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DeformableObjectGrasping Extension for Omniverse Isaac Sim

Overview

The goal of this project is to create a highly customizable simulation environment for a robotic arm to grasp soft objects. For example, let the robotic arm grasp a flexible cup filled with water like a human. By the way, you can also view the deformable Franka example Isaac Sim provided and the source code.

Installation

Follow these steps to install the DeformableObjectGrasping extension:

  1. Navigate to the Isaac Sim extensions directory:

    cd ~/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.examples/omni/isaac/examples/user_examples

  2. Clone the repository:

    git clone https://github.com/islexu/DeformableObjectGrasping ./

    Please ensure the target directory is empty to avoid conflicts or confusion. You can do this by clearing the current directory.

    Backup any files: If there are files in the current directory you need to keep, back them up.

    Clear the directory: Delete all files and folders in the current directory.

  3. Modify the "Table.usd" path in deformableObjectGrasping.py.

  4. Relaunch Isaac Sim.

Repository Structure

The repository includes the following components:

  • __pycache__: Python cache files (not essential for functionality).
  • deformableObjectGrasping: Folder for storing USD files for simulations.
  • __init__.py: Initializes the extension and imports necessary modules.
  • deformableObjectGrasping.py: Core logic for setting up the simulation environment.
  • deformableObjectGrasping_extension.py: Initializes and registers the extension within Isaac Sim.

Key Files Explained

__init__.py

Initializes the extension, ensuring the main simulation script and extension script are correctly integrated with the Isaac Sim environment.

deformableObjectGrasping.py

Defines the deformableObjectGrasping class, extending BaseSample from Isaac Sim's API. This class includes methods to:

  • Set up the simulation scene with a table, robot (Franka), and a graspable cube.
  • Configure physical properties and appearances using USD and PhysX APIs.
  • Enable deformable object simulation for realistic interactions.

deformableObjectGrasping_extension.py

Inherits from BaseSampleExtension, managing the extension lifecycle:

  • Starts the extension and integrates it into the Isaac Sim menu.
  • Links functionality from deformableObjectGrasping.py to the UI for user access.

Getting Started

After installation, access the DeformableObjectGrasping extension from the Isaac Sim menu under user examples. Customize the environment and parameters based on your needs to start simulating and interacting with the scene. image

Conclusion

DeformableObjectGrasping offers a robust platform for developing and studying robotic grasping technologies in a simulated environment, leveraging the advanced graphics and physics of Omniverse Isaac Sim for realistic and versatile robotic manipulation studies.