Support customizing payload in PayloadTrack

[grudloff]

Hello I am looking for the simulation of a particular payload, specifically a cilinder with a liquid inside. I would be happy to work on this an contribute with a pull requeat but I am very new to Isaac sim. Therefore, I would like to ask for any pointers that could help me implement this, it would be greatly appreciated!

Regards!

[btx0424]

Hi there. Specifying a custom payload is straightforward, just supply a USD of the cylinder container when creating the payload. But unfortunately, I have not worked with fluid myself. And I think Isaac Sim is not currently very capable of simulating the problem you described. Maybe model the effect of liquid as force acting on the cylinder instead?

[grudloff]

Hello! Thanks a lot for your response. I also though initially of approximating the nature of a cylinder with water, but it would be either too dificult or too inacurate, loosing the kind of chaotic nature of the innertia of a liquid filled object. I will take a look to see if I manage to create the USD for a cylinder filled with a fluid!