[pull] develop from isaac-sim:develop

docs/source/api/lab/isaaclab.sim.schemas.rst

@@ -54,6 +54,8 @@ isaaclab.sim.schemas
     UsdPhysicsDriveCfg
     UsdPhysicsMeshCollisionCfg
     MassCfg
+    DeformableBodyFragment
+    OmniPhysicsDeformableBodyCfg
 
   .. rubric:: Fragment writers
 
@@ -70,6 +72,8 @@ isaaclab.sim.schemas
     apply_namespaced
     apply_drive
     apply_mesh_collision
+    apply_volume_deformable_properties
+    apply_surface_deformable_properties
 
   .. rubric:: Functions
 
@@ -164,6 +168,16 @@ Schema Fragments
     :show-inheritance:
     :exclude-members: __init__
 
+.. autoclass:: DeformableBodyFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: OmniPhysicsDeformableBodyCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
 .. autofunction:: apply_rigid_body_properties
 .. autofunction:: apply_collision_properties
 .. autofunction:: apply_mass_properties
@@ -175,6 +189,8 @@ Schema Fragments
 .. autofunction:: apply_namespaced
 .. autofunction:: apply_drive
 .. autofunction:: apply_mesh_collision
+.. autofunction:: apply_volume_deformable_properties
+.. autofunction:: apply_surface_deformable_properties
 
 Articulation Root
 -----------------

docs/source/api/lab/isaaclab.sim.spawners.rst

@@ -302,6 +302,9 @@ Materials
     RigidBodyMaterialFragment
     UsdPhysicsRigidBodyMaterialCfg
     RigidBodyMaterialCfg
+    DeformableMaterialFragment
+    OmniPhysicsDeformableMaterialCfg
+    OmniPhysicsSurfaceDeformableMaterialCfg
     DeformableBodyMaterialBaseCfg
     SurfaceDeformableBodyMaterialBaseCfg
     DeformableBodyMaterialCfg
@@ -354,6 +357,8 @@ Physical Materials
     :show-inheritance:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_physics_material_from_fragments
+
 .. autofunction:: spawn_rigid_body_material_from_fragments
 
 .. autoclass:: RigidBodyMaterialFragment
@@ -370,6 +375,21 @@ Physical Materials
     :members:
     :exclude-members: __init__, func
 
+.. autoclass:: DeformableMaterialFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: OmniPhysicsDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: OmniPhysicsSurfaceDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autofunction:: spawn_deformable_body_material
 
 .. autoclass:: DeformableBodyMaterialBaseCfg

docs/source/api/lab_newton/isaaclab_newton.sim.spawners.rst

@@ -8,6 +8,8 @@ isaaclab_newton.sim.spawners
   .. autosummary::
 
     NewtonMaterialCfg
+    NewtonVolumeDeformableMaterialCfg
+    NewtonSurfaceDeformableMaterialCfg
     NewtonDeformableBodyMaterialCfg
     NewtonDeformableMaterialCfg
     NewtonSurfaceDeformableBodyMaterialCfg
@@ -26,6 +28,16 @@ Deformable Materials
 Newton provides the backend-specific deformable material cfgs. Deformable material spawning is unified in
 :func:`isaaclab.sim.spawners.materials.spawn_deformable_body_material`.
 
+.. autoclass:: NewtonVolumeDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: NewtonSurfaceDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autoclass:: NewtonDeformableBodyMaterialCfg
     :members:
     :show-inheritance:

docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst

@@ -54,6 +54,8 @@ isaaclab_physx.sim.schemas
 
     OmniPhysicsDeformableBodyPropertiesCfg
     PhysxDeformableBodyPropertiesCfg
+    PhysxDeformableBodyCfg
+    PhysxSurfaceDeformableBodyCfg
     DeformableBodyPropertiesCfg
 
   .. rubric:: Functions
@@ -166,6 +168,16 @@ Deformable Body
     :show-inheritance:
     :exclude-members: __init__
 
+.. autoclass:: PhysxDeformableBodyCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: PhysxSurfaceDeformableBodyCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autoclass:: DeformableBodyPropertiesCfg
     :members:
     :show-inheritance:

docs/source/api/lab_physx/isaaclab_physx.sim.spawners.rst

@@ -9,6 +9,8 @@ isaaclab_physx.sim.spawners
 
     PhysxRigidBodyMaterialCfg
     PhysxMaterialCfg
+    PhysxDeformableMaterialCfg
+    PhysxSurfaceDeformableMaterialCfg
     PhysxDeformableBodyMaterialCfg
     PhysxSurfaceDeformableBodyMaterialCfg
     PhysXDeformableMaterialCfg
@@ -33,6 +35,16 @@ Deformable Materials
 PhysX provides the backend-specific deformable material cfgs. Deformable material spawning is unified in
 :func:`isaaclab.sim.spawners.materials.spawn_deformable_body_material`.
 
