Isaac Lab Deformable Body

Omniverse Isaac Sim
1

Hi all, thanks for the great work with Isaac Lab!

Previously, I had an OIGE simulation based on the Franka Deformable example. I’m trying to migrate this to Isaac Lab to be able to use other training frameworks and also, if I understood correctly, to use Manager Based environments so that I can separate scene creation from the training (and hopefully be able to use trained policies as part of more complex scenes).

The problem is that I cannot get the deformable body to work on Isaac Lab. I’m getting these errors:

2024-06-08 13:44:20 [8,977ms] [Error] [omni.physx.plugin] Replication of this type is not supported: 1638400, prim path: /World/envs/env_0/MyDeformableBody/DeformableMaterial
2024-06-08 13:44:20 [8,977ms] [Error] [omni.physx.plugin] Replication of this type is not supported: 1769472, prim path: /World/envs/env_0/MyDeformableBody/Cylinder

Also, in OIGE, I could do this in the set_up_scene:

from pxr import Gf, UsdPhysics, PhysxSchema

  physicsScenePath = "/physicsScene"
        scene = UsdPhysics.Scene.Get(self.stage, physicsScenePath)
        if not scene:
            scene = UsdPhysics.Scene.Define(self.stage, physicsScenePath)
        
        physxSceneAPI = PhysxSchema.PhysxSceneAPI.Apply(scene.GetPrim())
        physxSceneAPI.GetGpuMaxSoftBodyContactsAttr().Set(2048576)  # Setting the GPU Max Soft Body Contacts attribute

And now I get:

Module pxr.UsdPhysics has no Scene members

Anything I’m missing? Any pointers?

Thanks!

5

I have encountered with the same issues. Have you found the solution for that? Thank you.

6

This PR (Adds APIs for spawning deformable meshes by Mayankm96 · Pull Request #613 · isaac-sim/IsaacLab · GitHub) seems to add deformables to IsaacLab but I have not tested it.

7

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