Retune Franka deformable lift for stable grasping

docs/source/_static/css/environment-browser.js

@@ -21,13 +21,13 @@
             ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
             ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp", "", ""],
             ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
-            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "", ""],
-            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
             ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],
-            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "", ""],
-            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
             ["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "", "", ""],
             ["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Pendulum-Direct", "rl_games,skrl", "", "", ""],
@@ -150,7 +150,7 @@
         populateSelect(fields.physics, task.physics, [fields.physics.value, "newton_mjwarp", "isaacsim_physx", "ovphysx", "newton_kamino"]);
         const preferredRenderer = fields.physics.value.startsWith("newton") ? "newton_renderer" : "isaacsim_rtx";
         populateSelect(fields.renderer, task.renderer, [fields.renderer.value, preferredRenderer, "ovrtx"]);
-        populateSelect(fields.presets, task.presets, [fields.presets.value, "rgb", "cube", "single_camera"]);
+        populateSelect(fields.presets, task.presets, [fields.presets.value, "joint", "ik", "rgb", "cube", "single_camera"]);
     };
 
     const currentCommand = () => {

docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst

@@ -188,6 +188,8 @@ Core Solve
       - Description
     * - ``iterations``
       - Default: ``10``. Number of VBD iterations per substep. Increasing this value improves deformation and contact convergence, especially for stiff materials or rigid gripper contacts, but increases runtime.
+    * - ``rigid_body_particle_contact_buffer_size``
+      - Default: ``256``. Per-body capacity for particle, edge, and face soft contacts. Increase it if Newton reports a per-body contact buffer overflow.
     * - ``integrate_with_external_rigid_solver``
       - Default: ``False``. Set to ``True`` only when a manual manager integrates rigid bodies in the shared model. Proxy-coupled entries use partitioned model views and leave this ``False``.
 
@@ -272,7 +274,7 @@ The core Franka soft-body task demonstrates the proxy configuration:
 .. literalinclude:: ../../../../../../source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
     :language: python
     :start-at: newton_mjwarp_vbd_proxy: NewtonCfg
-    :end-before: isaacsim_physx: PhysxCfg = PhysxCfg()
+    :end-before: isaacsim_physx: PhysxCfg = PhysxCfg(
     :dedent: 4
 
 What the selectors do:
@@ -298,6 +300,10 @@ What the selectors do:
   VBD. Only the ``panda_hand`` and the two fingers are exposed as proxies,
   so VBD sees three rigid proxies regardless of the number of arm links.
 
+Full-surface rigid-soft contact includes edge and triangle-interior contacts.
+Analytic proxy shapes support it directly, while mesh and convex proxy shapes
+require a volume SDF.
+
 .. important::
 
     The coupler currently rejects

docs/source/overview/environments.rst

@@ -247,24 +247,24 @@ for the lift-cube environment:
     | |lift-cube|             | |lift-cube-link|             | Pick a cube and bring it to a sampled target position with the Franka robot |                                         |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
     | |lift-soft-franka|      | |lift-soft-franka-link|      | Pick a deformable soft body and bring it to a sampled target position with  | **physics=** ``isaacsim_physx``,        |
-    |                         |                              | the Franka robot                                                            | ``newton_mjwarp_vbd_proxy``,            |
-    |                         |                              |                                                                             | ``ovphysx``                             |
+    |                         |                              | the Franka robot                                                            | ``newton_mjwarp_vbd_proxy``             |
+    |                         |                              |                                                                             | **presets=** ``ik``, ``joint``          |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
     | |lift-soft-franka|      | |lift-soft-franka-cam-link|  | Camera (vision) variant of the soft-body lift task using RGB observations   | **physics=** ``isaacsim_physx``,        |
-    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``,            |
-    |                         |                              |                                                                             | ``ovphysx``                             |
+    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``             |
     |                         |                              |                                                                             | **renderer=** ``isaacsim_rtx``,         |
     |                         |                              |                                                                             | ``newton_renderer``, ``ovrtx``          |
+    |                         |                              |                                                                             | **presets=** ``ik``, ``joint``          |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
     | |lift-cloth-franka|     | |lift-cloth-franka-link|     | Lift a deformable cloth from a table with the Franka robot                  | **physics=**                            |
-    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``,            |
-    |                         |                              |                                                                             | ``ovphysx``                             |
+    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``             |
+    |                         |                              |                                                                             | **presets=** ``ik``, ``joint``          |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
     | |lift-cloth-franka|     | |lift-cloth-franka-cam-link| | Camera (vision) variant of the cloth lift task using RGB observations       | **physics=**                            |
-    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``,            |
-    |                         |                              |                                                                             | ``ovphysx``                             |
+    |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``             |
     |                         |                              |                                                                             | **renderer=** ``isaacsim_rtx``,         |
     |                         |                              |                                                                             | ``newton_renderer``, ``ovrtx``          |
+    |                         |                              |                                                                             | **presets=** ``ik``, ``joint``          |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
     | |stack-cube|            | |stack-cube-link|            | Stack three cubes (bottom to top: blue, red, green) with the Franka robot.  | **physics=** ``isaacsim_physx``,        |
     |                         |                              | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic       | ``newton_mjwarp``                       |
@@ -1113,12 +1113,14 @@ including disabling runtime perturbations used for training.
     * - Isaac-Lift-Cloth-Franka
       - Manager Based
       - **rsl_rl** (PPO)
-      - **physics=** ``newton_mjwarp_vbd_proxy``, ``ovphysx``
+      - | **physics=** ``newton_mjwarp_vbd_proxy``
+          | **presets=** ``ik``, ``joint``
     * - Isaac-Lift-Cloth-Franka-Camera
       - Manager Based
       - **rsl_rl** (PPO)
-      - | **physics=** ``newton_mjwarp_vbd_proxy``, ``ovphysx``
+      - | **physics=** ``newton_mjwarp_vbd_proxy``
           | **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``
+          | **presets=** ``ik``, ``joint``
     * - Isaac-Lift-Franka
       - Manager Based
       - **rsl_rl** (PPO)
@@ -1138,12 +1140,14 @@ including disabling runtime perturbations used for training.
     * - Isaac-Lift-Soft-Franka
       - Manager Based
       - **rsl_rl** (PPO)
-      - **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``, ``ovphysx``
+      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
+          | **presets=** ``ik``, ``joint``
     * - Isaac-Lift-Soft-Franka-Camera
       - Manager Based
       - **rsl_rl** (PPO)
-      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``, ``ovphysx``
+      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
           | **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``
+          | **presets=** ``ik``, ``joint``
     * - Isaac-Open-Drawer-Franka
       - Manager Based
       - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)