Move standalone VBD support into Newton core

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

@@ -9,11 +9,6 @@ isaaclab_contrib.deformable
 
     deformable_object.DeformableObject
     deformable_object_data.DeformableObjectData
-    newton_manager_cfg.NewtonModelCfg
-    newton_manager_cfg.NewtonModelSolverCfg
-    newton_manager_cfg.VBDSolverCfg
-    newton_manager_cfg.CoupledMJWarpVBDSolverCfg
-    vbd_manager.NewtonVBDManager
 
 Deformable Object
 -----------------
@@ -28,34 +23,3 @@ Deformable Object
   :inherited-members:
   :show-inheritance:
   :exclude-members: __init__
-
-Newton Solver Configurations
-----------------------------
-
-.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.NewtonModelCfg
-  :members:
-  :show-inheritance:
-  :exclude-members: __init__
-
-.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.NewtonModelSolverCfg
-  :members:
-  :show-inheritance:
-  :exclude-members: __init__
-
-.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.VBDSolverCfg
-  :members:
-  :show-inheritance:
-  :exclude-members: __init__
-
-.. autoclass:: isaaclab_contrib.deformable.newton_manager_cfg.CoupledMJWarpVBDSolverCfg
-  :members:
-  :show-inheritance:
-  :exclude-members: __init__
-
-Newton Solver Managers
-----------------------
-
-.. autoclass:: isaaclab_contrib.deformable.vbd_manager.NewtonVBDManager
-  :members:
-  :inherited-members:
-  :show-inheritance:

docs/source/api/lab_newton/isaaclab_newton.physics.rst

@@ -9,15 +9,18 @@
 
     NewtonManager
     NewtonCfg
+    NewtonSoftContactCfg
     NewtonCollisionPipelineCfg
     NewtonFeatherstoneManager
     NewtonKaminoManager
     NewtonMPMManager
     NewtonMJWarpManager
+    NewtonVBDManager
     NewtonShapeCfg
     NewtonSolverCfg
     NewtonXPBDManager
     MJWarpSolverCfg
+    VBDSolverCfg
     XPBDSolverCfg
     FeatherstoneSolverCfg
     KaminoCollisionDetectorCfg
@@ -50,6 +53,11 @@ Physics Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+.. autoclass:: NewtonSoftContactCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
 .. autoclass:: NewtonSolverCfg
   :members:
   :show-inheritance:
@@ -60,6 +68,11 @@ Physics Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+.. autoclass:: VBDSolverCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
 .. autoclass:: XPBDSolverCfg
   :members:
   :show-inheritance:
@@ -143,6 +156,11 @@ Solver Managers
   :inherited-members:
   :show-inheritance:
 
+.. autoclass:: NewtonVBDManager
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
 .. autoclass:: NewtonXPBDManager
   :members:
   :inherited-members:

docs/source/migration/migrating_deformables.rst

@@ -72,7 +72,6 @@ from the physics backend package:
    * - ``from isaaclab_physx.assets import DeformableObjectCfg``
      - ``from isaaclab.assets import DeformableObjectCfg``
 
-
 Removed Properties
 ^^^^^^^^^^^^^^^^^^
 
@@ -245,9 +244,6 @@ Limitations
   deformable will raise a ``ValueError``.
 - **Surface-specific solver properties** (``collision_pair_update_frequency``,
   ``collision_iteration_multiplier``) have no effect on volume deformables.
-- **Newton deformables are experimental.** They are implemented in
-  :mod:`isaaclab_contrib.deformable` and currently target VBD-based solvers and
-  coupled rigid-deformable workflows.
 
