I want to make a simple cartpole example, but with a deformable pole instead, simulating it in a range of Poisson’s ratios and Young’s modulus.
How should I approach the problem in an Isaac Lab environment ?
The scene is defined by the usual cartpole example with a linear joint to the cart and a revolute joint to the pole, but the pole is composed of a rigid part (half its length) and a deformable part (the other half). The two halves should be connected on the adjacent surfaces, possibly with PhysxSchema.PhysxAutoAttachmentAPI.
Is it possible to define the scene with a single .usd file and then access and change the DeformableBody parameters after loading it?
Or should I define the rigid part as a single .usd file and then spawn the deformable with random parameters and connect it with an attachment everytime I load it?
This should allow to train the cartpole controller through RL in a range of deformable poles.
Is this all possible in the first place ?