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[Proposal] Checklist of environments to add to the framework #748
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Thanks you for the great work - Wanted to ask about the cloth/tshirt prims in IsaacLab. What is the hold up/why is it listed as standby? Separately, If I just want to spawn a tshirt, what is the best way to do this currently in Isaac Lab? Novice question. Thanks for this! |
Hi @hanschanhs We initially experimented with particle-based cloth simulation. However, we had difficulty tuning these cloth properties for smooth gripper and cloth interactions. On further discussions with the PhysX team, we have been informed that an FEM implementation for cloths is under works. Thus, the environments for cloths are in standby as we wait for the nicer solver implementation to be available. If you wish to spawn a shirt, the easiest is make a USD file with the right properties and then spawn it into the scene through |
Good morning, and thank you for the update! If I may ask, I would like to know something more about the issues with the particle based liquid tasks. |
Hi @Mayankm96, do you think then it is possible to simulate manipulating a cloth with a Franka arm right now? or the gripper and cloth interaction issue is not possible to solve with the current solver? Thanks! I am happy to spend time setting this up and tuning the parameters, but not sure if cloth manipulation is fundamentally possible right now. |
I have the same question. In addition, I'd like to know what would be the recommended way to spawn a rope prim. Thank you! |
Proposal
This issue is a tracking page for our current plan to add environments to the Isaac Lab framework.
Motivation
The initial Orbit work mentioned a suite of rigid and deformable body simulation environments. However, many of these environments have been held back due to breaking changes in the framework APIs, poor simulation stability and scaling (particularly for deformable bodies and particle-based cloths), and a lack of resources to transfer all the implementations. Since this is a repeated topic of discussion on GitHub, I am creating this issue to keep track of the environments and provide a (very rough) outline/roadmap.
We are actively working on adding new features and improvements. It is hard to dedicate time to everything at once, but slowly, we are adding new environments as well. If you're interested in contributing, feel free to contact us!
Checklist
Completed ✅
For a complete list, please check here: https://isaac-sim.github.io/IsaacLab/source/features/environments.html
In Progress 🏗️
Help Needed 🆘
Stand-by 🛑
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