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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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torque controller feasibility? #522

Open Nielsencu opened 3 weeks ago

Nielsencu commented 3 weeks ago

as the tittle suggests, how easy would it be to implement a closed-loop torque controller with ManiSkill?

e.g can we access the force or torque readings on each of the joints?

Nielsencu commented 2 weeks ago

Hi @StoneT2000, may I know if you would have some insights on this? Thank you!

StoneT2000 commented 2 weeks ago

You should be able to access joint force acceleration values so you could penalize it to limit torque. Controllers also have a force limit setting.

There currently may be an issue with setting joint forces however which would be a real torque controller. I'll try and investigate next week.

For now and from experience doing RL and sim2real, position control (pd joint delta pos) is often sufficient for the majority of use cases.