Grasping scene with rigid gripper and deformable objects

[trannguyenle]

Hello, everyone

I am trying to build an experiment for my grasping case study. Thus, a scene with a rigid gripper and a deformable target object is a must. I don’t have much background in deformation and collision modeling. Do you guys have any ready-made scenes like that? If so, can someone point me to such a scene? Thank you very much!

[Scheikl]

Hi @trannguyenle,
I think you might be interested in this one: https://github.com/sofa-framework/sofa/blob/4a493466d6be376d325a19bff97b5e4abf571370/applications/plugins/Xitact/examples/XitactGrasping.scn

The Xitact part might not be working right now, but the general composition of the scene should be exactly what you are looking for.

Cheers,
Paul

[trannguyenle]

Hi @scheikl,

Thanks for your suggestion. I tried to run the scene you mentioned but it gives me a bunch of errors regarding mesh missing. Thus, I can’t imagine how the scene looks like? Is there any way to fix this?

[Scheikl]

Hi @trannguyenle,
I would replace anything Plugin-specific with “dummy code”.

<MeshObjLoader name="meshLoader_2" filename="dt/cube_low_res.obj" scale="3" handleSeams="1" /> for example could be replaced by <MeshObjLoader name="meshLoader_2" filename="mesh/cube.obj" scale="3" handleSeams="1" />

And you could delete things like <IHPDriver Scale="1000" listening="1" permanent="1"/> which is likely part of the plugin, but not necessarily something you need to get a simple scene up and running.

Cheers,
Paul

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