Add Newton deformable object API (modular, contrib-based)

scripts/tutorials/01_assets/run_deformable_object.py

@@ -22,6 +22,7 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Tutorial on interacting with a deformable object.")
+parser.add_argument("--backend", type=str, default="physx", choices=["physx", "newton"], help="Physics backend.")
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
 # demos should open Kit visualizer by default
@@ -37,14 +38,10 @@
 
 import torch
 import warp as wp
-from isaaclab_physx.assets import DeformableObject, DeformableObjectCfg
-
-# deformables supported in PhysX
-from isaaclab_physx.sim import DeformableBodyMaterialCfg, DeformableBodyPropertiesCfg
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
-from isaaclab.sim import SimulationContext
+from isaaclab.assets import DeformableObject, DeformableObjectCfg
 
 
 def design_scene():
@@ -59,20 +56,22 @@ def design_scene():
     # Create a dictionary for the scene entities
     scene_entities = {}
 
-    # Create separate groups called "Origin0", "Origin1", ...
-    # Each group will have a robot in it
+    # Create separate groups called "env_0", "env_1", ...
+    # Newton's scene loader requires the "env_\d+" naming convention to
+    # detect per-environment Xforms and replicate them as separate worlds.
     origins = [[0.25, 0.25, 0.0], [-0.25, 0.25, 0.0], [0.25, -0.25, 0.0], [-0.25, -0.25, 0.0]]
     for i, origin in enumerate(origins):
-        sim_utils.create_prim(f"/World/Origin{i}", "Xform", translation=origin)
+        sim_utils.create_prim(f"/World/env_{i}", "Xform", translation=origin)
 
     # 3D Deformable Object
     cfg = DeformableObjectCfg(
-        prim_path="/World/Origin.*/Cube",
+        prim_path="/World/env_.*/Cube",
         spawn=sim_utils.MeshCuboidCfg(
             size=(0.2, 0.2, 0.2),
-            deformable_props=DeformableBodyPropertiesCfg(),
+            deformable_props=sim_utils.DeformableBodyPropertiesCfg(rest_offset=0.0, contact_offset=0.001),
             visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.1, 0.0)),
-            physics_material=DeformableBodyMaterialCfg(poissons_ratio=0.4, youngs_modulus=1e5),
+            physics_material=sim_utils.DeformableBodyMaterialCfg(poissons_ratio=0.4, youngs_modulus=1e5, density=500.0),
+            # physics_material=sim_utils.SurfaceDeformableBodyMaterialCfg(poissons_ratio=0.4, youngs_modulus=1e4, surface_thickness=0.001, surface_bend_stiffness=1e0, surface_shear_stiffness=1e0, surface_stretch_stiffness=1e0),
         ),
         init_state=DeformableObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)),
         debug_vis=True,
@@ -158,8 +157,17 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict, origins: tor
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
-    sim = SimulationContext(sim_cfg)
+    if args_cli.backend == "newton":
+        from isaaclab_contrib.deformable import register_hooks as _register_deformable_hooks
+        _register_deformable_hooks()
+        from isaaclab_contrib.deformable.newton_manager_cfg import VBDSolverCfg
+        from isaaclab_newton.physics import NewtonCfg
+        physics_cfg = NewtonCfg(solver_cfg=VBDSolverCfg(iterations=10), num_substeps=4)
+    else:
+        from isaaclab_physx.physics import PhysxCfg
+        physics_cfg = PhysxCfg()
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+    sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[2.0, 2.0, 2.0], target=[0.0, 0.0, 0.75])
     # Design scene

source/isaaclab/isaaclab/assets/__init__.pyi

@@ -21,6 +21,11 @@ __all__ = [
     "RigidObjectCollection",
     "RigidObjectCollectionCfg",
     "RigidObjectCollectionData",
+    "BaseDeformableObject",
+    "BaseDeformableObjectData",
+    "DeformableObject",
+    "DeformableObjectCfg",
+    "DeformableObjectData",
 ]
 
 from .articulation import (
@@ -46,3 +51,10 @@ from .rigid_object_collection import (
     RigidObjectCollectionCfg,
     RigidObjectCollectionData,
 )
+from .deformable_object import (
+    BaseDeformableObject,
+    BaseDeformableObjectData,
+    DeformableObject,
+    DeformableObjectCfg,
+    DeformableObjectData,
+)

source/isaaclab/isaaclab/assets/deformable_object/__init__.py

@@ -0,0 +1,10 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Sub-module for deformable object assets."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab/isaaclab/assets/deformable_object/__init__.pyi

@@ -0,0 +1,18 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from .base_deformable_object import BaseDeformableObject
+from .base_deformable_object_data import BaseDeformableObjectData
+from .deformable_object import DeformableObject
+from .deformable_object_cfg import DeformableObjectCfg
+from .deformable_object_data import DeformableObjectData
+
+__all__ = [
+    "BaseDeformableObject",
+    "BaseDeformableObjectData",
+    "DeformableObject",
+    "DeformableObjectCfg",
+    "DeformableObjectData",
+]