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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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3 changes: 2 additions & 1 deletion examples/IPC_Solver/ipc_arm_cloth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,8 +110,9 @@ 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"],
)

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10 changes: 6 additions & 4 deletions examples/IPC_Solver/ipc_grasp.py
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Expand Up @@ -46,10 +46,12 @@ def main():
gs.morphs.MJCF(file="xml/franka_emika_panda/panda.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")
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