The Franka gripper failed to grasp a deformable object

[yang_si_hang]

I want to simulate a gripper grasping a deformable object. But the deformable object slipped from the gripper.

The Franka robot model is from the <Follow Target> in <Isaac Examples>. The deformable object is a cube created by Isaac. I tried to set a large “Dynamic Friction” value in “Deformable Body Material” which the deformable object used. Meanwhile, “Static Friction” and “Dynamic Friction” in “Rigid Body Material” which the “panda_leftfinger” and “panda_rightfinger” used also have large values. The gripper in Franka still failed to grasp the deformable object. The deformable object was still on the ground plane.

How can I simulate the gripper grasping the deformable object successfully?

Any help will be appreciated.

The video shows the grasping:

The value of the friction:

[toni.sm]

Hi @yang_si_hang

I encourage you to take a look at the Franka Deformable physics demo and inspect the physicsScene properties, deformable materials, and other elements that may help you to adjust your simulation setup better.

[yang_si_hang]

Thanks for your reply!

I tried to open the <Franka Deformable> in <Complex Showcases> from <Demo Scenes> but failed. Any Demos in <Complex Showcases> not able to be opened. The Demos in other directories can run successfully, such as <Deformables> and <Rigid Bodies>.

The Isaac Sim terminal reported some warnings:

2022-12-30 14:37:22 [51,723ms] [Warning] [omni.client.plugin]  HTTP Client: provider_http: CC-493: Request through cache failed. Retrying without cache for https://omniverse-content-staging.s3.us-west-2.amazonaws.com/.cloudfront.toml
2022-12-30 14:37:22 [51,723ms] [Warning] [omni.client.plugin]  HTTP Client: omniclient: CC-873: Bypassing cache until the application is restarted
2022-12-30 14:37:25 [55,444ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./df.mdl
2022-12-30 14:37:25 [55,444ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::df  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::df  (NULL)
2022-12-30 14:37:25 [55,444ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./base.mdl
2022-12-30 14:37:25 [55,444ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::base  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::base  (NULL)
2022-12-30 14:37:25 [55,445ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./math.mdl
2022-12-30 14:37:25 [55,445ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::math  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::math  (NULL)
2022-12-30 14:37:25 [55,446ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./state.mdl
2022-12-30 14:37:25 [55,446ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::state  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::state  (NULL)
2022-12-30 14:37:25 [55,446ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./anno.mdl
2022-12-30 14:37:25 [55,447ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::anno  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::anno  (NULL)
2022-12-30 14:37:25 [55,447ms] [Warning] [rtx.neuraylib.plugin] EntityResolver: Unable to resolve ./tex.mdl
2022-12-30 14:37:25 [55,447ms] [Warning] [rtx.neuraylib.plugin] Entity Resolver: FAILED  .::tex  <--->  ::ZDDhttps_3A_2F::ZFFomniverse_2Dcontent_2Dstaging_2Es3_2Eus_2Dwest_2D2_2Eamazonaws_2Ecom::DoNotDelete::PhysicsDemoAssets::Z2E_3104_2E1::FrankaDeformable::materials::tex  (NULL)
2022-12-30 14:37:26 [56,332ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /PhysxDeformablesVisualizationMeshes/_World_envs_env_0_extras_extra_0_collision/samplePoints.proto0_prototype_id0 that has not been populated

The Screenshot when the issue occurred is shown below. I couldn’t do any operation in Isaac Sim. Isaac Sim seemed to have no response, So I had to force quit the Isaac Sim.

Any help will be appreciated!

[toni.sm]

Hi @yang_si_hang

I get those warning messages too.
Just ignore them and wait for the scene to load (it can take some time)…

[yang_si_hang]

Thanks for your reply!

I tried your method and waited some minutes. The demos in <Complex Showcases> can work now.

Thank you most sincerely!