  Evaluation of grasps on deformable 3D objects is a little-studied problem,
even if the applicability of rigid object grasp quality measures for deformable
ones is an open question. A central issue with most quality measures is their
dependence on contact points which for deformable objects depend on the
deformations. This paper proposes a grasp quality measure for deformable
objects that uses information about object deformation to calculate the grasp
quality. Grasps are evaluated by simulating the deformations during grasping
and predicting the contacts between the gripper and the grasped object. The
contact information is then used as input for a new grasp quality metric to
quantify the grasp quality. The approach is benchmarked against two classical
rigid-body quality metrics on over 600 grasps in the Isaac gym simulation and
over 50 real-world grasps. Experimental results show an average improvement of
18\% in the grasp success rate for deformable objects compared to the classical
rigid-body quality metrics.
