isaaclab_physx.sim.spawners

Sub-module for PhysX material configuration compatibility exports.

Classes

PhysxRigidBodyMaterialCfg	PhysX-specific physics-material parameters for rigid bodies.
PhysxMaterialCfg	physxMaterial:* rigid-body material attributes from PhysxMaterialAPI.
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.

Rigid Materials

class isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg

Bases: RigidBodyMaterialBaseCfg

PhysX-specific physics-material parameters for rigid bodies.

Extends RigidBodyMaterialBaseCfg with the PhysxMaterialAPI schema fields: compliant-contact spring (stiffness/damping) and the friction/restitution combine-mode tokens. Newton’s USD importer also recognizes stiffness and damping as fallback contact parameters; the acceleration-spring flag and combine modes are PhysX-only.

See spawn_rigid_body_material() for more information.

Attributes:

compliant_contact_stiffness	Spring stiffness for a compliant contact model using implicit springs.
compliant_contact_damping	Damping coefficient for a compliant contact model using implicit springs.
compliant_contact_acceleration_spring	Whether the compliant contact spring is formulated in acceleration (rather than force) units.
static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
restitution	The restitution coefficient.
density	The material density [kg/m^3].
friction_combine_mode	Determines the way friction will be combined during collisions.
restitution_combine_mode	Determines the way restitution coefficient will be combined during collisions.
damping_combine_mode	Determines the way the (compliant-contact) damping coefficient is combined during collisions.

compliant_contact_stiffness: float | None

Spring stiffness for a compliant contact model using implicit springs.

A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled if the stiffness is larger than 0. Newton’s USD importer also recognizes this attribute as a fallback contact-stiffness value.

compliant_contact_damping: float | None

Damping coefficient for a compliant contact model using implicit springs.

Irrelevant if compliant contacts are disabled when compliant_contact_stiffness is set to zero and rigid contacts are active. Newton’s USD importer also recognizes this attribute as a fallback contact-damping value.

compliant_contact_acceleration_spring: bool | None

Whether the compliant contact spring is formulated in acceleration (rather than force) units.

Only relevant when compliant contacts are enabled (compliant_contact_stiffness is non-zero). PhysX-only; not consumed by Newton.

static_friction: float

The static friction coefficient. Defaults to 0.5.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.5.

restitution: float

The restitution coefficient. Defaults to 0.0.

density: float | None

The material density [kg/m^3]. Defaults to None, in which case it is not authored.

Writes physics:density. It is a fallback for collision shapes bound to this material; explicitly authored rigid-body mass or density takes precedence.

friction_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

Determines the way friction will be combined during collisions.

Attention

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

restitution_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

Determines the way restitution coefficient will be combined during collisions.

Attention

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

damping_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

Determines the way the (compliant-contact) damping coefficient is combined during collisions.

Attention

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

class isaaclab_physx.sim.spawners.materials.PhysxMaterialCfg

Bases: RigidBodyMaterialFragment

physxMaterial:* rigid-body material attributes from PhysxMaterialAPI.

Single-namespace fragment (see RigidBodyMaterialFragment) for the PhysX material namespace: compliant-contact spring (stiffness/damping), which Newton’s USD importer can read as fallback contact parameters, plus PhysX-only acceleration-spring and combine-mode knobs. The PhysxMaterialAPI schema is applied (and the physxMaterial:* attributes authored) by the generic apply_namespaced() writer. None fields are left unchanged.

Attributes:

compliant_contact_stiffness	Spring stiffness for a compliant contact model using implicit springs.
compliant_contact_damping	Damping coefficient for a compliant contact model using implicit springs.
compliant_contact_acceleration_spring	Whether the compliant contact spring is formulated in acceleration (rather than force) units.
friction_combine_mode	How friction is combined during collisions.
restitution_combine_mode	How restitution is combined during collisions.
damping_combine_mode	How the (compliant-contact) damping coefficient is combined during collisions.

compliant_contact_stiffness: float | None

Spring stiffness for a compliant contact model using implicit springs.

A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled if the stiffness is larger than 0. Writes physxMaterial:compliantContactStiffness.

compliant_contact_damping: float | None

Damping coefficient for a compliant contact model using implicit springs.

Irrelevant if compliant contacts are disabled (compliant_contact_stiffness is zero). Writes physxMaterial:compliantContactDamping.

compliant_contact_acceleration_spring: bool | None

Whether the compliant contact spring is formulated in acceleration (rather than force) units.

Writes physxMaterial:compliantContactAccelerationSpring. Only relevant when compliant contacts are enabled (compliant_contact_stiffness is non-zero).

friction_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

How friction is combined during collisions. Writes physxMaterial:frictionCombineMode.

restitution_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

How restitution is combined during collisions. Writes physxMaterial:restitutionCombineMode.

damping_combine_mode: Literal['average', 'min', 'multiply', 'max'] | None

How the (compliant-contact) damping coefficient is combined during collisions.

Writes physxMaterial:dampingCombineMode.

Attention

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

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.