Abstract:We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation. For tactile sensing, we introduce the geometric mortar contact potential (GMCP), which defines a barrier potential over contact samples on tactile surfaces to better resolve contact-pressure distributions. We evaluate GMCP on contact benchmarks and demonstrate IsaacIPC on rigid-deformable robotic simulations including a quadruped robot, a dexterous hand, and a universal manipulation interface (UMI) gripper.
| Comments: | This is a tech report |
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2605.24339 [cs.RO] |
| (or arXiv:2605.24339v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2605.24339 arXiv-issued DOI via DataCite (pending registration) |
From: Qixin Liang [view email]
[v1]
Sat, 23 May 2026 01:51:03 UTC (15,731 KB)
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