+.. autoclass:: PhysxDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: PhysxSurfaceDeformableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autoclass:: PhysxDeformableBodyMaterialCfg
     :members:
     :show-inheritance:

docs/source/concepts/schema_fragments.rst

@@ -61,9 +61,17 @@ imports a backend:
    * - ``spatial_tendons_props``
      - :func:`~isaaclab.sim.schemas.apply_spatial_tendon_properties`
      - tendon attachment root prims
+   * - ``volume_deformable_props``
+     - :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties`
+     - volume deformable-body prims (``UsdGeom.TetMesh`` simulation mesh)
+   * - ``surface_deformable_props``
+     - :func:`~isaaclab.sim.schemas.apply_surface_deformable_properties`
+     - surface deformable-body prims (triangle-mesh simulation mesh)
 
 The tendon families are *tune-not-apply*: the tendon topology is authored in the source
-asset, so their writers only tune existing instances and never create them. PhysX tendon
+asset, so their writers only tune existing instances and never create them. The deformable
+families sit at the other end of that spectrum: see :ref:`schema-fragments-deformable`.
+PhysX tendon
 fragments use ``instance_names`` to select one or more instances on each matching prim;
 ``None`` (the default) broadcasts to all existing instances.
 
@@ -205,6 +213,88 @@ receives the API, so a too-broad pattern can, for example, give every mesh in a
 its own mass. Which bodies participate in an articulation is still decided by the
 asset's joints, not by the expression. Scope creation patterns deliberately.
 
+.. _schema-fragments-deformable:
+
+Deformable bodies
+------------------
+
+The deformable families invert the "modify existing" default: the
+``volume_deformable_props`` / ``surface_deformable_props`` writers
+(:func:`~isaaclab.sim.schemas.apply_volume_deformable_properties` /
+:func:`~isaaclab.sim.schemas.apply_surface_deformable_properties`) always create a full
+deformable-body setup on a matched prim that lacks one, with no opt-in flag to set. Fragments
+for both slots subclass :class:`~isaaclab.sim.schemas.DeformableBodyFragment`; the
+core-owned :class:`~isaaclab.sim.schemas.OmniPhysicsDeformableBodyCfg` carries the
+solver-common fields (``deformable_body_enabled``, ``kinematic_enabled``, ``mass``). PhysX
+adds its own body-tuning fragments (``PhysxDeformableBodyCfg`` for shared solver/damping
+attributes, ``PhysxSurfaceDeformableBodyCfg`` narrowed to surface deformables) in
+:mod:`isaaclab_physx.sim.schemas`. Newton needs no additional body fragment.
+
+At most one of the two slots may be set on a spawner: a mesh is spawned as either a volume
+deformable (tetrahedralized interior) or a surface deformable (cloth-like), never both. The
+slot's mapping keys are regular-expression suffixes appended to the *spawn* prim — unlike the
+other families, this holds for every spawner type, including shape and mesh spawners whose other
+families anchor at the geometry or container prim instead. The empty string ``""`` again
+selects the spawn prim itself, and ``"(/.*)?"`` selects it together with its subtree.
+
+Creating the deformable setup on a matched prim without the anchor happens in three steps:
+
+#. **Simulation mesh.** A ``sim_mesh`` child prim is authored under the target (the name is
+   configurable via the writer's ``sim_mesh_name`` argument). For surface deformables this is
+   a triangle-mesh copy of the visual mesh; for volume deformables it is a tetrahedralized
+   ``UsdGeom.TetMesh`` — reused in place, without re-tetrahedralizing, when the source asset
+   already ships a pre-tetrahedralized ``UsdGeom.TetMesh`` child.
+#. **Backend anchor.** The active physics backend applies its own anchor schemas through
+   ``PhysicsManager.setup_deformable_body``: PhysX applies the real ``OmniPhysicsDeformableBodyAPI``
+   to the body prim (the same single schema for both deformable types) and the type-dependent
+   ``OmniPhysicsVolumeDeformableSimAPI`` / ``OmniPhysicsSurfaceDeformableSimAPI`` to the
+   simulation-mesh prim, while Newton applies its own (currently token-only) ``Physics*`` schemas.
+   Core fragments own no applied schema of their own —
+   :class:`~isaaclab.sim.schemas.OmniPhysicsDeformableBodyCfg` only writes into the
+   ``omniphysics:*`` namespace once the anchor exists.
+#. **Fragment dispatch.** Every fragment in the matched slot is applied to the target, in list
+   order, exactly like the other families.
+
+``UsdPhysics.MassAPI`` is not honored for deformables: set mass through
+:attr:`~isaaclab.sim.schemas.OmniPhysicsDeformableBodyCfg.mass` instead.
+
+Because the simulation mesh already carries ``UsdPhysics.CollisionAPI`` once created, its
+collision offsets ride the existing collision family rather than a deformable-specific one:
+key ``collision_props`` to the simulation-mesh child (``"/sim_mesh"`` by default),
+anchored the same way as the deformable slot itself, relative to the spawn prim.
+
+Physics materials widen the same way: ``physics_material`` accepts deformable material
+fragments (subclasses of ``DeformableMaterialFragment`` in
+:mod:`isaaclab.sim.spawners.materials`, e.g. ``OmniPhysicsDeformableMaterialCfg`` /
+``OmniPhysicsSurfaceDeformableMaterialCfg``) and mixed lists that combine a rigid-body
+material fragment with a deformable one. The ``UsdPhysics.MaterialAPI`` anchor is applied
+only when the list contains a rigid-body material fragment; deformable material fragments
+apply their own schema (e.g. ``OmniPhysicsDeformableMaterialAPI``) independently, since a
+material prim bound only to deformable bodies has no rigid-body material semantics to anchor.
+
+A cuboid mesh spawned as a volume deformable, with PhysX solver tuning, a collision offset on
+the simulation mesh, and a mixed PhysX/Newton material:
+
+.. code-block:: python
+
+   import isaaclab.sim as sim_utils
+   from isaaclab_physx.sim.schemas import PhysxCollisionCfg, PhysxDeformableBodyCfg
+   from isaaclab.sim.spawners.materials import OmniPhysicsDeformableMaterialCfg
+   from isaaclab_newton.sim.spawners.materials import NewtonVolumeDeformableMaterialCfg
+
+   sim_utils.MeshCuboidCfg(
+       size=(0.2, 0.2, 0.2),
+       volume_deformable_props=[
+           sim_utils.schemas.OmniPhysicsDeformableBodyCfg(mass=0.5),
+           PhysxDeformableBodyCfg(solver_position_iteration_count=32),
+       ],
+       collision_props={"/sim_mesh": [PhysxCollisionCfg(contact_offset=0.01)]},
+       physics_material=[
+           OmniPhysicsDeformableMaterialCfg(youngs_modulus=1.0e6, poissons_ratio=0.45),
+           NewtonVolumeDeformableMaterialCfg(k_mu=1.0e5),
+       ],
+   )
+
 See also
 --------
 

