Can I measure the contact force of the deformable body?

Omniverse Isaac Sim
1

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.
Thanks!

2

Hi @PARKBONG - Here’s the detailed page for Contact Sensors in a new release: https://isaac.gitlab-master-pages.nvidia.com/omni_isaac_sim/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_physics_based_contact.html

3

Thanks for your reply. However, Your link is inaccessible. Could you provide a link again, please?

4

i believe this was the proposed link - Contact Sensor — Omniverse IsaacSim latest documentation

1 Like
5

Apologies for the wrong link. The one shared with @Simplychenable is correct.

6

Hi @PARKBONG,

I’m also trying to detect the contact on the deformable object. I followed the Contact Sensor documentation but failed to apply it to the deformable body.

Did you figure out a way to measure it or it’s not available for the current version?