Physics Demo Franka Deformable

Overview

Experience the simulation of complex robotic interactions involving deformable, soft-body objects.

This demo showcases Franka Emika robotic arms that pick up jelly cubes.

Demo animation of robotic arms picking up jelly cubes

The simulation in this demo uses the PhysX finite-element-method (FEM), which evolves robotic research and development from rigid-body objects to soft-body ones. This helps simulate the many items that robots encounter in everyday tasks.

Parameters

Parameter

Description

Number of robots (parameter on startup)

Defines the number of robots to simulate in the demo

Controls

Numbered controls for interacting with the demo

Reference #

Control

Shortcut

Description

1

Physics Interaction Mode

I, then click and drag a robotic arm

Moves the arm

2

Home

H

Returns the Viewport camera to the scene’s point of origin

3

Orbit

Alt + Left Mouse Button

Rotates the Viewport camera around a given point

4

Play

Space (while paused)

Plays the animation

5

Pause

Space (while playing)

Pauses the animation

6

Restart

N/A

Restarts the animation