Hello everyone,
I’m using Isaac Sim 4.2 to simulate and measure forces through deformable bodies (that I simulate with CUDA since with CPU is not possible). Specifically, I have a cylinder with deformable body properties that is attached to a rigid body using a fixed joint. Initially, I tried creating a fixed joint between the deformable cylinder and the rigid body. To test this setup, I dropped a cube with a certain mass onto the structure and used the [get_measured_joint_forces] function to retrieve the 6D forces.
However, I encountered several issues:
- The joint function doesn’t seem to work as expected. Although the function executes, the force values are incorrect since the mass of the cube isn’t detected.
- Additionally, the sensor behaves abnormally, flying into space and failing to stay grounded even with gravity enabled.
After researching how to attach deformable bodies to rigid ones, I realized I should use an “attachment.” This resolved the gravity issues. Now, I have attached two rigid bodies using a joint to read force data via the function, and I attached the second rigid body to the deformable body. However, the data I receive is still inaccurate, as it doesn’t detect the impact when the cube collides with the setup (see picture).
Interestingly, when I replace the deformable cylinder with a rigid body, the force values are accurate and behave as expected.
Does anyone know how I could resolve this issue? Has anyone faced similar challenges or have suggestions for fixing this behavior?