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[FEAT] Add OVPhysX support to Franka deformable lift tasks #7077

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Merged
kellyguo11 merged 4 commits into from
Aug 20, 2026
Merged

[FEAT] Add OVPhysX support to Franka deformable lift tasks #7077

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4a2f355
Add OVPhysX support to Franka deformable lift tasks
mmichelis Aug 13, 2026
4fab654
Remove Franka deformable OVPhysX config tests
mmichelis Aug 13, 2026
325881a
Merge branch 'develop' into mmichelis/franka-deformable-ovphysx
mmichelis Aug 14, 2026
77171bc
Merge branch 'develop' into mmichelis/franka-deformable-ovphysx
kellyguo11 Aug 20, 2026
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5 changes: 5 additions & 0 deletions source/isaaclab_tasks/changelog.d/mmichelis-franka-deformable-ovphysx.minor.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
Added
^^^^^

* Added OVPhysX presets for the Franka soft-body and cloth lift tasks, including their camera
variants.
11 changes: 9 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
)
from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg
from isaaclab_newton.sim.spawners.materials import NewtonSurfaceDeformableBodyMaterialCfg
from isaaclab_ov.physics import OvPhysxCfg
from isaaclab_physx.physics import PhysxCfg
from isaaclab_physx.sim.schemas import PhysxCollisionCfg, PhysxDeformableBodyPropertiesCfg
from isaaclab_physx.sim.spawners.materials import PhysxSurfaceDeformableBodyMaterialCfg
Expand Down Expand Up @@ -100,8 +101,9 @@ class PhysicsCfg(PresetCfg):
)

isaacsim_physx: PhysxCfg = PhysxCfg(gpu_found_lost_pairs_capacity=2**22)
ovphysx: OvPhysxCfg = OvPhysxCfg(gpu_found_lost_pairs_capacity=2**22)

physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)

default = newton_mjwarp_vbd_proxy

Expand Down Expand Up @@ -163,6 +165,7 @@ class DeformableCfg(PresetCfg):
),
)
isaacsim_physx = physx
ovphysx = physx

default = newton_mjwarp_vbd_proxy

Expand Down Expand Up @@ -201,9 +204,10 @@ class FrankaClothScenePresetCfg(PresetCfg):
num_envs=2048, env_spacing=2.0, replicate_physics=True
)

# PhysX does not support replicating physics for deformable objects
# Isaac Sim PhysX does not support replicating physics for deformable objects
physx: FrankaClothSceneCfg = FrankaClothSceneCfg(num_envs=2048, env_spacing=2.0, replicate_physics=False)
isaacsim_physx = physx
ovphysx: FrankaClothSceneCfg = FrankaClothSceneCfg(num_envs=2048, env_spacing=2.0, replicate_physics=True)

default = newton_mjwarp_vbd_proxy

Expand All @@ -224,6 +228,9 @@ class FrankaClothCameraScenePresetCfg(PresetCfg):
)
physx: FrankaClothCameraSceneCfg = FrankaClothCameraSceneCfg(num_envs=128, env_spacing=2.5, replicate_physics=False)
isaacsim_physx = physx
ovphysx: FrankaClothCameraSceneCfg = FrankaClothCameraSceneCfg(
num_envs=128, env_spacing=2.5, replicate_physics=True
)
default = newton_mjwarp_vbd_proxy


Expand Down
32 changes: 29 additions & 3 deletions source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
)
from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg
from isaaclab_newton.sim.spawners.materials import NewtonDeformableBodyMaterialCfg
from isaaclab_ov.physics import OvPhysxCfg
from isaaclab_physx.physics import PhysxCfg
from isaaclab_physx.sim.schemas import PhysxCollisionCfg, PhysxDeformableBodyPropertiesCfg
from isaaclab_physx.sim.spawners.materials import PhysxDeformableBodyMaterialCfg
Expand Down Expand Up @@ -50,7 +51,7 @@
CouplerProxyMappingCfg,
)

