Add cable (1D rod) assets via Newton

.github/workflows/license-exceptions.json

@@ -502,5 +502,10 @@
     "package": "decorator",
     "license": "UNKNOWN",
     "comment": "BSD-2"
+  },
+  {
+    "package": "pytetwild",
+    "license": "MPL-2.0",
+    "comment": "MPL-2.0 / OSRB"
   }
 ]

docs/conf.py

@@ -224,6 +224,7 @@
     "hydra.core",
     "hydra.core.config_store",
     "omegaconf",
+    "newton",
 ]
 
 # List of zero or more Sphinx-specific warning categories to be squelched (i.e.,

docs/source/_static/css/custom.css

@@ -110,3 +110,10 @@ a {
     text-align: center;
     vertical-align: middle;
 }
+
+.square-crop-figure img {
+    aspect-ratio: 1 / 1;
+    object-fit: cover;
+    object-position: center;
+    width: min(100%, 480px);
+}

docs/source/api/index.rst

@@ -82,7 +82,9 @@ The following modules are available in the ``isaaclab_contrib`` extension:
 
    actuators
    assets
+   cable
    controllers
+   deformable
    mdp
    rl
    sensors
@@ -129,17 +131,10 @@ The following modules are available in the ``isaaclab_physx`` extension:
    physics
    renderers
    sensors
-   sim.schemas
-   sim.spawners
 
 .. toctree::
    :hidden:
 
-   lab_physx/isaaclab_physx.assets
-   lab_physx/isaaclab_physx.cloner
-   lab_physx/isaaclab_physx.physics
-   lab_physx/isaaclab_physx.renderers
-   lab_physx/isaaclab_physx.sensors
    lab_physx/isaaclab_physx.sim.schemas
    lab_physx/isaaclab_physx.sim.spawners
 
@@ -163,12 +158,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
 .. toctree::
    :hidden:
 
-   lab_newton/isaaclab_newton.assets
-   lab_newton/isaaclab_newton.cloner
-   lab_newton/isaaclab_newton.physics
-   lab_newton/isaaclab_newton.renderers
-   lab_newton/isaaclab_newton.sensors
-   lab_newton/isaaclab_newton.sim.schemas
+   lab_newton/isaaclab_newton.sim.spawners
 
 isaaclab_ov extension
 ---------------------
@@ -182,11 +172,6 @@ The following modules are available in the ``isaaclab_ov`` extension:
 
    renderers
 
-.. toctree::
-   :hidden:
-
-   lab_ov/isaaclab_ov.renderers
-
 isaaclab_assets extension
 -------------------------
 
@@ -200,12 +185,6 @@ The following modules are available in the ``isaaclab_assets`` extension:
    robots
    sensors
 
-.. toctree::
-   :hidden:
-
-   lab_assets/isaaclab_assets.robots
-   lab_assets/isaaclab_assets.sensors
-
 isaaclab_visualizers extension
 ------------------------------
 

docs/source/api/lab/isaaclab.assets.rst

@@ -15,6 +15,11 @@
     RigidObjectCollection
     RigidObjectCollectionData
     RigidObjectCollectionCfg
+    BaseDeformableObject
+    BaseDeformableObjectData
+    DeformableObject
+    DeformableObjectData
+    DeformableObjectCfg
     Articulation
     ArticulationData
     ArticulationCfg
@@ -71,6 +76,37 @@ Rigid Object Collection
     :show-inheritance:
     :exclude-members: __init__, class_type
 
+Deformable Object
+-----------------
+
+.. autoclass:: DeformableObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: BaseDeformableObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DeformableObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: BaseDeformableObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: DeformableObjectCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type, InitialStateCfg
+
 Articulation
 ------------
 

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

@@ -19,6 +19,9 @@ isaaclab.sim.schemas
     JointDriveBaseCfg
     MeshCollisionBaseCfg
     MassPropertiesCfg
+    JointDrivePropertiesCfg
+    FixedTendonPropertiesCfg
+    DeformableBodyPropertiesBaseCfg
 
   .. rubric:: Mesh collision approximations (USD-only, no PhysX schema)
 
@@ -44,9 +47,8 @@ isaaclab.sim.schemas
     define_mesh_collision_properties
     modify_mesh_collision_properties
     modify_fixed_tendon_properties
-    modify_spatial_tendon_properties
-
-.. currentmodule:: isaaclab.sim.schemas
+    define_deformable_body_properties
+    modify_deformable_body_properties
 
 Articulation Root
 -----------------
@@ -158,11 +160,10 @@ Tendon cfg classes are PhysX-only and live in
 Deformable Body
 ---------------
 
-.. note::
-
-   Deformable body schemas have moved to the PhysX backend extension. See
-   :class:`isaaclab_physx.sim.schemas.DeformableBodyPropertiesCfg`,
-   :func:`isaaclab_physx.sim.schemas.define_deformable_body_properties`, and
-   :func:`isaaclab_physx.sim.schemas.modify_deformable_body_properties`.
+.. autoclass:: DeformableBodyPropertiesBaseCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
 
