Need Help. How to make a simulation of soft tissue cutting.

[cauchy101]

The behaviors of soft tissue, food, soil, sand, etc are important for robotic simulation on interaction tasks. Is it possible to build those kind of simulation durring meat cutting, soil digging, wheel-terral interacting in Genesis currently?

[zhouxian]

Yes that’s the main motivation for supporting soft body simulation

however, manipulation scene might work better, and locomotion with big scale terrain involving millions of particles could be very slow, before we merge a simulation scheme which dynamically adjust spatial resolution based on agent pose

[cauchy101]

I agree. Manipulation/soft robot itself work better. Currently I'm working on robotic meat cutting. The rigid robot manipulates a knife tool to separate meat into bones and different parts (which is needed in meat industry). The RL and simulation of meat broken behavior turn out to be hard issues. And my colleagues are studing wheel-soil/ interaction as well as plough-soil interaction durring robotic/automatic ploughing, which is a agriculture task. The simulation of breakable soft meterial is important for those kind of tasks.

[zhouxian]

This is a prior work that was using (a very very early version of ) genesis: https://roboninja.cs.columbia.edu/
might be of interest to you :)

[cauchy101]

Thanks for your information. The paper proposed a very interesting work. It is similar to meat deboning. I've tried a imitation method based on DMP and admitance control in real world scenarios. It is few-shot and the adaptation ability is limited.