Add APIs for deformable asset #630
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Signed-off-by: Mayank Mittal <[email protected]>
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py
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| return self.root_physx_view.count | ||
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| @property | ||
| def num_bodies(self) -> int: |
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does this property still make sense for deformables? or more to keep align with the rigid object class?
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Mostly to keep it similar to rigid bodies but probably doesn't make sense there as well 😅 . Mostly it's there for some backwards compatibility.
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| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | |||
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should we also have tests for the sim and collision APIs in the data class?
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added init tests to check the tensors are of the right shape
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might need another formatting run and looks like the tests are failing |
| if self._root_physx_view._backend is None: | ||
| raise RuntimeError(f"Failed to create articulation at: {self.cfg.prim_path}. Please check PhysX logs.") |
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NIT: Can you add this and the other raised Exceptions to the Raises: section of docstring. Not critical by any means!
| """Deformable body view for the asset (PhysX). | ||
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| Note: | ||
| Use this view with caution. It requires handling of tensors in a specific way. |
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NIT: This is very vague, but I think it's copy / pasted from other assets?
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Yup. But I think we can remove this note everywhere. It was only back in the days where we had to handle indexing of tensors ourselves. I think users can now do it as well since it isn't so complicated.
| # Think: Should we reset the kinematic targets when resetting the object? | ||
| # This is not done in the current implementation. We assume users will reset the kinematic targets. |
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Can you make a ticket for this?
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@masoudmoghani Can you please make a ticket on this? I think in general we shouldn't do any hidden operation but maybe worth keeping in mind as more people adopt deformabels.
| Internal helper. | ||
| """ | ||
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| def _initialize_impl(self): |
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NIT: Can add Raises section here for all raised exceptions
Description
This MR adds deformable object API to assets in the core framework. The class creates two physics views: one for the deformable object and the other one for the deformable material. Based on these, the users can set and get different nodal information from the solver, as well as randomize deformable material properties.
The MR also adds some basic tests and a script in the tutorial that showcases the deformable object.
Type of change
Screenshots
Output from:
defo_cube.mp4
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there