Force Torque sensor support

[lauweiquan]

Hi, I would like to know if maniskill2 supports the use of force torque sensors and how do I implement it?

Thank you

[xuanlinli17]

Hi, You can calculate the approximate torque using pd parameters and errors
See https://github.com/haosulab/ManiSkill2/issues/144

[lauweiquan]

thank you for the prompt reply!

[lauweiquan]

@xuanlinli17
Hi, I am looking to calculate the force and torque value of the joints that mimics the values of a force torque sensor in real life which is not the solution listed in #144 . Is it possible to get a force torque value in ManiSkill2? Thank you.

[xuanlinli17]

@fbxiang @StoneT2000

I think we plan to add this in ManiSkill3?

[StoneT2000]

At the moment we do not have this. We will revisit this feature in the future most likely for CPU simulation at least. I will leave the issue open for now.

[StoneT2000]

Some progress has been made on this front @lauweiquan haosulab/SAPIEN#156, it is not fully integrated yet into maniskill, needs to be tested