// readme

DeformX: Deformable Linear Objects Simulation

🌐 Project Page | 📄 Paper | 🤗 WireSeg-36k Dataset | 🤗 Render Assets | 🎥 Video

DeformX is a co-simulation framework for deformable linear objects (DLOs) such as wires, cables, and ropes. It couples a dedicated Cosserat rod physics engine with NVIDIA Isaac Sim to deliver DLO simulation that is physically faithful and visually realistic at the same time, while remaining directly compatible with scalable synthetic data generation and robot-learning pipelines.

Note The GPU/CUDA Stable Cosserat Rods solver is here: the Cosserat-Rod-Solver-CUDA submodule (Python module ropesim), with Isaac Lab demos and the rope-swing RL task under demo/. See The GPU rod solver.

🔥 Updates