 
 .. _Omni Physics documentation: https://docs.omniverse.nvidia.com/kit/docs/omni_physics/110.0/dev_guide/deformables/deformable_bodies.html

docs/source/overview/core-concepts/physical-backends/newton/index.rst

@@ -35,8 +35,9 @@ the following solver pages:
 
 * :doc:`mjwarp-solver` — the primary, validated solver path.
 * :doc:`kamino-solver` — beta support on selected classic tasks.
-* :doc:`using-vbd-solver`: experimental VBD solver for cloth and soft bodies,
-  with MJWarp and VBD proxy coupling through :mod:`isaaclab_contrib.coupling`.
+* :doc:`using-vbd-solver`: VBD solver for cloth and soft bodies. Standalone VBD
+  is available through :mod:`isaaclab_newton.physics`; MJWarp and VBD proxy and
+  ADMM coupling is available through :mod:`isaaclab_contrib.coupling`.
 * :doc:`using-mpm`: experimental implicit MPM for particle materials, including
   rigid-MPM proxy coupling.
 

docs/source/overview/core-concepts/physical-backends/newton/newton-manager-abstraction.rst

@@ -140,7 +140,7 @@ The MJWarp + VBD deformable manager is a concrete example:
 
 * :class:`~isaaclab_contrib.custom_coupling.CoupledMJWarpVBDSolverCfg` stores a
   ``rigid_solver_cfg`` for :class:`~isaaclab_newton.physics.MJWarpSolverCfg`, a
-  ``soft_solver_cfg`` for :class:`~isaaclab_contrib.deformable.VBDSolverCfg`,
+  ``soft_solver_cfg`` for :class:`~isaaclab_newton.physics.VBDSolverCfg`,
   and a ``coupling_mode``.
 * ``NewtonCoupledMJWarpVBDManager._build_solver()`` constructs
   ``SolverMuJoCo`` and ``SolverVBD`` from those sub-configs.
@@ -232,13 +232,15 @@ Tune the coupled contact behavior before training a policy:
 * Lower the arm actuator stiffness enough that the arm can respond to contact
   penalties. Prefer the arm being pushed back over the gripper clipping into the
   deformable.
-* Tune :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_ke`
+* Tune :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_ke`
   first. Increase it only as much as needed to prevent clipping, then adjust
-  :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_mu` so the
+  :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_mu` so the
   gripper can carry the object without requiring an obviously unphysical
   friction value. Use
-  :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_kd` for
+  :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_kd` for
   stabilization if contacts chatter.
+  Set this configuration on the outer
+  :attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg` field.
 * Tune the ``soft_contact_*`` values together with the rigid shape contact
   material, because the shape's ``ke``/``kd``/``mu`` also affect the effective
   contact. Set shape defaults via
@@ -254,7 +256,7 @@ Tune the coupled contact behavior before training a policy:
   increase ``particle_radius`` in the deformable material so contact is detected
   earlier from a larger distance.
 * If the rigid shapes still clip through the deformable, increase
-  :attr:`~isaaclab_contrib.deformable.VBDSolverCfg.iterations`; more VBD
+  :attr:`~isaaclab_newton.physics.VBDSolverCfg.iterations`; more VBD
   iterations can improve contact convergence.
 
 

docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst

@@ -56,16 +56,17 @@ isaaclab
 isaaclab_newton
 ^^^^^^^^^^^^^^^^
 
+* Standalone VBD deformable solver
+
 * Implicit Material Point Method (MPM) solver and declarative particle assets
 * Fixed and capture-compatible capacity-bounded sparse MPM grids
 * Standard visual-material binding for MPM particle visualization
 
 isaaclab_contrib
 ^^^^^^^^^^^^^^^^
 
-* Experimental Newton deformable objects
-* VBD deformable solver (see :doc:`using-vbd-solver`)
-* MJWarp and VBD proxy coupling
+* Newton deformable object integration
+* MJWarp and VBD proxy and ADMM coupling
 * Proxy-based coupling for rigid and particle solvers, including MJWarp + MPM
 
