VBD solver and cable joints with Newton

[azazdeaz]

Hi There,

If I understand correctly, the VBD solver and cable joints are not yet supported with the Isaac Sim 6.0.0 API. Is there a way to still use these newton-physics features in Isaac Sim?

https://newton-physics.github.io/newton/stable/api/_generated/newton.ModelBuilder.html#newton.ModelBuilder.add_joint_cable

Thank you!

[PeterL-NV]

Hi, Newton is supported in Isaac Sim 6.0.0 GA, you can start Isaac Sim with newton backend using the script isaac-sim.newton.sh.

[azazdeaz]

Thank you for the answer,

Right, some of the Newton features like the MuJoCo solver and the XPBD solver are supported. The question is about whether there is a suggested workaround for Newton features that are not yet available through the Isaac Sim API like the VBD solver or cable joints?

[PeterL-NV]

Hi, to use Newton features that are not yet available through the Isaac Sim API, there're 2 options:

1. Use the Newton Python API directly
   You'll drive the Newton model yourself (from a standalone script, or stepped from a physics callback) and push the resulting transforms/points back to USD for visualization.

2. Extend Isaac Sim APIs and rebuild. This would be the ideal path but needs more efforts and you'll have to build Isaac Sim from source.

[azazdeaz]

Thank you!