Limits and roadmap

Everything Filaire does not do or has not verified, stated plainly, and what comes next.

Limits

• Not calibrated. Moduli and densities are orders of magnitude; no cable's E·I was measured. The sag check proves the export is consistent with the model, not that the model matches a real cable. See Checking a preset against a real cable.
• Approximate connectors. See Connectors: simplified outlines, no moving latches, threads or contacts; several dimensions not from a source.
• Elastic, straight rest shape. No plastic set (a real cable keeps its coils), no initial tension in coiled cords, no knots.
• Isaac Sim not tested here. The files follow the standard UsdPhysics schemas (rigid bodies, D6 joints with drives, articulation root, convex hulls), with the PhysX settings in a layer over each file; they are checked in MuJoCo and Blender but have not been loaded in Isaac Sim / PhysX (no NVIDIA GPU), where drive units and articulation behaviour may need adjusting. Each cable is one articulation of up to 400 links (213 bodies for a 1 m servo lead), far longer than a robot's. Isaac Sim once failed on articulations of more than 128 bodies, a bug fixed in late 2023; if a long cable is slow or unstable there, --max-segments lowers the count.
• Rest shape differs in Blender. See Blender: Bullet's springs rest in the first frame's pose, the generated one.
• Visual per segment. Each segment carries its piece of tube, so a simulated cable shows small creases at the joints when it bends.

Roadmap

1. Calibration against measured bending stiffness (three-point bending or cantilever tests) for a few real cables per preset.
2. Plastic set and pre-coiled rest shapes; tied bundles and hanks.
3. A PhysX test in Isaac Sim, and MJCF export with MuJoCo's cable plugin.
4. More connectors (Schuko and French sockets with their earth contacts, D-sub with its screws, DisplayPort, M8) and snap-fit latches.
5. Insertion tasks: forces, misalignment tolerances, success labels.