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Improve IPC coupling: use trimesh for rigid bodies and add IPC-only mode #1970

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Improve IPC coupling: use trimesh for rigid bodies and add IPC-only mode #1970

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e9c80c7
Improve IPC coupling: use trimesh for rigid bodies and add IPC-only mode
Roushelfy Nov 11, 2025
f01bb28
Refactor: unify IPC coupling API and update examples
Roushelfy Nov 13, 2025
cc1fd48
Merge branch 'main' into ipc-coupling-squashed
YilingQiao Nov 14, 2025
03d6fbb
black format
YilingQiao Nov 14, 2025
562c3fc
Merge branch 'ipc-coupling-squashed' into Roushelfy/ipc-coupling-squa…
Roushelfy Nov 14, 2025
04f6a3f
Merge branch 'main' of https://github.com/Genesis-Embodied-AI/Genesis…
Roushelfy Nov 14, 2025
239c60a
Merge branch 'ipc-coupling-squashed' of https://github.com/Roushelfy/…
Roushelfy Nov 14, 2025
373bae1
Merge pull request #1 from YilingQiao/Roushelfy/ipc-coupling-squashed
Roushelfy Nov 14, 2025
d617c9b
format
Roushelfy Nov 14, 2025
f95e79f
Merge branch 'main' into ipc-coupling-squashed
YilingQiao Nov 17, 2025
ceab965
contact proxy
Roushelfy Nov 18, 2025
23442d1
Add IPC contact force recording and improve transform synchronization
Roushelfy Nov 18, 2025
5e36037
Merge remote-tracking branch 'origin/main' into ipc-coupling-squashed
Roushelfy Nov 18, 2025
d70d942
Optimize IPCCoupler with Taichi kernels for better performance
Roushelfy Dec 3, 2025
0643af8
Merge origin/main into ipc-coupling-squashed
Roushelfy Dec 3, 2025
f41c0f2
Fix: Handle non-parallelized scenes in _get_genesis_link_transform
Roushelfy Dec 3, 2025
0c386ae
Fix: Divide IPC contact gradients by dt^2 to get actual force
Roushelfy Dec 3, 2025
f3b0e47
Optimize IPCCoupler with Taichi kernels
Roushelfy Dec 5, 2025
9538fae
Merge branch 'ipc-coupling-squashed' of https://github.com/Roushelfy/…
Roushelfy Dec 5, 2025
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@ env.bak/
venv.bak/
.idea/
.vscode/
.claude/

# Spyder project settings
.spyderproject
Expand Down
627 changes: 459 additions & 168 deletions examples/IPC_Solver/genesis_ipc_motion_test.py
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4 changes: 2 additions & 2 deletions examples/IPC_Solver/ipc_arm_cloth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,6 @@ def build_scene(use_ipc=False, show_viewer=False, enable_ipc_gui=False):
ipc_constraint_strength=(1, 1), # (translation, rotation) strength ratios,
contact_friction_mu=0.8,
IPC_self_contact=False, # Disable rigid-rigid contact in IPC
two_way_coupling=True, # Enable two-way coupling (forces from IPC to Genesis rigid bodies)
enable_ipc_gui=enable_ipc_gui,
)
if use_ipc
Expand Down Expand Up @@ -110,8 +109,9 @@ def build_scene(use_ipc=False, show_viewer=False, enable_ipc_gui=False):
euler=(0, 0, 0),
),
)
scene.sim.coupler.set_ipc_link_filter(
scene.sim.coupler.set_link_ipc_coupling_type(
entity=entities["robot"],
coupling_type="both",
link_names=["left_finger", "right_finger"],
)

Expand Down
3 changes: 1 addition & 2 deletions examples/IPC_Solver/ipc_cloth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,7 @@ def main():
contact_d_hat=0.01, # Contact barrier distance (10mm) - must be appropriate for mesh resolution
contact_friction_mu=0.3, # Friction coefficient
IPC_self_contact=False, # Disable rigid self-contact in IPC
two_way_coupling=True, # Enable two-way coupling (forces from IPC to Genesis rigid bodies)
disable_genesis_ground_contact=True, # Disable Genesis ground contact to avoid double contact handling
disable_genesis_contact=True, # Disable Genesis ground contact to avoid double contact handling
enable_ipc_gui=args.vis_ipc,
),
show_viewer=args.vis,
Expand Down
28 changes: 16 additions & 12 deletions examples/IPC_Solver/ipc_grasp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,25 +14,27 @@ def main():
parser.add_argument("-v", "--vis", action="store_true", default=False)
args = parser.parse_args()

dt = 1e-2
dt = 1e-3

coupler_options = (
gs.options.IPCCouplerOptions(
dt=dt,
gravity=(0.0, 0.0, -9.8),
ipc_constraint_strength=(100, 100), # (translation, rotation) strength ratios,
ipc_constraint_strength=(3, 3), # (translation, rotation) strength ratios,
contact_friction_mu=0.8,
IPC_self_contact=False, # Disable rigid-rigid contact in IPC
two_way_coupling=True, # Enable two-way coupling (forces from IPC to Genesis rigid bodies)
use_contact_proxy=True,
enable_ipc_gui=args.vis_ipc,
)
if args.ipc
else None
)
args.vis = args.vis or args.vis_ipc