from isaaclab_tasks.utils import PresetCfg
from isaaclab_tasks.utils import PresetCfg, preset
from isaaclab_tasks.utils.presets import MultiBackendRendererCfg

from ... import mdp
Expand Down Expand Up @@ -135,6 +136,7 @@ class DeformableCfg(PresetCfg):
),
)
isaacsim_physx = physx
ovphysx = physx

default = newton_mjwarp_vbd_proxy

Expand Down Expand Up @@ -185,8 +187,9 @@ class PhysicsCfg(PresetCfg):
)

isaacsim_physx: PhysxCfg = PhysxCfg()
ovphysx: OvPhysxCfg = OvPhysxCfg()

physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)

@isaaclab-review-bot isaaclab-review-bot Bot Aug 13, 2026

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🟡 Warning · Design Architecture — Auto physx preset keeps unsupported gravity terms

PhysxAutoCfg now also carries ovphysx (and likewise at line 97 in the cloth config), so selecting the generic physx preset can resolve to OVPhysX. The new events/curriculum presets map physx to the unmodified configs (lines 663, 672), leaving variable_gravity and the gravity curriculum active on a backend that this PR states has no runtime gravity setter. Map physx to the gravity-free variants, or key the workaround on the resolved backend.


default = newton_mjwarp_vbd_proxy

Expand Down Expand Up @@ -609,9 +612,10 @@ class FrankaSoftSceneCfg(PresetCfg):
num_envs=2048, env_spacing=2.0, replicate_physics=True
)

# PhysX does not support replicating physics for deformable objects
# Isaac Sim PhysX does not support replicating physics for deformable objects
physx: _FrankaSoftSceneCfg = _FrankaSoftSceneCfg(num_envs=2048, env_spacing=2.0, replicate_physics=False)
isaacsim_physx = physx
ovphysx: _FrankaSoftSceneCfg = _FrankaSoftSceneCfg(num_envs=2048, env_spacing=2.0, replicate_physics=True)

default = newton_mjwarp_vbd_proxy

Expand All @@ -625,6 +629,9 @@ class FrankaSoftCameraSceneCfg(PresetCfg):
)
physx: _FrankaSoftCameraSceneCfg = _FrankaSoftCameraSceneCfg(num_envs=128, env_spacing=2.0, replicate_physics=False)
isaacsim_physx = physx
ovphysx: _FrankaSoftCameraSceneCfg = _FrankaSoftCameraSceneCfg(
num_envs=128, env_spacing=2.0, replicate_physics=True
)
default = newton_mjwarp_vbd_proxy


Expand Down Expand Up @@ -660,6 +667,25 @@ def __post_init__(self) -> None:
self.sim.render_interval = self.decimation
self.sim.physics = PhysicsCfg()

# OVPhysX does not expose a runtime gravity setter.
default_events = self.events
self.events = preset(
default=default_events,
physx=default_events,

@greptile-apps greptile-apps Bot Aug 13, 2026

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P1 PhysX auto-selection retains gravity

When a Kit-less training run selects the broad physx preset, PhysxAutoCfg chooses OVPhysX but this variant retains variable_gravity and the gravity curriculum, causing resets to invoke a runtime gravity setter that OVPhysX does not provide and abort training.

Knowledge Base Used: isaaclab_tasks: Task Registration and Organization

isaacsim_physx=default_events,
newton_mjwarp_vbd_proxy=default_events,
ovphysx=default_events.replace(variable_gravity=None),
)
if self.curriculum is not None:
default_curriculum = self.curriculum
self.curriculum = preset(
default=default_curriculum,
physx=default_curriculum,
isaacsim_physx=default_curriculum,
newton_mjwarp_vbd_proxy=default_curriculum,
ovphysx=default_curriculum.replace(gravity=None),
)

self.viewer.eye = (0.75, 0.25, 0.65)
self.viewer.lookat = (0.0, 0.75, 0.4)
self.sim.default_visualizer_cfg = _FrankaSoftVisualizerCfg(
Expand Down
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