 The following sensors are backend-agnostic (implemented in ``isaaclab`` core)
@@ -112,10 +113,10 @@ Solver Coverage
 * **Kamino solver**: beta. Currently validated on ``Isaac-Cartpole-Direct``,
   ``Isaac-Ant-Direct``, ``Isaac-Cartpole``, and ``Isaac-Ant``. See
   :doc:`kamino-solver`.
-* **VBD solver**: experimental, exposed through :mod:`isaaclab_contrib.deformable`
-  for cloth, soft-body, and cable simulation. Rigid and deformable scenes can use
-  proxy coupling from :mod:`isaaclab_contrib.coupling` so MJWarp advances rigid
-  bodies and VBD advances deformable particles. Cable objects work with standalone
+* **VBD solver**: experimental, exposed through :mod:`isaaclab_newton.physics`
+  for standalone cloth, soft-body, and cable simulation. Rigid and deformable
+  scenes can use proxy or ADMM coupling from :mod:`isaaclab_contrib.coupling` so
+  MJWarp advances rigid bodies and VBD advances deformable particles. Cable objects work with standalone
   VBD and with :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` when a named VBD
   entry owns the cable. See :doc:`using-vbd-solver` and
   :doc:`newton-manager-abstraction`.

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

@@ -132,13 +132,11 @@ Picking a Solver
 
 Cables can **only** be simulated under Newton's VBD solver, which is the only
 solver that steps ``JointType.CABLE`` joints. A cable-only scene uses a
-standalone :class:`~isaaclab_contrib.deformable.VBDSolverCfg`:
+standalone :class:`~isaaclab_newton.physics.VBDSolverCfg`:
 
 .. code-block:: python
 
-    from isaaclab_newton.physics import NewtonCfg
-
-    from isaaclab_contrib.deformable import VBDSolverCfg
+    from isaaclab_newton.physics import NewtonCfg, VBDSolverCfg
 
     sim_cfg = sim_utils.SimulationCfg(
         dt=0.01,

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

@@ -5,24 +5,22 @@ VBD Solver
 
 Vertex Block Descent (VBD) is a Newton solver for cloth and soft-body
 simulation. In Isaac Lab, VBD is enabled by selecting a
-:class:`~isaaclab_newton.physics.NewtonCfg` whose ``solver_cfg`` is provided by
-:mod:`isaaclab_contrib.deformable`.
+:class:`~isaaclab_newton.physics.NewtonCfg` whose ``solver_cfg`` is a
+:class:`~isaaclab_newton.physics.VBDSolverCfg`.
 
-VBD support is experimental. The solver managers, configuration fields, and
-recommended tuning values may change while Newton deformable support is under
-active development. A task that works with PhysX or with Newton's MuJoCo-Warp
-solver may still need deformable assets, materials, contacts, and coupling tuned
-before it works well with VBD.
+A task that works with PhysX or with Newton's MuJoCo-Warp solver may still need
+deformable assets, materials, contacts, and coupling tuned before it works well
+with VBD.
 
 VBD is usually exposed through a task-specific physics preset rather than a
 general ``newton_vbd`` preset. Deformable-only scenes can use
-:class:`~isaaclab_contrib.deformable.VBDSolverCfg` directly. Robot or
-rigid-body scenes can use either:
+:class:`~isaaclab_newton.physics.VBDSolverCfg` directly. For robot or
+rigid-body scenes, the named-entry coupling options are:
 
 * :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` for the proxy coupling
   used by the core Franka tasks.
-* :class:`~isaaclab_contrib.custom_coupling.CoupledMJWarpVBDSolverCfg` for the
-  opt-in shared-model example with custom substep ordering.
+* :class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` for linearized ADMM
+  coupling between named solver entries.
 
