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.
"""