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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question]Simulating Grading of Granular Terrain with Grader Vehicle #1365

Open sinaqahremani opened 3 weeks ago

sinaqahremani commented 3 weeks ago

I am interested in simulating interactions with granular materials, specifically rocks and stones of various sizes, to replicate scenarios where a grader vehicle levels a terrain filled with granular material.

I would like to know:

  1. Feasibility: Is it possible to simulate granular materials, such as rocks and stones, in the environment? If so, what are the limitations or considerations to keep in mind?

  2. Grader Interaction with Granular Terrain: Can the grader vehicle effectively interact with and manipulate this granular material within the simulation, accurately reflecting real-world grading tasks?

  3. Steps and Tools: What would be the recommended tools, plugins, or specific settings to achieve realistic interactions between the grader and granular terrain?

Thank you for any guidance on setting up this type of simulation!

StrainFlow commented 3 weeks ago

Something like this could be modeled using WARP: https://github.com/NVIDIA/warp

sinaqahremani commented 3 weeks ago

@StrainFlow You think it is not possible to do that using IsaacLab?

StrainFlow commented 1 week ago

I think it should be possible, I haven't done any warp integration myself yet.