Grasping cloth object using Franka gripper

[sachinkundu]

Hello,

I have flex object with a definition like

Details

```xml ```

I am using robosuite which has a model for Franka Gripper with the definition like

Details

```xml ```

I have tried loads of contact parameters but I cannot get the cloth to stick to the gripper when grasping. You can see the failed video here

Does anyone know what parameters could work? These fingers can reliably grasp a cube whose solimp=[0.99, 0.99, 0.01], and solref=[0.01, 1]. I am using a very simple cloth object with only 25 bodies(it was automatically generated by flexcomp macro) because my laptop is too slow to simulate more detailed cloth.

[dblanm]

I have experienced the same when trying to grasp cloth-like objects with a robotic gripper. Rather than this being related to the cloth parameters I wonder if it has something to do with the model itself.

I guess @quagla can point to what can this issue relate to and whether this is something the team is working on addressing.

[quagla]

Hi, I cannot tell from the video what exactly the issue is. Do you still have the same problem if you make the cloth thicker by increasing radius in the flex parameters?

[dblanm]

I tried by increasing the radius + different contact parameters and the issue remains:

• The franka applies a constant force trying to close the grippers for grasping the object, and when moving the franka to a new position with the cloth "grasped" the cloth slips from the fingers of the robot. In the same environment grasping works well with a rigid object (box).