STANDALONE GRASPING EXPERIMENTS
Two fingers.
One closing command.
Compare two-finger rigid and deformable grippers driven by one symmetric opening/closing command. The gripper moves directly—there is no robot arm in the simulation.
DESIGN & SIMULATE
Your one-DOF gripper
Connecting to GPU…
Drag to orbit, scroll to zoom. Real IPC simulations; geometry and materials are uncalibrated. Runs use a fixed 40 mm box and seed 0. Results are exploratory, not optimized designs. The shared demo processes one job at a time.
MECHANICS EXPERIMENT
Measure before optimizing
One 3D lattice finger, a fixed root, and a measured tip load. These tests separate finger bending from mount motion. The loading rig also tests a one-axis actuator capped at 0.05 N.
The interactive grasp above still uses position-controlled closure. The force cap applies only to this isolated loading rig. Materials are uncalibrated; these are numerical checks, not physical validation.
Perception: not applicable. Seeds: deterministic, no random reset. Statistical confidence interval: not applicable; mesh differences are numerical sensitivity.
WATCH THE SIMULATIONS
The grasp gallery
1.3 s simulated · slowed playback
Loading simulations…
THE SHARED PROTOCOL
Close. Lift. Hold.
Each design starts around the same 4 cm box, with the pose noted for each clip. The 3D lattice example uses a 25° object yaw and 5 mm sideways offset to expose spatial bending. Success means every object vertex stays at least 4 cm above the floor throughout the hold.
- 01 / Settle0.1 s · fingers open
- 02 / Close0.4 s · radial motion
- 03 / Lift0.5 s · move up 8 cm
- 04 / Hold0.3 s · test retention