rigid_options = gs.options.RigidOptions(
enable_collision=False, # Disable rigid collision when using IPC
)
scene = gs.Scene(
sim_options=gs.options.SimOptions(dt=dt, gravity=(0.0, 0.0, -9.8)),
rigid_options=rigid_options,
coupler_options=coupler_options,
show_viewer=args.vis,
)
Expand All @@ -43,20 +45,22 @@ def main():
scene.add_entity(gs.morphs.Plane())

franka = scene.add_entity(
gs.morphs.MJCF(file="xml/franka_emika_panda/panda.xml"),
gs.morphs.MJCF(file="xml/franka_emika_panda/panda_non_overlap.xml"),
)

scene.sim.coupler.set_ipc_link_filter(
entity=franka,
link_names=["left_finger", "right_finger"],
)
if args.ipc:
scene.sim.coupler.set_link_ipc_coupling_type(
entity=franka,
coupling_type="both",
link_names=["left_finger", "right_finger"],
)

material = (
gs.materials.FEM.Elastic(E=5.0e3, nu=0.45, rho=1000.0, model="stable_neohookean")
if args.ipc
else gs.materials.Rigid()
)

# material = gs.materials.Rigid()
cube = scene.add_entity(
morph=gs.morphs.Box(pos=(0.65, 0.0, 0.03), size=(0.05, 0.05, 0.05)),
material=material,
Expand Down Expand Up @@ -88,7 +92,7 @@ def main():
new_kp[fingers_dof] = current_kp[fingers_dof] * 10
franka.set_dofs_kp(new_kp)

print(f"New kp: {franka.get_dofs_kp()}")
# print(f"New kp: {franka.get_dofs_kp()}")
# grasp
finder_pos = 0.0
for i in range(int(0.1 / dt)):
Expand Down
1 change: 0 additions & 1 deletion examples/IPC_Solver/ipc_twist_cloth_band.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@ def main():
ipc_constraint_strength=(1, 1), # (translation, rotation) strength ratios,
contact_friction_mu=0.5, # Higher friction to grip the band
IPC_self_contact=False,
two_way_coupling=True,
enable_ipc_gui=args.vis_ipc,
),
show_viewer=args.vis or args.vis_ipc,
Expand Down
283 changes: 283 additions & 0 deletions genesis/assets/xml/franka_emika_panda/panda_non_overlap.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,283 @@
<mujoco model="panda">
<compiler angle="radian" meshdir="assets" autolimits="true"/>

<option integrator="implicitfast"/>

<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>

<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.0015 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.0015 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.0015 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.0015 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
</default>
</default>

<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<material class="panda" name="green" rgba="0 1 0 1"/>
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>

<!-- Collision meshes -->
<mesh name="link0_c" file="link0.stl"/>
<mesh name="link1_c" file="link1.stl"/>
<mesh name="link2_c" file="link2.stl"/>
<mesh name="link3_c" file="link3.stl"/>
<mesh name="link4_c" file="link4.stl"/>
<mesh name="link5_c0" file="link5_collision_0.obj"/>
<mesh name="link5_c1" file="link5_collision_1.obj"/>
<mesh name="link5_c2" file="link5_collision_2.obj"/>
<mesh name="link6_c" file="link6.stl"/>
<mesh name="link7_c" file="link7.stl"/>
<mesh name="hand_c" file="hand.stl"/>

<!-- Visual meshes -->
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_7.obj"/>
<mesh file="link0_8.obj"/>
<mesh file="link0_9.obj"/>
<mesh file="link0_10.obj"/>
<mesh file="link0_11.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link3_2.obj"/>
<mesh file="link3_3.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link4_2.obj"/>
<mesh file="link4_3.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link6_8.obj"/>
<mesh file="link6_9.obj"/>
<mesh file="link6_10.obj"/>
<mesh file="link6_11.obj"/>
<mesh file="link6_12.obj"/>
<mesh file="link6_13.obj"/>
<mesh file="link6_14.obj"/>
<mesh file="link6_15.obj"/>
<mesh file="link6_16.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh file="link7_4.obj"/>
<mesh file="link7_5.obj"/>
<mesh file="link7_6.obj"/>
<mesh file="link7_7.obj"/>
<mesh file="hand_0.obj"/>
<mesh file="hand_1.obj"/>
<mesh file="hand_2.obj"/>
<mesh file="hand_3.obj"/>
<mesh file="hand_4.obj"/>
<mesh file="finger_0.obj"/>
<mesh file="finger_1.obj"/>
</asset>

