Add Newton deformable object API with coupled rigid-deformable simulation
Summary
Add first-class deformable object support to Isaac Lab's Newton physics backend, enabling cloth and volumetric soft-body simulation alongside rigid-body articulations with one-way and two-way coupling.
Motivation
Isaac Lab currently supports deformable objects only through the PhysX backend. The Newton backend offers access to the VBD (Vertex Block Descent) solver for cloth and soft bodies, which is important for manipulation tasks involving deformable objects (e.g., cloth folding, pick-and-place of soft items). This change bridges that gap by introducing a DeformableObject asset type for Newton and the plumbing needed to visualize, replicate, and couple deformable bodies with rigid articulations.
Build Info
- Isaac Lab Version: 3.0.0
- Isaac Sim Version: 6.0.0
Changes
Core API (isaaclab)
- New
BaseDeformableObject abstract base class and DeformableObjectCfg providing a backend-agnostic interface for deformable assets (particle positions, velocities, kinematic targets, nodal forces)
- New mesh spawner functions and USD mesh loading utilities for deformable geometry
Newton backend (isaaclab_newton)
DeformableObject: registers particles with Newton's model builder, handles multi-env cloning via newton_replicate, exposes read/write APIs for particle_q, particle_qd, and kinematic constraintsCoupledSolver: alternates a rigid-body solver (Featherstone or MuJoCo) and VBD per substep, supporting both one-way and two-way coupling with normal + Coulomb friction forcesNewtonManager extensions: deformable body registry, Fabric particle sync (sync_particles_to_usd via wp.fabricarrayarray), deferred dirty-flag pattern (_mark_transforms_dirty / _mark_particles_dirty), geometry streaming fix for Kit viewport flickerNewtonManagerCfg additions: VBD solver configuration, coupled solver settings
Checklist
Acceptance Criteria
TBD
With contribution from @AnkaChan @mmichelis @moennen @xiangdonglai
Add Newton deformable object API with coupled rigid-deformable simulation
Summary
Add first-class deformable object support to Isaac Lab's Newton physics backend, enabling cloth and volumetric soft-body simulation alongside rigid-body articulations with one-way and two-way coupling.
Motivation
Isaac Lab currently supports deformable objects only through the PhysX backend. The Newton backend offers access to the VBD (Vertex Block Descent) solver for cloth and soft bodies, which is important for manipulation tasks involving deformable objects (e.g., cloth folding, pick-and-place of soft items). This change bridges that gap by introducing a
DeformableObjectasset type for Newton and the plumbing needed to visualize, replicate, and couple deformable bodies with rigid articulations.Build Info
Changes
Core API (
isaaclab)BaseDeformableObjectabstract base class andDeformableObjectCfgproviding a backend-agnostic interface for deformable assets (particle positions, velocities, kinematic targets, nodal forces)Newton backend (
isaaclab_newton)DeformableObject: registers particles with Newton's model builder, handles multi-env cloning vianewton_replicate, exposes read/write APIs forparticle_q,particle_qd, and kinematic constraintsCoupledSolver: alternates a rigid-body solver (Featherstone or MuJoCo) and VBD per substep, supporting both one-way and two-way coupling with normal + Coulomb friction forcesNewtonManagerextensions: deformable body registry, Fabric particle sync (sync_particles_to_usdviawp.fabricarrayarray), deferred dirty-flag pattern (_mark_transforms_dirty/_mark_particles_dirty), geometry streaming fix for Kit viewport flickerNewtonManagerCfgadditions: VBD solver configuration, coupled solver settingsChecklist
Acceptance Criteria
TBD
With contribution from @AnkaChan @mmichelis @moennen @xiangdonglai