Add cable (1D rod) assets via Newton#5641
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Co-authored-by: Copilot <copilot@github.com>
Co-authored-by: Copilot <copilot@github.com>
…ractive scene) Co-authored-by: Copilot <copilot@github.com>
…pawners, schemas)
…article sync Create isaaclab_experimental/deformable/ module containing: - DeformableObject and DeformableObjectData (Newton backend) - Warp kernels for particle gather/scatter operations - CoupledSolver for rigid-body + VBD cloth interaction - VBDSolverCfg, CoupledSolverCfg, NewtonModelCfg configs - Solver factory functions registered with NewtonManager - Particle sync for USD/Fabric viewport rendering - Cloner hooks for deformable body replication - Model cfg hook for post-finalize parameter application Bug fixes included: - init_pos/init_rot zeroed after Xform bake to prevent double-application - vis_mesh_prim fallback for empty vis_candidates (surface cloth) - No weakref in data class (direct references for particle_q/qd) - model_cfg always applied (not gated behind contact attributes)
Add test_deformable_object.py and test_rigid_deformable_coupling.py under isaaclab_experimental/test/deformable/ with imports adapted for the experimental module layout. Introduce register_hooks() in the deformable __init__ so hooks survive NewtonManager.clear() across test fixtures. Include pre-commit formatting fixes.
Add two deformable object manipulation tasks to isaaclab_tasks_experimental: - Isaac-Pick-Cloth-Direct-v0: Franka robot + cloth (shirt) with coupled MJWarp + VBD solver - Isaac-Pick-VBD-Cube-Direct-v0: Franka robot + deformable cube with coupled MJWarp + VBD solver Both tasks use DeformableNewtonCfg (NewtonCfg subclass with model_cfg field) and import isaaclab_experimental.deformable to trigger hook registration. Also add isaaclab_tasks_experimental import to zero_agent.py for task discovery.
Update the deformable tutorial to support both PhysX and Newton backends via --backend argument. Use core isaaclab.assets imports for backend-agnostic DeformableObject, and import VBDSolverCfg from isaaclab_experimental for the Newton backend path.
Add _get_deformable_ignore_paths() to skip deformable sim/visual mesh prims in builder.add_usd() calls, preventing Newton from creating redundant static mesh colliders for deformable bodies. Also add rebuild_bvh() call in _simulate_physics_only() for solvers that require BVH rebuilds (e.g. VBD cloth).
Gracefully handle particle-only scenes (no rigid bodies) by logging a warning instead of raising RuntimeError when body_label/body_key is empty. Add Fabric particle sync setup for deformable bodies: resize visual mesh topology to match sim mesh, and create per-instance particle offset attributes so the sync kernel can write points.
Defer heavy imports in isaaclab_experimental.deformable behind __getattr__ so pxr is not loaded before Kit starts. Ensure register_hooks() always re-registers after NewtonManager.clear() by resetting the _hooks_registered guard on each explicit call. Fix SurfaceDeformableBodyMaterialCfg class-identity mismatch in from_files.py that caused isinstance() to always fail, making PhysX create volume hierarchies for surface cloth. In deformable_object.py, prefer the original authored Mesh over the PhysX sim_mesh proxy (which has no points at construction time) when a surface deformable material is configured. In newton_replicate.py, pass deformable prim paths as ignore_paths to add_usd so Newton's USD importer skips PhysX proxy meshes.
Replace bare `import isaaclab_experimental.deformable` with explicit `register_hooks()` calls since deferred imports no longer trigger hook registration on import.
The Newton deformable implementation (solvers, kernels, particle sync, cloner hooks) and its tests now live under isaaclab_contrib. All import references in tutorials, task envs, and the isaaclab_newton re-export stub are updated accordingly.
Moves the two deformable task environments from isaaclab_tasks_experimental to isaaclab_tasks so they are discovered by zero_agent.py without needing an extra import of the experimental package.