 Start from a Supported Deformable Task
 --------------------------------------
@@ -42,8 +40,7 @@ Start from a Supported Deformable Task
 
       ./isaaclab.sh -i tetrahedralization
 
-Before adding VBD to a new task, first run one of the experimental Franka
-deformable tasks:
+Before adding VBD to a new task, first run one of the Franka deformable tasks:
 
 .. tab-set::
 
@@ -86,9 +83,9 @@ Add a VBD Physics Preset
 
 Tasks that support multiple physics options usually store ``SimulationCfg.physics``
 as a :class:`~isaaclab_tasks.utils.hydra.PresetCfg`. For deformable Newton tasks,
-the preset is a plain :class:`~isaaclab_newton.physics.NewtonCfg` whose solver
-config carries :class:`~isaaclab_contrib.deformable.NewtonModelCfg` through its
-:class:`~isaaclab_contrib.deformable.NewtonModelSolverCfg` base class.
+the preset is a plain :class:`~isaaclab_newton.physics.NewtonCfg`. Standalone
+VBD and soft-contact configuration live in :mod:`isaaclab_newton.physics`, while
+proxy and ADMM coupling live in :mod:`isaaclab_contrib.coupling`.
 
 The Franka soft-body and cloth tasks define task-specific proxy presets.
 
@@ -102,8 +99,8 @@ The important pieces are:
 * Add :class:`~isaaclab_contrib.coupling.CouplerProxyMappingCfg` entries for the
   collidable rigid bodies exposed to VBD. Leave
   ``integrate_with_external_rigid_solver=False`` for proxy-coupled VBD entries.
-* Set the solver config's ``model_cfg`` to a
-  :class:`~isaaclab_contrib.deformable.NewtonModelCfg` when body-particle or
+* Set the outer :attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg` to a
+  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` when body-particle or
   self-contact values need task-level tuning.
 * Keep the preset at the same config path used by the task's
   :class:`~isaaclab.sim.SimulationCfg`, for example ``env.sim.physics``.
@@ -164,8 +161,8 @@ task, validate the following before tuning solver parameters:
 * Proxy-coupled robot tasks should expose only the collidable bodies needed for
   deformable contact.
 * Contact-heavy scenes usually need task-specific ``num_substeps``,
-  :class:`~isaaclab_contrib.deformable.VBDSolverCfg`, and
-  :class:`~isaaclab_contrib.deformable.NewtonModelCfg` values. Start from the
+  :class:`~isaaclab_newton.physics.VBDSolverCfg`, and
+  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` values. Start from the
   Franka soft-body or cloth preset that most closely resembles the scene.
 * Use a small visual smoke test before training. Confirm that the deformable
   spawns, renders, deforms, and contacts rigid bodies as expected.
@@ -174,7 +171,7 @@ VBD Solver Parameters
 ---------------------
 
 The following fields are specific to
-:class:`~isaaclab_contrib.deformable.VBDSolverCfg`. They are grouped by the part
+:class:`~isaaclab_newton.physics.VBDSolverCfg`. They are grouped by the part
 of the solver they affect.
 
 Core Solve
@@ -258,8 +255,8 @@ coupling when deformable contact is localized to selected rigid bodies.
 
 .. _newton-vbd-proxy-coupling:
 
-Proxy-Coupled MJWarp + VBD
---------------------------
+Coupled MJWarp + VBD
+--------------------
 
 :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` is the coupling used by
 the core Franka tasks. It partitions the model between named solver entries and
@@ -347,6 +344,11 @@ Key proxy-specific parameters:
 Body selectors must use full Newton body-label regexes, such as
 ``/World/envs/env_.*/Robot``. Proxy mappings also accept raw Newton body ids.
 
+:class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` provides linearized ADMM
+coupling between the same named solver entries. Set ``contact_pairs`` to select
+entry pairs explicitly, or leave it as ``None`` to detect every distinct pair.
+Use ``iterations`` and ``rho`` to tune the ADMM solve.
+
 Try the demo:
 
 .. tab-set::
@@ -378,8 +380,9 @@ Contact and Material Parameters
 Contact Model
 ^^^^^^^^^^^^^
 
-:class:`~isaaclab_contrib.deformable.NewtonModelCfg` applies contact parameters
-to the finalized Newton model:
+:class:`~isaaclab_newton.physics.NewtonSoftContactCfg` applies contact parameters
+to the finalized Newton model through
+:attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg`:
 
