Feature: ID:005 - Simulate Grasp Physics - Base

Description

Support for grasping feature. This feature enables a prop to be considered “graspable”. Conditions to pass are related to colliders, physics materials, and rigid bodies.

Description

The graspable feature comprises a list of requirements that enable whether or not a particular prop is graspable via robotic grippers. It is worth noting that graspable feature requires a runtime test component to identify if the grasp vectors are indeed correct.

Neutral Format

Version 0.1.0

Details

Property	Value
Internal ID	FET005_BASE_NEUTRAL

Used in Profiles

This version is used in the following profiles:

• Prop Robotics Neutral Profile (v0.1.0) - Used for graspable vector support and robotic gripper compatibility

• Prop Robotics Physx Profile (v0.1.0) - Used for PhysX-optimized grasping simulation and advanced gripper physics

Requirements

• Capability: Physics_Bodies/Physics_Graspable

  • Requirements:

    • Graspable-Vector-Line

      • GSP.001 | Version 0.1.0

Comments

• Need Physx CCD on smaller meshes potentially, would need new Physx capability for this

• Working out how to specify rubber physics material (friction is being worked out by Isaacsim and Physx folks)

• Collider Convex Hull will not work properly, need to be Convex Decomp + Shrink wrap (or custom collider)

• More discussions will follow