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[Question] Difference between tactile sensor and support contact sensor #322

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ruoshiwen opened this issue Mar 23, 2024 · 2 comments
Closed

[Question] Difference between tactile sensor and support contact sensor #322

ruoshiwen opened this issue Mar 23, 2024 · 2 comments
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question Further information is requested

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@ruoshiwen
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Tactile sensors' support

I read your paper on Isaac Orbit. In the future work section, you mentioned "Further enhancements to the framework include integrating tactile sensors and 6-axis force-torque sensors."
I saw that Orbit supports contact sensors and my understanding is they measure the contact forces between rigid bodies. My questions is what is the difference between the already supported contact force sensors and the said tactile sensors? Are these tactile sensors specifically referring to Gelsight family sensors?

Look forward to your answer.
@pascal-roth
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@Mayankm96 can you elaborate on that?

ADebor pushed a commit to ADebor/IsaacLab that referenced this issue Apr 8, 2024
@hhansen-bdai
Adds carb logging outputs to the volumes mapped by docker-compose.yaml (
204d174 
isaac-sim#322)

# Description

This will cause the carb logs to be also be captured by the isaac-logs
volume.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
@Mayankm96
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Hi @ruoshiwen ,

Yes, this corresponds to actual tactile sensors (such as Gelsight). Contact sensors only give you the net external normal contact force on a body. This isn't the same as what a tactile sensor or force-torque/haptic sensor gives.

@Mayankm96 Mayankm96 added the question Further information is requested label Apr 26, 2024
fatimaanes pushed a commit to fatimaanes/omniperf that referenced this issue Aug 8, 2024
@hhansen-bdai
Adds carb logging outputs to the volumes mapped by docker-compose.yaml (
a2de319 
isaac-sim#322)

# Description

This will cause the carb logs to be also be captured by the isaac-logs
volume.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
@isaac-sim isaac-sim locked and limited conversation to collaborators Oct 4, 2024
@Dhoeller19 Dhoeller19 converted this issue into discussion #1143 Oct 4, 2024

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@Mayankm96 @ruoshiwen @pascal-roth