
Deformable can
Gripping without crushing
Most simulations treat a can or a bottle as a rigid cylinder. A real one is a thin wall that dents when a gripper closes too hard, and a bottle squeezes and springs back. When grip force matters, the container has to deform.
We model the wall as a thin shell with the stiffness of aluminum or PET, and the contents as their own mass inside. A crushed can stays crushed; a squeezed bottle recovers.

Gripping without crushing

Picking bottles

Fridge stocking
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Physics model