 .. list-table::
     :header-rows: 1
@@ -390,7 +393,7 @@ to the finalized Newton model:
     * - ``soft_contact_ke``
       - Default: ``1.0e3`` [N/m]. Stiffness for body-particle and particle self-contact. Increase it to reduce clipping through rigid shapes or through other deformable particles. If it is too high, the object can stop visibly deforming or require more VBD iterations and substeps.
     * - ``soft_contact_kd``
-      - Default: ``1.0e-2`` [N*s/m]. Contact damping. Increase it to reduce chatter or bouncing. Too much damping can make contact response sticky or overdamped.
+      - Default: ``1.0e1`` [N*s/m]. Contact damping. Increase it to reduce chatter or bouncing. Too much damping can make contact response sticky or overdamped.
     * - ``soft_contact_mu``
       - Default: ``0.5``. Friction coefficient for body-particle and particle self-contact. Increase it when a gripper cannot carry the deformable object without slipping.
 
@@ -467,12 +470,12 @@ Use the following sequence when bringing up a new VBD task:
    the expected range without rigid contact.
 5. Increase ``num_substeps`` or decrease ``dt`` if the object is unstable before
    increasing stiffness further.
-6. Increase :attr:`~isaaclab_contrib.deformable.VBDSolverCfg.iterations` when
+6. Increase :attr:`~isaaclab_newton.physics.VBDSolverCfg.iterations` when
    contacts or stiff materials do not converge within a substep.
-7. Tune :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_ke` to
+7. Tune :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_ke` to
    reduce rigid/deformable clipping, then tune
-   :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_mu` for grip
-   and :attr:`~isaaclab_contrib.deformable.NewtonModelCfg.soft_contact_kd` for
+   :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_mu` for grip
+   and :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_kd` for
    chatter.
 8. Enable self-contact only after body-particle contact is stable, then tune
    ``particle_self_contact_radius`` for active self-contact thickness,

docs/source/tutorials/01_assets/run_deformable_object.rst

@@ -13,7 +13,8 @@ surface deformables (cloth), see the deformable demo at ``scripts/demos/deformab
 
 The deformable object API and schema define/modify functions are shared across backends, while deformable
 property and material configuration classes are backend-specific. PhysX simulates soft bodies using the Finite
-Element Method (FEM); the Newton experimental backend uses VBD-based deformable support from
+Element Method (FEM); the Newton experimental backend uses the core VBD solver from
+:mod:`isaaclab_newton.physics` with the deformable object integration from
 :mod:`isaaclab_contrib.deformable`.
 The volume deformable comprises of two tetrahedral meshes -- a simulation mesh and a collision mesh. The simulation
 mesh is used to simulate the deformations of the soft body, while the collision mesh is used to detect collisions

scripts/demos/deformables.py

@@ -70,7 +70,7 @@
     from isaaclab.assets import DeformableObject
 
 if args_cli.physics == "newton_vbd":
-    from isaaclab_contrib.deformable.newton_manager_cfg import NewtonModelCfg  # isort:skip
+    from isaaclab_newton.physics import NewtonSoftContactCfg  # isort:skip
     from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg as DeformableBodyPropertiesCfg
     from isaaclab_newton.sim.spawners.materials import (
         NewtonDeformableBodyMaterialCfg as VolumeDeformableMaterialCfg,
@@ -270,7 +270,7 @@ def main():
             physics_cfg.solver_cfg.particle_self_contact_radius = 0.0001
             physics_cfg.solver_cfg.particle_self_contact_margin = 0.1
             physics_cfg.num_substeps = 4
-            physics_cfg.solver_cfg.model_cfg = NewtonModelCfg(
+            physics_cfg.soft_contact_cfg = NewtonSoftContactCfg(
                 soft_contact_ke=1.0e5,
                 soft_contact_kd=1.0e0,
                 soft_contact_mu=0.01,