Add surface deformable support and migrate deformable API to isaaclab_physx

CONTRIBUTORS.md

@@ -34,6 +34,7 @@ Guidelines for modifications:
 * Kelly (Yunrong) Guo
 * Matthew Trepte
 * Mayank Mittal
+* Mike Yan Michelis
 * Nikita Rudin
 * Octi (Zhengyu) Zhang
 * Ossama Ahmed

apps/isaaclab.python.kit

@@ -237,7 +237,7 @@ renderer.startupMessageDisplayed = true # hides the IOMMU popup window
 resourcemonitor.timeBetweenQueries = 100 # improves performance
 simulation.defaultMetersPerUnit = 1.0 # Meters default
 omni.replicator.captureOnPlay = true
-UJITSO.geometry = true
+UJITSO.geometry = false
 UJITSO.enabled = true
 
 [settings]

docs/index.rst

@@ -157,6 +157,7 @@ Table of Contents
    :titlesonly:
 
    source/migration/migrating_to_isaaclab_3-0
+   source/migration/migrating_deformables
    source/migration/migrating_from_isaacgymenvs
    source/migration/migrating_from_omniisaacgymenvs
    source/migration/migrating_from_orbit

docs/source/api/index.rst

@@ -129,6 +129,8 @@ The following modules are available in the ``isaaclab_physx`` extension:
    renderers
    scene_data_providers
    sensors
+   sim.schemas
+   sim.spawners
 
 .. toctree::
    :hidden:
@@ -139,6 +141,8 @@ The following modules are available in the ``isaaclab_physx`` extension:
    lab_physx/isaaclab_physx.renderers
    lab_physx/isaaclab_physx.scene_data_providers
    lab_physx/isaaclab_physx.sensors
+   lab_physx/isaaclab_physx.sim.schemas
+   lab_physx/isaaclab_physx.sim.spawners
 
 isaaclab_newton extension
 -------------------------

docs/source/api/lab/isaaclab.sim.schemas.rst

@@ -13,7 +13,6 @@
     MassPropertiesCfg
     JointDrivePropertiesCfg
     FixedTendonPropertiesCfg
-    DeformableBodyPropertiesCfg
 
   .. rubric:: Functions
 
@@ -30,8 +29,6 @@
     modify_mass_properties
     modify_joint_drive_properties
     modify_fixed_tendon_properties
-    define_deformable_body_properties
-    modify_deformable_body_properties
 
 Articulation Root
 -----------------
@@ -95,9 +92,11 @@ Fixed Tendon
 Deformable Body
 ---------------
 
-.. autoclass:: DeformableBodyPropertiesCfg
-    :members:
-    :exclude-members: __init__
+.. note::
+
+   Deformable body schemas have moved to the PhysX backend extension. See
+   :class:`isaaclab_physx.sim.schemas.DeformableBodyPropertiesCfg`,
+   :func:`isaaclab_physx.sim.schemas.define_deformable_body_properties`, and
+   :func:`isaaclab_physx.sim.schemas.modify_deformable_body_properties`.
 
-.. autofunction:: define_deformable_body_properties
-.. autofunction:: modify_deformable_body_properties
+   For migration details, see :ref:`migrating-deformables`.

docs/source/api/lab/isaaclab.sim.spawners.rst

@@ -21,7 +21,6 @@
 
     SpawnerCfg
     RigidObjectSpawnerCfg
-    DeformableObjectSpawnerCfg
 
 Spawners
 --------
@@ -35,10 +34,12 @@ Spawners
     :show-inheritance:
     :exclude-members: __init__
 
-.. autoclass:: DeformableObjectSpawnerCfg
-    :members:
-    :show-inheritance:
-    :exclude-members: __init__
+.. note::
+
+   ``DeformableObjectSpawnerCfg`` has moved to the PhysX backend extension. See
+   :class:`isaaclab_physx.sim.spawners.DeformableObjectSpawnerCfg`.
+
+   For migration details, see :ref:`migrating-deformables`.
 
 Shapes
 ------
@@ -260,7 +261,6 @@ Materials
     GlassMdlCfg
     PhysicsMaterialCfg
     RigidBodyMaterialCfg
-    DeformableBodyMaterialCfg
 
 Visual Materials
 ~~~~~~~~~~~~~~~~
@@ -298,11 +298,15 @@ Physical Materials
     :members:
     :exclude-members: __init__, func
 
-.. autofunction:: spawn_deformable_body_material
+.. note::
 
-.. autoclass:: DeformableBodyMaterialCfg
-    :members:
-    :exclude-members: __init__, func
+   ``DeformableBodyMaterialCfg``, ``SurfaceDeformableBodyMaterialCfg``, and
+   ``spawn_deformable_body_material`` have moved to the PhysX backend extension. See
+   :class:`isaaclab_physx.sim.spawners.materials.DeformableBodyMaterialCfg`,
+   :class:`isaaclab_physx.sim.spawners.materials.SurfaceDeformableBodyMaterialCfg`, and
+   :func:`isaaclab_physx.sim.spawners.materials.spawn_deformable_body_material`.
+
+   For migration details, see :ref:`migrating-deformables`.
 
 Wrappers
 --------

docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst

@@ -0,0 +1,30 @@
+isaaclab_physx.sim.schemas
+==========================
+
+.. automodule:: isaaclab_physx.sim.schemas
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DeformableBodyPropertiesCfg
+
+  .. rubric:: Functions
+
+  .. autosummary::
+
+    define_deformable_body_properties
+    modify_deformable_body_properties
+
+.. currentmodule:: isaaclab_physx.sim.schemas
+
+Deformable Body
+---------------
+
+.. autoclass:: DeformableBodyPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autofunction:: define_deformable_body_properties
+.. autofunction:: modify_deformable_body_properties

docs/source/api/lab_physx/isaaclab_physx.sim.spawners.rst

@@ -0,0 +1,52 @@
+isaaclab_physx.sim.spawners
+===========================
+
+.. automodule:: isaaclab_physx.sim.spawners
+
+  .. rubric:: Submodules
+
+  .. autosummary::
+
+    materials
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DeformableObjectSpawnerCfg
+
+.. currentmodule:: isaaclab_physx.sim.spawners
+
+Spawners
+--------
+
+.. autoclass:: DeformableObjectSpawnerCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Materials
+---------
+
+.. automodule:: isaaclab_physx.sim.spawners.materials
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DeformableBodyMaterialCfg
+    SurfaceDeformableBodyMaterialCfg
+
+.. currentmodule:: isaaclab_physx.sim.spawners.materials
+
+.. autofunction:: spawn_deformable_body_material
+
+.. autoclass:: DeformableBodyMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: SurfaceDeformableBodyMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func