Hi. I checked the latest version of IsaacSim 2023.1.0.
Please imagine the example scene: Franka panda grasps the soft cube.
In this case, can I measure the contact force?
One thing is a tersorAPI that returns the stress of the deformable body in the DeformablePrimView.
In my experience in IsaacGym, I could measure the contact force by filtering forces by the contacted vertices.
Here is an example code:
while world.is_simulation_running: contact_vertices = soft_object.get_contact_vertices("franka_left_finger") contact_forces = soft_object.get_stress() contact_force = np.sum(contact_forces[contact_vertices])
If there is a better way to get the contact force, I appreciate to let me know.