Is it possible to get the vertex positions of an object?

[strn18]

Hi! What I want to do is obtaining the position of the vertex of an object that is closest to a specific body of my robot.

To do this, I first need access to the positions of all vertices of the object (RigidObject)

Is it possible to get an object’s vertex positions in Isaac Lab?

If so, I would really appreciate it if you could also share a code example.

Thank you very much!

[RandomOakForest]

Thank you for posting this. It is possible, but not directly via RigidObject APIs; you need to query the underlying USD mesh (and then transform those points into world or robot-body frame). Isaac Lab’s assets.RigidObject mainly exposes rigid-body state (root pose, velocities, etc.), not per-vertex geometry.​
The geometry is stored in the USD stage as UsdGeom.Mesh prims, which hold the vertex array (points) in the mesh’s local frame. For example, try

import omni.usd
from pxr import UsdGeom

stage = omni.usd.get_context().get_stage()
mesh_prim = stage.GetPrimAtPath("/World/MyObject/mesh")  # mesh under your RigidObject
mesh = UsdGeom.Mesh(mesh_prim)
points_attr = mesh.GetPointsAttr()
local_vertices = points_attr.Get()  # list of Gf.Vec3f in mesh local frame

The points attribute stores all vertex positions for that mesh. Then, get the mesh’s world transform and apply it to all vertices to get world-space positions.