isaaclab_newton.sim.spawners

Sub-module for Newton material configuration exports.

Classes

NewtonDeformableBodyMaterialCfg	Newton-specific physics material parameters for volume deformable bodies.
NewtonDeformableMaterialCfg	Newton-specific material properties for a deformable body.
NewtonSurfaceDeformableBodyMaterialCfg	Newton-specific physics material parameters for surface deformable bodies.

Deformable Materials

Newton provides the backend-specific deformable material cfgs. Deformable material spawning is unified in isaaclab.sim.spawners.materials.spawn_deformable_body_material().

class isaaclab_newton.sim.spawners.materials.NewtonDeformableBodyMaterialCfg

Bases: DeformableBodyMaterialBaseCfg, NewtonDeformableMaterialCfg

Newton-specific physics material parameters for volume deformable bodies.

Attributes:

k_mu	First Lame material parameter [Pa].
k_lambda	Second Lame material parameter [Pa].
k_damp	Damping stiffness for tetrahedral elements [Pa*s].
density	The material density [kg/m^3].
particle_radius	Particle radius [m] used by the Newton backend.

k_mu: float

First Lame material parameter [Pa]. Defaults to 1e5 Pa.

k_lambda: float

Second Lame material parameter [Pa]. Defaults to 1e5 Pa.

k_damp: float

Damping stiffness for tetrahedral elements [Pa*s]. Defaults to 0.0.

density: float

The material density [kg/m^3]. Defaults to 1.0 kg/m^3.

particle_radius: float

Particle radius [m] used by the Newton backend.

class isaaclab_newton.sim.spawners.materials.NewtonDeformableMaterialCfg

Bases: object

Newton-specific material properties for a deformable body.

These properties are set with the prefix newton:<property_name>.

Attributes:

density	The material density [kg/m^3].
particle_radius	Particle radius [m] used by the Newton backend.

density: float

The material density [kg/m^3]. Defaults to 1.0 kg/m^3.

particle_radius: float

Particle radius [m] used by the Newton backend.

class isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableBodyMaterialCfg

Bases: SurfaceDeformableBodyMaterialBaseCfg, NewtonDeformableMaterialCfg

Newton-specific physics material parameters for surface deformable bodies.

Attributes:

density	The material density [kg/m^3].
particle_radius	Particle radius [m] used by the Newton backend.
tri_ke	Triangle area-preserving stiffness [Pa].
tri_ka	Triangle area stiffness [Pa].
tri_kd	Triangle area damping [Pa*s].
edge_ke	Bending stiffness [N*m].
edge_kd	Bending damping [N*m*s].

density: float

The material density [kg/m^3]. Defaults to 1.0 kg/m^3.

particle_radius: float

Particle radius [m] used by the Newton backend.

tri_ke: float

Triangle area-preserving stiffness [Pa]. Used by Newton backend for cloth meshes.

tri_ka: float

Triangle area stiffness [Pa]. Used by Newton backend for cloth meshes.

tri_kd: float

Triangle area damping [Pa*s]. Used by Newton backend for cloth meshes.

edge_ke: float

Bending stiffness [N*m]. Used by Newton backend for cloth meshes.

edge_kd: float

Bending damping [N*m*s]. Used by Newton backend for cloth meshes.