Expose VBD rigid contact controls

CONTRIBUTORS.md

@@ -179,6 +179,7 @@ Guidelines for modifications:
 * Rosario Scalise
 * Ruben D'Sa
 * Ruben Grandia
+* ruziniuuuuu
 * Ryan Gresia
 * Ryley McCarroll
 * Sahara Yuta

source/isaaclab_contrib/changelog.d/ruzini-vbd-coupling.minor.rst

@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added rigid-contact stability controls to
+  :class:`~isaaclab_contrib.deformable.VBDSolverCfg`.

source/isaaclab_contrib/isaaclab_contrib/deformable/newton_manager_cfg.py

@@ -116,7 +116,41 @@ class VBDSolverCfg(NewtonModelSolverCfg):
     """
 
     rigid_contact_k_start: float = 1.0e2
-    """Initial stiffness seed for all rigid body contacts [N/m]."""
+    """Initial stiffness seed for all rigid body contacts [N/m].
+
+    This only takes effect when :attr:`rigid_avbd_beta` is greater than zero;
+    otherwise the penalty stiffness stays fixed at the contact stiffness.
+    """
+
+    rigid_contact_hard: bool = True
+    """Whether rigid contacts use the augmented-Lagrangian hard-contact model.
+
+    Disable this for compliant penalty contacts, such as moving kinematic
+    proxies grasping a light rigid object.
+    """
+
+    rigid_contact_history: bool = False
+    """Whether rigid contacts warm-start penalties, duals, and stick anchors."""
+
+    rigid_avbd_contact_alpha: float | None = None
+    """Body-contact C0 stabilization strength in ``[0, 1]``.
+
+    ``None`` uses SolverVBD's shared ``rigid_avbd_alpha`` default. Lower values
+    correct more current penetration and strengthen contacts when history is
+    disabled or the iteration count is modest.
+    """
+
+    rigid_avbd_beta: float = 0.0
+    """Penalty ramp rate per rigid-body AVBD iteration; zero disables ramping.
+
+    :attr:`rigid_contact_k_start` only takes effect when this is greater than
+    zero; at zero the penalty stiffness is fixed at the contact stiffness.
+    Set to e.g. ``1e5`` to enable ramping. Shared by linear [m] and angular
+    [rad] constraints, which have different units.
+    """
+
+    rigid_body_contact_buffer_size: int = 64
+    """Maximum rigid contacts stored per body during one VBD solve."""
 
 
 @configclass

source/isaaclab_contrib/test/deformable/test_deformable_builder_hooks.py

@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import inspect
 import math
 import sys
 from types import SimpleNamespace
@@ -12,13 +13,15 @@
 from isaaclab_newton.cloner.replicate import NewtonReplicateContext
 from isaaclab_newton.physics import NewtonManager
 from isaaclab_newton.sim.spawners.materials import NewtonDeformableMaterialCfg
+from newton.solvers import SolverVBD
 
 from isaaclab_contrib.deformable import DeformableObject, VBDSolverCfg
 from isaaclab_contrib.deformable.deformable_object import (
     DeformableRegistryEntry,
     add_deformable_entry_to_builder,
     setup_registered_deformable_fabric_sync,
 )
+from isaaclab_contrib.deformable.vbd_manager import NewtonVBDManager
 
 
 class _FakeBuilder:
@@ -145,6 +148,26 @@ def test_newton_physics_context_is_replicate_context():
     assert PHYSICS_CONTEXT is NewtonReplicateContext
 
 
+def test_vbd_cfg_forwards_rigid_contact_stability_controls():
+    """Forward VBD rigid-contact controls with Newton-compatible defaults."""
+    configured_values = {
+        "rigid_contact_hard": False,
+        "rigid_contact_history": True,
+        "rigid_avbd_contact_alpha": 0.0,
+        "rigid_avbd_beta": 100.0,
+        "rigid_body_contact_buffer_size": 256,
+    }
+    cfg = VBDSolverCfg(**configured_values)
+
+    solver_kwargs = NewtonVBDManager._filter_solver_kwargs(SolverVBD, cfg)
+
+    assert {name: solver_kwargs[name] for name in configured_values} == configured_values
+    solver_parameters = inspect.signature(SolverVBD.__init__).parameters
+    default_cfg = VBDSolverCfg()
+    for name in configured_values:
+        assert getattr(default_cfg, name) == solver_parameters[name].default
+
+
 def test_fabric_particle_sync_skips_missing_fabric_prim(monkeypatch):
     """Test that missing Fabric prims are skipped before attributes are authored."""
     entry = _make_surface_entry()