[Question] Contact force for the soft bodies and gripper

[Entongsu]

Hi,

I wonder if it is possible to read the contact force between the soft bodies and the gripper. I have added the contact sensor to the gripper and found that the contact force between the soft bodies and the gripper is always zero. Thank you.

[jo-choi]

Hi,

Did you set the parameter 'activate_contact_sensors' as True?

You can check https://isaac-sim.github.io/IsaacLab/source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors

[Mayankm96]

Thank you for bringing this up.

Contact forces between a soft and rigid body are not currently available. We have requested this feature from the PhysX team.

[kumarlokesh2194]

Is there any update on this?