Add backend-agnostic deformable pick-and-place#922
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Introduce a deformable (FEM soft-body) pick-and-place task on the Newton VBD backend: pre-tetrahedralized sphere/cube TetMesh assets and their generator, nodal-state reset events, centroid-based success/drop, and a registered maple-table environment. Enable the Newton path for the DROID gripper (Robotiq collision meshes) and GR1T2 (Isaac Sim 6 URDF export), and wire deformable support through the scene, placement, and relation-solver interfaces. Signed-off-by: tstuyck <tstuyck@nvidia.com>
Introduce physics_presets.py as the single source of truth mapping each preset to its backend, config, soft-body capability, and replicate_physics policy, and generate ArenaPhysicsCfg from it. Add deformable_spawn.py: a backend-neutral DeformableMaterial and a single build_deformable_spawn adapter (the only place naming PhysX/Newton deformable cfg classes), plus backend_object_preset which fans one per-backend spawn builder across every registry variant. Adding a new Newton solver variant is now one registry entry. Signed-off-by: tstuyck <tstuyck@nvidia.com>
Split the rigid-shaped machinery out of ObjectBase into a new SpawnableObjectBase (parent of Object/ObjectReference) so ObjectBase only declares the config- and pose-accessor contract. Reparent DeformableObject as a peer that provides its own hooks and is declared backend-neutrally (usd_path + DeformableMaterial), and shrink the procedural sphere/cube library objects to neutral material declarations naming no backend or preset. Signed-off-by: tstuyck <tstuyck@nvidia.com>
Replace the ObjectType.DEFORMABLE scan and newton-name string checks in the env builder with registry-driven queries: requires_soft_body_solver() on the asset plus the preset registry's soft-body and replicate_physics metadata. The builder no longer names any backend, variant, or object type. Signed-off-by: tstuyck <tstuyck@nvidia.com>
Make the predicate pose/velocity accessors dispatch on asset type so they work for rigid and deformable objects alike, add a velocity gate to objects_in_proximity and an object_is_below_height predicate, and repoint the deformable task at them. Removes the bespoke deformable-centroid termination functions. Signed-off-by: tstuyck <tstuyck@nvidia.com>
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Summary
Deformable pick-and-place, backend/variant-agnostic
Detailed description
physics_presets.py) as the single source of truth (backend, config, soft-body capability,replicate_physics) and a backend-neutral deformable spawn adapter (deformable_spawn.py) — the only place naming PhysX/Newton cfg classes. Adding a new Newton solver variant is one registry entry.DeformableObjectonto a cfg-agnosticObjectBase(newSpawnableObjectBaseholds the rigid machinery), so deformables are a clean peer of rigid objects rather than a special case.requires_soft_body_solver()) and registry metadata instead ofObjectType/name checks, and unifies the deformable terminations with the rigid predicate layer.ObjectType.DEFORMABLE; verified by tests (registry drift/metadata, per-object spawn numeric-equivalence, hierarchy, builder matrix) and the end-to-end Newton smoke test.