docs/source/concepts/sensors/contact_sensor.rst

@@ -73,13 +73,20 @@ Enable optional buffers only when they are needed. Their backend support differs
 
 * Isaac Sim PhysX supports pose, filtered contact-point, and filtered friction-force
   tracking, but not aggregate friction-force tracking.
-* OvPhysX supports pose tracking for a single sensor body per environment, but not contact-point or
-  friction-force tracking.
+* OvPhysX supports filtered contact-point and filtered friction-force tracking, but not aggregate
+  friction-force tracking. Pose tracking is supported for a single sensor body per environment.
 * Newton supports filtered contact-point and aggregate or filtered friction-force tracking, but not
   pose tracking.
 
-Filtered contact points and friction-force matrices require filters. Contact-rich Isaac
-Sim PhysX scenes may require a larger ``max_contact_data_count_per_prim``.
+Filtered contact points and friction-force matrices require filters. Isaac Sim PhysX and OvPhysX
+require a positive ``max_contact_data_count_per_prim`` for these features. Contact-rich scenes may
+require a larger value. OvPhysX warns and truncates detailed contacts when capacity is exceeded;
+increase the configured capacity before recreating the sensor to retain all contacts.
+
+Contact positions are averaged over each sensor/filter pair and are ``NaN`` when the pair has no
+contacts. OvPhysX also resets contact positions to ``NaN``. Filtered friction forces sum the pair's
+friction forces and are zero without contact. On PhysX and OvPhysX, contact points and friction
+anchors can have different counts.
 
 Read the data
 -------------
@@ -108,19 +115,19 @@ principal Torch views have these contracts:
      - Normal force [N] from each filtered partner
    * - ``friction_force_matrix_w.torch``
      - ``(E, S, F, 3)``
-     - Friction force [N] from each filtered partner; Isaac Sim PhysX and Newton
+     - Friction force [N] from each filtered partner; Isaac Sim PhysX, OvPhysX, and Newton
    * - ``contact_pos_w.torch``
      - ``(E, S, F, 3)``
-     - Average filtered contact position [m] in world frame; unavailable on OvPhysX
+     - Average filtered contact position [m] in world frame
    * - ``current_air_time.torch`` / ``current_contact_time.torch``
      - ``(E, S)``
      - Current mode duration [s]
 
 Supported optional buffers are ``None`` unless their matching tracking option or filter is enabled.
 Normal and friction force histories follow the same shapes with an added ``H`` dimension.
-OvPhysX rejects unsupported tracking options during initialization. Reading aggregate friction on
-PhysX or OvPhysX raises ``NotImplementedError``. The compatibility alias ``friction_forces_w``
-returns the aggregate on Newton; on PhysX it returns ``friction_force_matrix_w`` with a warning.
+Reading aggregate friction on PhysX or OvPhysX raises ``NotImplementedError``. The compatibility
+alias ``friction_forces_w`` returns the aggregate on Newton; on PhysX and OvPhysX it returns
+``friction_force_matrix_w`` with a warning.
 Reading pose data on Newton raises ``NotImplementedError``.
 
