Can I Add Realistic Carpet Feature in Isaac Sim: Navigating Nap and Grain?

I’m exploring Isaac Sim’s capabilities and wondering if there’s a feature to replicate specific carpet surface properties, like nap or grain.

In real life, a robot’s movement can be affected by the direction of nap or grain on a carpet. Does Isaac Sim offer a way to simulate these surface features on a carpet material?

Any insights or pointers on achieving this simulation effect would be appreciated!