[Question] Transformation of deformable object

[Entongsu]

Hi,

Is it possible to get the transformation matrix of the deformable object during the manipulation? Thank you!

[mpgussert]

Hello @Entongsu!

It's not clear what you mean by this. Are you looking for the Transformation Matrix (XForm) for the prim? or are you interested in some transformation that characterizes the deformation? The former we can certainly do, but he latter I am not so sure...

Gus

[Entongsu]

Hi,

Thank you very much for your reply. Sorry for not explaining it clearly. I am interested in the transformation of the pose of the deformable object during the manipulation, something like the transformation pose of the rigid body. I have tried the get_transforms functions in the SoftBodyView, but they return "Failed to get soft body transforms from the backend."

[mpgussert]

How did you get that view? is it from root_physx_view on DeformableObject? Are you able to share your code?

[masoudmoghani]

Hi @Entongsu you should be able to use "root_pos_w" to get the root pos of the deformable body, please see: https://github.com/isaac-sim/IsaacLab/blob/80cff1649bf0155621df255c8960ae345017c17c/source/standalone/tutorials/01_assets/run_deformable_object.py#L143

[Mayankm96]

I made a small change in a separate branch. Now that get_transforms work again maybe we should use them?

https://github.com/isaac-sim/IsaacLab/compare/main...fix/deformable-root-state

[Entongsu]

Hi, I have used my deformable object for the simulation. When I execute the function of get_tranforms, I got the error of Exception: Failed to get soft body transforms from backend.

[Mayankm96]

Which Isaac Sim version? 4.2 has it fixed from what I checked. Isaac Sim 4.1 no 😓

[Entongsu]

I used the 4.2 version for that.