Source code for omni.isaac.lab.sim.spawners.materials.physics_materials_cfg

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from collections.abc import Callable
from dataclasses import MISSING
from typing import Literal

from omni.isaac.lab.utils import configclass

from . import physics_materials


[docs]@configclass class PhysicsMaterialCfg: """Configuration parameters for creating a physics material. Physics material are PhysX schemas that can be applied to a USD material prim to define the physical properties related to the material. For example, the friction coefficient, restitution coefficient, etc. For more information on physics material, please refer to the `PhysX documentation <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxBaseMaterial.html>`__. """ func: Callable = MISSING """Function to use for creating the material."""
[docs]@configclass class RigidBodyMaterialCfg(PhysicsMaterialCfg): """Physics material parameters for rigid bodies. See :meth:`spawn_rigid_body_material` for more information. Note: The default values are the `default values used by PhysX 5 <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#rigid-body-materials>`__. """ func: Callable = physics_materials.spawn_rigid_body_material static_friction: float = 0.5 """The static friction coefficient. Defaults to 0.5.""" dynamic_friction: float = 0.5 """The dynamic friction coefficient. Defaults to 0.5.""" restitution: float = 0.0 """The restitution coefficient. Defaults to 0.0.""" improve_patch_friction: bool = True """Whether to enable patch friction. Defaults to True.""" friction_combine_mode: Literal["average", "min", "multiply", "max"] = "average" """Determines the way friction will be combined during collisions. Defaults to `"average"`. .. 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 <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html>`__. """ restitution_combine_mode: Literal["average", "min", "multiply", "max"] = "average" """Determines the way restitution coefficient will be combined during collisions. Defaults to `"average"`. .. 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 <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html>`__. """ compliant_contact_stiffness: float = 0.0 """Spring stiffness for a compliant contact model using implicit springs. Defaults to 0.0. 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. """ compliant_contact_damping: float = 0.0 """Damping coefficient for a compliant contact model using implicit springs. Defaults to 0.0. Irrelevant if compliant contacts are disabled when :obj:`compliant_contact_stiffness` is set to zero and rigid contacts are active. """
[docs]@configclass class DeformableBodyMaterialCfg(PhysicsMaterialCfg): """Physics material parameters for deformable bodies. See :meth:`spawn_deformable_body_material` for more information. Note: The default values are the `default values used by PhysX 5 <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/deformable-bodies.html#deformable-body-material>`__. """ func: Callable = physics_materials.spawn_deformable_body_material density: float | None = None """The material density. Defaults to None, in which case the simulation decides the default density.""" dynamic_friction: float = 0.25 """The dynamic friction. Defaults to 0.25.""" youngs_modulus: float = 50000000.0 """The Young's modulus, which defines the body's stiffness. Defaults to 50000000.0. The Young's modulus is a measure of the material's ability to deform under stress. It is measured in Pascals (Pa). """ poissons_ratio: float = 0.45 """The Poisson's ratio which defines the body's volume preservation. Defaults to 0.45. The Poisson's ratio is a measure of the material's ability to expand in the lateral direction when compressed in the axial direction. It is a dimensionless number between 0 and 0.5. Using a value of 0.5 will make the material incompressible. """ elasticity_damping: float = 0.005 """The elasticity damping for the deformable material. Defaults to 0.005.""" damping_scale: float = 1.0 """The damping scale for the deformable material. Defaults to 1.0. A scale of 1 corresponds to default damping. A value of 0 will only apply damping to certain motions leading to special effects that look similar to water filled soft bodies. """