-   For migration details, see :ref:`migrating-deformables`.
+.. autofunction:: define_deformable_body_properties
+.. autofunction:: modify_deformable_body_properties

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

@@ -21,6 +21,7 @@
 
     SpawnerCfg
     RigidObjectSpawnerCfg
+    DeformableObjectSpawnerCfg
 
 Spawners
 --------
@@ -34,12 +35,10 @@ Spawners
     :show-inheritance:
     :exclude-members: __init__
 
-.. note::
-
-   ``DeformableObjectSpawnerCfg`` has moved to the PhysX backend extension. See
-   :class:`isaaclab_physx.sim.spawners.DeformableObjectSpawnerCfg`.
-
-   For migration details, see :ref:`migrating-deformables`.
+.. autoclass:: DeformableObjectSpawnerCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
 
 Shapes
 ------
@@ -51,6 +50,7 @@ Shapes
   .. autosummary::
 
     ShapeCfg
+    CableCfg
     CapsuleCfg
     ConeCfg
     CuboidCfg
@@ -61,6 +61,13 @@ Shapes
     :members:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_cable
+
+.. autoclass:: CableCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autofunction:: spawn_capsule
 
 .. autoclass:: CapsuleCfg
@@ -110,6 +117,7 @@ Meshes
     MeshConeCfg
     MeshCuboidCfg
     MeshCylinderCfg
+    MeshRectangleCfg
     MeshSphereCfg
 
 .. autoclass:: MeshCfg
@@ -144,6 +152,13 @@ Meshes
     :show-inheritance:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_mesh_rectangle
+
+.. autoclass:: MeshRectangleCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autofunction:: spawn_mesh_sphere
 
 .. autoclass:: MeshSphereCfg
@@ -261,6 +276,10 @@ Materials
     GlassMdlCfg
     PhysicsMaterialCfg
     RigidBodyMaterialCfg
+    DeformableBodyMaterialBaseCfg
+    SurfaceDeformableBodyMaterialBaseCfg
+    DeformableBodyMaterialCfg
+    SurfaceDeformableBodyMaterialCfg
 
 Visual Materials
 ~~~~~~~~~~~~~~~~
@@ -298,15 +317,36 @@ Physical Materials
     :members:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_deformable_body_material
+
+.. autoclass:: DeformableBodyMaterialBaseCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: SurfaceDeformableBodyMaterialBaseCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. note::
 
-   ``DeformableBodyMaterialCfg``, ``SurfaceDeformableBodyMaterialCfg``, and
-   ``spawn_deformable_body_material`` have moved to the PhysX backend extension. See
-   :class:`isaaclab_physx.sim.spawners.materials.DeformableBodyMaterialCfg`,
-   :class:`isaaclab_physx.sim.spawners.materials.SurfaceDeformableBodyMaterialCfg`, and
-   :func:`isaaclab_physx.sim.spawners.materials.spawn_deformable_body_material`.
+    Backend-specific deformable material cfgs live in
+    :mod:`isaaclab_physx.sim.spawners.materials` and
+    :mod:`isaaclab_newton.sim.spawners.materials`. The legacy default names below
+    are forwarded to the deprecated PhysX aliases for compatibility.
+
+.. autoclass:: DeformableBodyMaterialCfg
+    :no-index:
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
 
-   For migration details, see :ref:`migrating-deformables`.
+.. autoclass:: SurfaceDeformableBodyMaterialCfg
+    :no-index:
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
 
 Wrappers
 --------

docs/source/api/lab_contrib/isaaclab_contrib.cable.rst

@@ -0,0 +1,54 @@
+isaaclab_contrib.cable
+======================
+
+.. automodule:: isaaclab_contrib.cable
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    cable_object.CableObject
+    cable_object.CableRegistryEntry
+    cable_object_cfg.CableObjectCfg
+
+  .. rubric:: Replicate-hook plumbing
+
+  .. autosummary::
+
+    cable_object.add_cable_entry_to_builder
+    cable_object.add_registered_cables_to_builder
+    cable_object.install_cable_builder_hooks
+
+Cable Object
+------------
+
+.. autoclass:: isaaclab_contrib.cable.cable_object.CableObject
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: isaaclab_contrib.cable.cable_object_cfg.CableObjectCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+Replicate-Hook Plumbing
+-----------------------
+
+The cable registry / per-world builder hook mirrors the deformable contrib
+pattern: :class:`CableObject` constructor appends a
+:class:`CableRegistryEntry` to ``SimulationManager._cable_registry``, and the
+hook installed by :func:`install_cable_builder_hooks` walks that registry once
+per world during ``add_to_builder`` to call
+:meth:`newton.ModelBuilder.add_rod_graph`.
+
+.. autoclass:: isaaclab_contrib.cable.cable_object.CableRegistryEntry
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.add_cable_entry_to_builder
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.add_registered_cables_to_builder
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.install_cable_builder_hooks