Feature: ID:005 - Simulate Grasp Physics - Base#
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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.
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.
Dependency Graph#
This feature has no dependencies and no other features depend on it directly.
Use Cases#
Products that consume this feature:
IsaacSim
MEGA
Lightwheel SOW1
Neutral Format#
Version 0.1.0#
Details
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:
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GSP.001 | Version 0.1.0
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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