 .. code-block:: python

scripts/benchmarks/nsys_trace.json

@@ -256,13 +256,12 @@
         "functions": [
             "OVRTXRenderer.prepare_stage",
             "OVRTXRenderer.create_render_data",
-            "OVRTXRenderer._clone_sources_in_ovrtx",
-            "OVRTXRenderer._clone_sources_ovstage",
+            "OVRTXRenderer._clone_sources",
             "OVRTXRenderer._update_scene_partitions_after_clone",
-            "OVRTXRenderer._update_scene_partitions_after_clone_ovstage",
-            "OVRTXRenderer._setup_xform_bindings",
-            "OVRTXRenderer._setup_deformable_bindings",
-            "OVRTXRenderer._setup_particle_bindings",
+            "OVRTXRenderer._setup_xform_bindings_legacy",
+            "OVRTXRenderer._setup_xform_bindings_ovstage",
+            "OVRTXRenderer._setup_geometry_bindings_legacy",
+            "OVRTXRenderer._setup_geometry_bindings_ovstage",
             "OVRTXRenderer.update_transforms",
             "OVRTXRenderer.update_geometries",
             "OVRTXRenderer.update_camera",

source/isaaclab/changelog.d/vidurv-deformable-fragments.minor.rst

@@ -0,0 +1,47 @@
+Added
+^^^^^
+
+* Added the deformable-body fragment families: :class:`~isaaclab.sim.schemas.DeformableBodyFragment`
+  and :class:`~isaaclab.sim.schemas.OmniPhysicsDeformableBodyCfg` with the expression-targeted
+  writers :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties` and
+  :func:`~isaaclab.sim.schemas.apply_surface_deformable_properties`.
+* Added deformable material fragments
+  (:class:`~isaaclab.sim.spawners.materials.OmniPhysicsDeformableMaterialCfg`,
+  :class:`~isaaclab.sim.spawners.materials.OmniPhysicsSurfaceDeformableMaterialCfg`) under the new
+  :class:`~isaaclab.sim.spawners.materials.DeformableMaterialFragment` marker, accepted by the
+  ``physics_material`` spawner fields.
+* Added ``volume_deformable_props`` and ``surface_deformable_props`` mappings to
+  :class:`~isaaclab.sim.spawners.DeformableObjectSpawnerCfg`, applying deformable fragments by
+  target pattern relative to the spawn prim. A bare fragment or list is shorthand for the spawn
+  prim itself. Alongside either slot, ``collision_props`` must be given as collision fragments; a
+  legacy collision cfg raises, since it cannot reach the simulation mesh.
+* Added :meth:`~isaaclab.physics.PhysicsManager.setup_deformable_body` so each physics backend
+  applies its own deformable anchor schemas.
+* Added ``tetrahedralization_edge_length_fac`` to
+  :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties`, so the volume fragment writer
+  controls the automatic tetrahedralization target edge length like
+  :func:`~isaaclab.sim.schemas.define_deformable_body_properties` does.
+
+Changed
+^^^^^^^
+
+* Changed :attr:`~isaaclab.sim.spawners.meshes.MeshCfg.edge_refinement` to apply to the
+  ``volume_deformable_props`` and ``surface_deformable_props`` slots as well, not only the legacy
+  ``deformable_props`` field.
+* Changed physics-material fragment lists to allow mixing rigid-body and deformable material
+  fragments on one material prim; the ``UsdPhysics.MaterialAPI`` anchor is applied only when a
+  rigid-body fragment is present. The writer is now named
+  :func:`~isaaclab.sim.spawners.materials.spawn_physics_material_from_fragments` accordingly.
+* Changed :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties` and
+  :func:`~isaaclab.sim.schemas.apply_surface_deformable_properties` to skip matched prims that are
+  already authored as the other deformable type. Such a prim is reported with a warning and drags
+  the return value to ``False`` instead of receiving a family it does not simulate with. Target the
+  prim through the writer matching its authored type.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated :func:`~isaaclab.sim.spawners.materials.spawn_rigid_body_material_from_fragments` in
+  favor of :func:`~isaaclab.sim.spawners.materials.spawn_physics_material_from_fragments`, which
+  also accepts deformable material fragments. The old name still forwards to the new writer and
+  emits a ``DeprecationWarning``; it is scheduled for removal in 3.2.