IsaacIPC couples IPC contact simulation with IsaacSim/Lab for realistic rendering and introduces GMCP for tactile contact pressure modeling, demonstrated on robotic examples.
ACM Transactions on Graphics39, 4, Article 49 (July 2020), 20 pages
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IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
IsaacIPC couples IPC contact simulation with IsaacSim/Lab for realistic rendering and introduces GMCP for tactile contact pressure modeling, demonstrated on robotic examples.