Ability to replicate deformable objects

Omniverse Isaac Sim
1

Hi.
I am doing a deformable object RL in isaacsim.
The biggest feature of isaacsim simulation is that it can replicate objects and simulate them in parallel.
I want to replicate the deformable object and simulate it in parallel.
The omniverse isaacgym has shown that the deformable object does not support replication. I wonder if this is a problem with my code or if it is completely impossible in the simulation.

If it is impossible to replicate an object, I wonder if there is an alternative way to simulate a deformable object in parallel.

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any luck on this?

4

Hey @gwangin ,

I’m curious on how you were able to import a deformable object into the omniverse isaacgym code. Even for a single environment setup. I’m having some troubles as the deformable physics are not being applied and my deformable object is just floating instead of dropping down due to gravity.

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Hi there, you can try passing replicate_physics=False when calling RLTask.set_up_scene(). This will skip the replication process in omni.physics, but should still clone USD prims in the stage.

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