavior. What caused this to happen?
Is there a way to better fix/avoid this happening?