IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems

• URL: http://arxiv.org/abs/2605.24339v1
• Date: Sat, 23 May 2026 01:51:03 GMT
• Title: IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
• Abstract summary: We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab.<n>IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation. For tactile sensing, we introduce the geometric mortar contact potential (GMCP), which defines a barrier potential over contact samples on tactile surfaces to better resolve contact-pressure distributions. We evaluate GMCP on contact benchmarks and demonstrate IsaacIPC on rigid-deformable robotic simulations including a quadruped robot, a dexterous hand, and a universal manipulation interface (UMI) gripper.

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