- Force/Torque sensors
- Contact info between two objects
- sim.getJointForce.
The second one is not realistic as force measurements are obtained with respect to world frame (i.e. a fixed frame). For this purpose, I need to iterate over a list of objects in the scene to determine which object collided with the tool.
For the last option, in the documentation it says, "force or the torque applied to the joint along/about its z-axis, or None/nil if no value is available yet." Would I get two measurements if I push and slide the tool against a flat surface?
This is my case. In kuka youBot, I'm attaching a tool 'capsule' to joint 4 (the last joint). I'm control the robot using a velocity-based control. I need force measurements when the tool comes in contact with an object (i.e. assumed flat). In this scenario, which option would you recommend?