Soft Body and gripper (MuJoCo)

[AlvaryBjz]

Hello!

I am doing my final degree project, it consists of manipulating deformable objects with robots and I am having a lot of problems because the robot's gripper passes through the object, can someone help me?

URGENT

[coppelia]

Hello,

can you post a minimalistic version of your scene that displays the problem? What happens if you simply place one the gripper's finger onto the soft body? Does it fall through?

Cheers

[AlvaryBjz]

Attached is the link to my drive so you can see detailed photos and video.

https://drive.google.com/drive/folders/ ... drive_link

[coppelia]

You haven't given access to that file...

Cheers

[AlvaryBjz]

Sorry...

Now you can enter

Thanks

[coppelia]

Try to modify the soft body by using more spherical nodes and/or modifying the radius of those nodes.

Another more complex approach would be to attach a soft body to a rigid body object and try to grasp that one. Have a look at how to attach a soft body to a shape in the demo scene scenes/mujoco/compositeAndOtherCallbacks.ttt

Cheers

[AlvaryBjz]

I have modified the parameters spherical nodes and radius nodes with no results. With more spherical nodes the simulation is impossible.

I have modified the parameters friction, margin, solimp, solref, solreffix1, solreffix2, solimpfix1, solimpfix2, solimpfix3...
No results...

I have modified all the parameters that I know of both the gripper and the deformable object and it always passes through the gripper to the object.

Do you have any ideas? Could you try it on my scene?

Cheers

[AlvaryBjz]

Hello...

I continue with the same problem, someone can help me?

Best regards