isaaclab_contrib.deformable
===========================

.. automodule:: isaaclab_contrib.deformable

  .. rubric:: Classes

  .. autosummary::

    deformable_object.DeformableObject
    deformable_object_data.DeformableObjectData
    newton_manager_cfg.VBDSolverCfg
    newton_manager_cfg.CoupledMJWarpVBDSolverCfg
    newton_manager_cfg.CoupledFeatherstoneVBDSolverCfg
    newton_manager_cfg.NewtonModelCfg
    vbd_manager.NewtonVBDManager
    coupled_mjwarp_vbd_manager.NewtonCoupledMJWarpVBDManager
    coupled_featherstone_vbd_manager.NewtonCoupledFeatherstoneVBDManager

Deformable Object
-----------------

.. autoclass:: isaaclab_contrib.deformable.deformable_object.DeformableObject
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: isaaclab_contrib.deformable.deformable_object_data.DeformableObjectData
  :members:
  :inherited-members:
  :show-inheritance:
  :exclude-members: __init__

Newton Solver Configurations
----------------------------

.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.VBDSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.CoupledMJWarpVBDSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.CoupledFeatherstoneVBDSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.NewtonModelCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

Newton Solver Managers
----------------------

.. autoclass:: isaaclab_contrib.deformable.vbd_manager.NewtonVBDManager
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: isaaclab_contrib.deformable.coupled_mjwarp_vbd_manager.NewtonCoupledMJWarpVBDManager
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: isaaclab_contrib.deformable.coupled_featherstone_vbd_manager.NewtonCoupledFeatherstoneVBDManager
  :members:
  :inherited-members:
  :show-inheritance: