README

IPC examples

This repo shows how to use IPC coupler. (Incremental Potential Contact) algorithm provides a unified framework for robust contact handling across different material types including cloth, deformable FEM objects, and rigid bodies.

Prerequisites:

1. Install LibUIPC optional dependency: pip install pyuipc
2. Ensure Genesis is in development mode: pip install -e .

Beware only Linux/Windows x86 CPU & Nvidia GPU is supported for now.

Test Cases:

1. Basic cloth simulation:
   bashCopy

   python examples/IPC_Solver/ipc_objects_falling.py -v
   

Expected: A cloth falls under gravity and collides with the ground plane clustered with objects

1. Robotic grasping of deformables:
   bashCopy

   python examples/IPC_Solver/ipc_robot_grasp_cube.py -v
   

Expected: Franka Panda robot grasps and manipulates a deformable cube with IPC contact resolution

1. Interactive cloth manipulation:
   bashCopy

   python examples/IPC_Solver/ipc_robot_cloth_teleop.py
   

   Expected: Interactive Franka Panda robot manipulation and manipulates two pieces of cloths

Verification:

• No interpenetration between objects during contact
• Cloth renders correctly (visible mesh with proper shading)
• Two-way coupling: Genesis rigid body motion affects IPC objects and vice versa