isaaclab_physx.sim.spawners

Sub-module for PhysX material configuration compatibility exports.

Classes

PhysxDeformableBodyMaterialCfg	PhysX-specific physics material parameters for deformable bodies.
PhysxSurfaceDeformableBodyMaterialCfg	PhysX-specific physics material parameters for surface deformable bodies.
PhysXDeformableMaterialCfg	PhysX-specific material properties for a deformable body.
DeformableBodyMaterialCfg	Deprecated: use PhysxDeformableBodyMaterialCfg.
SurfaceDeformableBodyMaterialCfg	Deprecated: use PhysxSurfaceDeformableBodyMaterialCfg.

Deformable Materials

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

class isaaclab_physx.sim.spawners.materials.PhysxDeformableBodyMaterialCfg

Bases: DeformableBodyMaterialBaseCfg, OmniPhysicsDeformableMaterialCfg, PhysXDeformableMaterialCfg

PhysX-specific physics material parameters for deformable bodies.

Attributes:

elasticity_damping	The elasticity damping for the deformable material.
density	The material density [kg/m^3].
static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
youngs_modulus	The Young's modulus, which defines the body's stiffness [Pa].
poissons_ratio	The Poisson's ratio which defines the body's volume preservation.

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

density: float

The material density [kg/m^3]. Defaults to 1000.0 kg/m^3.

static_friction: float

The static friction coefficient. Defaults to 0.25.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.25.

youngs_modulus: float

The Young’s modulus, which defines the body’s stiffness [Pa]. Defaults to 1 MPa.

poissons_ratio: float

The Poisson’s ratio which defines the body’s volume preservation.

class isaaclab_physx.sim.spawners.materials.PhysxSurfaceDeformableBodyMaterialCfg

Bases: SurfaceDeformableBodyMaterialBaseCfg, OmniPhysicsSurfaceDeformableMaterialCfg, PhysXDeformableMaterialCfg

PhysX-specific physics material parameters for surface deformable bodies.

Attributes:

bend_damping	Damping acting against bend-resistance forces [1/s].
elasticity_damping	The elasticity damping for the deformable material.
density	The material density [kg/m^3].
static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
youngs_modulus	The Young's modulus, which defines the body's stiffness [Pa].
poissons_ratio	The Poisson's ratio which defines the body's volume preservation.
surface_thickness	The thickness of the deformable body's surface [m].
surface_stretch_stiffness	The stretch stiffness of the deformable body's surface.
surface_shear_stiffness	The shear stiffness of the deformable body's surface.
surface_bend_stiffness	The bend stiffness of the deformable body's surface.

bend_damping: float

Damping acting against bend-resistance forces [1/s]. Defaults to 0.0.

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

density: float

The material density [kg/m^3]. Defaults to 1000.0 kg/m^3.

static_friction: float

The static friction coefficient. Defaults to 0.25.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.25.

youngs_modulus: float

The Young’s modulus, which defines the body’s stiffness [Pa]. Defaults to 1 MPa.

poissons_ratio: float

The Poisson’s ratio which defines the body’s volume preservation.

surface_thickness: float

The thickness of the deformable body’s surface [m]. Defaults to 0.01.

surface_stretch_stiffness: float

The stretch stiffness of the deformable body’s surface. Defaults to 0.0.

surface_shear_stiffness: float

The shear stiffness of the deformable body’s surface. Defaults to 0.0.

surface_bend_stiffness: float

The bend stiffness of the deformable body’s surface. Defaults to 0.0.

class isaaclab_physx.sim.spawners.materials.PhysXDeformableMaterialCfg

Bases: object

PhysX-specific material properties for a deformable body.

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

Attributes:

elasticity_damping

The elasticity damping for the deformable material.

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

Deprecated Aliases

class isaaclab_physx.sim.spawners.materials.DeformableBodyMaterialCfg

Bases: PhysxDeformableBodyMaterialCfg

Deprecated: use PhysxDeformableBodyMaterialCfg.

Deprecated since version 4.6.x: DeformableBodyMaterialCfg has moved to PhysxDeformableBodyMaterialCfg for PhysX-specific deformable materials and is scheduled for removal in 5.0.

Attributes:

elasticity_damping	The elasticity damping for the deformable material.
density	The material density [kg/m^3].
static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
youngs_modulus	The Young's modulus, which defines the body's stiffness [Pa].
poissons_ratio	The Poisson's ratio which defines the body's volume preservation.

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

density: float

The material density [kg/m^3]. Defaults to 1000.0 kg/m^3.

static_friction: float

The static friction coefficient. Defaults to 0.25.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.25.

youngs_modulus: float

The Young’s modulus, which defines the body’s stiffness [Pa]. Defaults to 1 MPa.

poissons_ratio: float

The Poisson’s ratio which defines the body’s volume preservation.

class isaaclab_physx.sim.spawners.materials.SurfaceDeformableBodyMaterialCfg

Bases: PhysxSurfaceDeformableBodyMaterialCfg

Deprecated: use PhysxSurfaceDeformableBodyMaterialCfg.

Deprecated since version 4.6.x: SurfaceDeformableBodyMaterialCfg has moved to PhysxSurfaceDeformableBodyMaterialCfg for PhysX-specific surface deformable materials and is scheduled for removal in 5.0.

Attributes:

elasticity_damping	The elasticity damping for the deformable material.
density	The material density [kg/m^3].
static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
youngs_modulus	The Young's modulus, which defines the body's stiffness [Pa].
poissons_ratio	The Poisson's ratio which defines the body's volume preservation.
surface_thickness	The thickness of the deformable body's surface [m].
surface_stretch_stiffness	The stretch stiffness of the deformable body's surface.
surface_shear_stiffness	The shear stiffness of the deformable body's surface.
surface_bend_stiffness	The bend stiffness of the deformable body's surface.
bend_damping	Damping acting against bend-resistance forces [1/s].

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

density: float

The material density [kg/m^3]. Defaults to 1000.0 kg/m^3.

static_friction: float

The static friction coefficient. Defaults to 0.25.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.25.

youngs_modulus: float

The Young’s modulus, which defines the body’s stiffness [Pa]. Defaults to 1 MPa.

poissons_ratio: float

The Poisson’s ratio which defines the body’s volume preservation.

surface_thickness: float

The thickness of the deformable body’s surface [m]. Defaults to 0.01.

surface_stretch_stiffness: float

The stretch stiffness of the deformable body’s surface. Defaults to 0.0.

surface_shear_stiffness: float

The shear stiffness of the deformable body’s surface. Defaults to 0.0.

surface_bend_stiffness: float

The bend stiffness of the deformable body’s surface. Defaults to 0.0.

bend_damping: float

Damping acting against bend-resistance forces [1/s]. Defaults to 0.0.