… code Restore dt=0.01 in SimulationCfg, update env prim comment to explain Newton's env_\d+ naming requirement, restore original reset() ordering, and remove stale commented-out loop.
Remove TetMesh class, spawn_tet_mesh_cuboid, spawn_tet_mesh_from_file, spawn_mesh_from_file, _spawn_tet_mesh_geom_from_tet_mesh and their config counterparts. None are used by any task, test, or tutorial. Also restore Newton docstring in modify_deformable_body_properties.
The isaaclab_newton/assets/deformable_object/__init__.py stub re-exported DeformableObject from isaaclab_contrib, creating a reverse dependency. This is unnecessary since register_hooks() already registers the Newton backend with the DeformableObject factory directly.
Extract the 50-line inline block that sets up Fabric attributes for deformable particle sync from NewtonManager.start_simulation() into setup_fabric_particle_sync() in isaaclab_contrib/deformable/particle_sync. Registered via a new _post_start_simulation_fn hook, keeping isaaclab_newton free of deformable-specific logic.
Cherry-pick Mike's fixes from xiangdonglai#4: - Move visual mesh topology overwrite to define_deformable_body_properties in schemas.py so it happens at USD authoring time, not simulation start. - Add per-instance newton:particleCount Fabric attribute so the sync kernel supports heterogeneous deformable bodies instead of assuming a single particles_per_body for all instances. - Simplify setup_fabric_particle_sync() to only create Fabric attributes.
…e logging - Replace CPU-bound Python for-loop in write_nodal_kinematic_target_to_sim_index with vectorized torch advanced indexing (eliminates per-env GPU-CPU sync). - Log sync_particles_to_usd failures at warning level on first occurrence, then throttle to debug for subsequent failures. - Cache usdrt module import to avoid re-importing every render frame. - Add clarifying comment on particle_q_prev aliasing in two-way coupling friction (known limitation, acceptable for one-way primary use case). - Document _MAX_REACTION_CONTACTS fixed upper bound in coupled_solver.
8 tasks
…BasisCurve in USD. Currently only supported in Newton backend as add_rod_graph
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Description
Adds end-to-end support for cable / rod assets driven by Newton, layered on top of the existing deformable contrib pattern.
isaaclab.sim.spawners.shapes: newCableCfg/spawn_cablethat author cables asUsdGeomBasisCurvesprims. Physics is materialized by the Newton replicate hook, not at spawn time.isaaclab_newton: newNewtonCableMaterialCfg(stretch / bend stiffness, damping, density) and a per-cable ignore-paths block innewton_physics_replicatesoadd_usdskips cableBasisCurves.isaaclab_contrib.cable: newCableObject(subclass of the NewtonArticulation) +CableObjectCfg, plus the replicate-hook plumbing (CableRegistryEntry,add_cable_entry_to_builder,add_registered_cables_to_builder,install_cable_builder_hooks) mirroring the deformable contrib layout.particle_enable_self_contactviagetattr(..., False)so cable-only (zero-particle) scenes no longer hitAttributeError— Newton'sSolverVBDskips_init_particle_systemin that case.forward()to mask cable articulations out ofeval_fk, which has noJointType.CABLEcase and was collapsing rod segments onto their parent anchors on every Kit pre-render FK pass (cable explosion fix). Open Bug in Newton 2887.UsdGeomBasisCurvespoints are refreshed from Newton cable body transforms at render cadence (CPU only for now).scripts/demos/cables.py,test_spawn_cable.py,test_cable_object.py.Builds on top of
mym/deformable_experimental(#5443 ) because cables build on the in-progress Newton deformable contrib stack.Test plan
./isaaclab.sh -p -m pytest source/isaaclab/test/sim/test_spawn_cable.py./isaaclab.sh -p -m pytest source/isaaclab_contrib/test/cable/test_cable_object.py./isaaclab.sh -p scripts/demos/cables.py— visual sanity check in Kit./isaaclab.sh -p scripts/demos/deformables.py— confirm no regression in mixed scenes./isaaclab.sh -fType of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there