I want to make deformable body in python program.
But, I have the following error.
What should I do to make deformable body in python?
Please tell me the solution.
[Error] [omni.physx.plugin] Deformable Body feature is only supported on GPU. Please enable GPU dynamics flag in Property/Scene of physics scene!
from omni.isaac.examples.base_sample import BaseSample
import numpy as np
import math
from omni.physx.scripts import deformableUtils, physicsUtils
import omni.physxdemos as demo
import omni.usd
from pxr import UsdGeom, Sdf, Gf, PhysxSchema, UsdPhysics
import omni.physx
from pxr import UsdGeom
import omni
import carb
class HelloWorld(BaseSample):
def __init__(self) -> None:
super().__init__()
return
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
stage = omni.usd.get_context().get_stage()
physics_scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/World/physicsScene"))
physx_scene = PhysxSchema.PhysxSceneAPI.Apply(physics_scene.GetPrim())
physx_scene.CreateEnableGPUDynamicsAttr().Set(True) #enable GPU
world.set_simulation_dt(physics_dt=1.0 / 600.0, rendering_dt=1.0 / 60.0) #change dt
#make cube
result, path = omni.kit.commands.execute("CreateMeshPrimCommand", prim_type="Cube")
# Get the prim
cube_prim = stage.GetPrimAtPath(path)
xform = UsdGeom.Xformable(cube_prim)
transform = xform.AddTransformOp()
mat = Gf.Matrix4d()
xform.AddTranslateOp().Set(Gf.Vec3d(0.0,0.0,1.0))
mat.SetRotateOnly(Gf.Rotation(Gf.Vec3d(0,0,0), 290))
xform.AddScaleOp().Set(Gf.Vec3f(0.5, 0.5, 0.5))
transform.Set(mat)
simulation_resolution = 10
# Apply PhysxDeformableBodyAPI and PhysxCollisionAPI to skin mesh and set parameter to default values
success = deformableUtils.add_physx_deformable_body(
stage,
xform.GetPath(),
collision_simplification=True,
simulation_hexahedral_resolution=simulation_resolution,
self_collision=False,
)
# Create a deformable body material and set it on the deformable body
deformable_material_path = omni.usd.get_stage_next_free_path(stage, "Cube", True)
deformableUtils.add_deformable_body_material(
stage,
deformable_material_path,
youngs_modulus=10000.0,
poissons_ratio=0.49,
damping_scale=0.0,
dynamic_friction=0.5,
)
physicsUtils.add_physics_material_to_prim(stage, xform.GetPrim(), deformable_material_path)
async def setup_post_load(self):
self._world = self.get_world()
return
Hi,
ah yes, this does ring a bell, I think this is a duplicate issue of this forum question:
See the answer from Kelly at the end, I think its the same issue. The GPU dynamics on a physics scene needs to be enabled, but is somehow turned off by the Isaac scripts.
# Configure the physics scene to use GPU dynamics for particles (fluids)
physics_context = simulation_context.get_physics_context()
physics_context.enable_gpu_dynamics(True)
Hi @Yuya_t - The error message you’re seeing is indicating that the GPU dynamics flag needs to be enabled in the physics scene properties. This is because deformable bodies in PhysX require GPU acceleration.
You are already enabling GPU dynamics in your code with the line physics_context.enable_gpu_dynamics(True). However, it seems like this is not taking effect.
One possible reason could be that the GPU dynamics flag needs to be set before the physics scene is created. If the physics scene is already created before this line is executed, the change might not take effect.
You can try moving the enable_gpu_dynamics(True) line to be before the world.scene.add_default_ground_plane() line, like this:
world.scene.add_default_ground_plane()
This ensures that the GPU dynamics flag is set before the physics scene is created.
If this doesn’t solve the issue, it could be that your system doesn’t support GPU acceleration, or the necessary GPU drivers are not installed. You can check if your system supports GPU acceleration and if the necessary drivers are installed.
