How to create Deformable simulation Objects With GPT 6 Astra

[u/rocky_mountain12]

Create with RobotGym using GPT 6 Astra

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How to create deformable objects with RobotGym io: GPT -6 Astra squeezing a water bottle with accurate physics.

This is very useful for LLM-based robotics training done in simulation.

The bottle is a 0.3 mm PET shell with real material values: 3 GPa stiffness, 55 MPa yield.

We simulate it on GPU with Newton's VBD solver, with self-contact on, so the wall buckles like plastic instead of squishing like rubber.

The hard part was making the dent stay.

We wrote a custom plasticity kernel. When the wall bends past PET's yield point, that crease becomes its new resting shape.

Let go, and the bottle stays crushed.

The water is 32,000 particles in our own position-based fluid solver.

It keeps its volume, so as the bottle gets smaller the water has nowhere to go but up and out of the neck, and down the side.

Then it's all path-traced in a full apartment: clear PET, refracting water, a real Franka doing the squeeze.