Simulating a soft rope in Isaac SIm

[WenMinggong]

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Isaac Sim Version

[*] 4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Isaac Lab Version (if applicable)

[*] 1.2
1.1
1.0
Other (please specify):

Operating System

[*] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model:
• Driver Version:

Topic Description

Detailed Description

I try to simulate a soft rope in Isaac Sim. The things I did are as follows:

1. create a cylinder mesh
2. add Physics-Deformable Body to this mesh
3. set simulation mesh resolution to 32

Actually, when I turn the deformable debug view on, the cylinder looks like a soft rope. While I turn the deformable debug view off, it looks like a rigid stick. And I found that the rigid stick is an approximation of the soft rope, which connects the two ends of the soft rope.

Why does this phenomenon happen? Are there any solutions to solve it?

Screenshots or Videos

[WenMinggong]

Increasing the values of Create-mesh-settings-U/V/W_Verts_Scale before creating the cylinder can solve this issue.
However, it seems that no APIs exist to be used directly to set these values in Isaac Lab.