<worldbody>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="link0" childclass="panda">
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
<geom mesh="link0_0" material="off_white" class="visual"/>
<geom mesh="link0_1" material="black" class="visual"/>
<geom mesh="link0_2" material="off_white" class="visual"/>
<geom mesh="link0_3" material="black" class="visual"/>
<geom mesh="link0_4" material="off_white" class="visual"/>
<geom mesh="link0_5" material="black" class="visual"/>
<geom mesh="link0_7" material="white" class="visual"/>
<geom mesh="link0_8" material="white" class="visual"/>
<geom mesh="link0_9" material="black" class="visual"/>
<geom mesh="link0_10" material="off_white" class="visual"/>
<geom mesh="link0_11" material="white" class="visual"/>
<geom mesh="link0_c" class="collision"/>
<body name="link1" pos="0 0 0.333">
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
<joint name="joint1"/>
<geom material="white" mesh="link1" class="visual"/>
<geom mesh="link1_c" class="collision"/>
<body name="link2" quat="1 -1 0 0">
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
<joint name="joint2" range="-1.7628 1.7628"/>
<geom material="white" mesh="link2" class="visual"/>
<geom mesh="link2_c" class="collision"/>
<body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
<joint name="joint3"/>
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
<geom mesh="link3_0" material="white" class="visual"/>
<geom mesh="link3_1" material="white" class="visual"/>
<geom mesh="link3_2" material="white" class="visual"/>
<geom mesh="link3_3" material="black" class="visual"/>
<geom mesh="link3_c" class="collision"/>
<body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
<joint name="joint4" range="-3.0718 -0.0698"/>
<geom mesh="link4_0" material="white" class="visual"/>
<geom mesh="link4_1" material="white" class="visual"/>
<geom mesh="link4_2" material="black" class="visual"/>
<geom mesh="link4_3" material="white" class="visual"/>
<geom mesh="link4_c" class="collision"/>
<body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
<joint name="joint5"/>
<geom mesh="link5_0" material="black" class="visual"/>
<geom mesh="link5_1" material="white" class="visual"/>
<geom mesh="link5_2" material="white" class="visual"/>
<geom mesh="link5_c0" class="collision"/>
<geom mesh="link5_c1" class="collision"/>
<geom mesh="link5_c2" class="collision"/>
<body name="link6" quat="1 1 0 0">
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
<joint name="joint6" range="-0.0175 3.7525"/>
<geom mesh="link6_0" material="off_white" class="visual"/>
<geom mesh="link6_1" material="white" class="visual"/>
<geom mesh="link6_2" material="black" class="visual"/>
<geom mesh="link6_3" material="white" class="visual"/>
<geom mesh="link6_4" material="white" class="visual"/>
<geom mesh="link6_5" material="white" class="visual"/>
<geom mesh="link6_6" material="white" class="visual"/>
<geom mesh="link6_7" material="light_blue" class="visual"/>
<geom mesh="link6_8" material="light_blue" class="visual"/>
<geom mesh="link6_9" material="black" class="visual"/>
<geom mesh="link6_10" material="black" class="visual"/>
<geom mesh="link6_11" material="white" class="visual"/>
<geom mesh="link6_12" material="green" class="visual"/>
<geom mesh="link6_13" material="white" class="visual"/>
<geom mesh="link6_14" material="black" class="visual"/>
<geom mesh="link6_15" material="black" class="visual"/>
<geom mesh="link6_16" material="white" class="visual"/>
<geom mesh="link6_c" class="collision"/>
<body name="link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
<joint name="joint7"/>
<geom mesh="link7_0" material="white" class="visual"/>
<geom mesh="link7_1" material="black" class="visual"/>
<geom mesh="link7_2" material="black" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/>
<geom mesh="link7_4" material="black" class="visual"/>
<geom mesh="link7_5" material="black" class="visual"/>
<geom mesh="link7_6" material="black" class="visual"/>
<geom mesh="link7_7" material="white" class="visual"/>
<geom mesh="link7_c" class="collision"/>
<body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="hand_0" material="off_white" class="visual"/>
<geom mesh="hand_1" material="black" class="visual"/>
<geom mesh="hand_2" material="black" class="visual"/>
<geom mesh="hand_3" material="white" class="visual"/>
<geom mesh="hand_4" material="off_white" class="visual"/>
<geom mesh="hand_c" class="collision"/>
<body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint2" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<tendon>
<fixed name="split">
<joint joint="finger_joint1" coef="0.5"/>
<joint joint="finger_joint2" coef="0.5"/>
</fixed>
</tendon>

<equality>
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
</equality>

<actuator>
<general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450"/>
<general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450"
ctrlrange="-1.7628 1.7628"/>
<general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350"/>
<general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350"
ctrlrange="-3.0718 -0.0698"/>
<general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
<general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"
ctrlrange="-0.0175 3.7525"/>
<general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
<general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
</actuator>

<keyframe>
<key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0.04 0.04" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 255"/>
</keyframe>
</mujoco>
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