Deformable part in robots

[JunjieMa5515]

Isaaclab supports variable parts, but if my robot has rigid body part and deformable part, how should I define it? If I set up a rigid body collision network for the deformable part in the USD file, but link the physics of the network to the deformable part, it seems that it will still be a rigid body after importing it, is there any good way?

[StrainFlow]

Have you followed the tutorial on deformable objects?

https://isaac-sim.github.io/IsaacLab/main/source/tutorials/01_assets/run_deformable_object.html

[yash-s20]

different discussion that might be relevant - #1327