How can we apply force/torque to specific position like pybullet's applyExternalForce/Torque?

[keiohta]

Hi, I would like to apply an external force to a specific point to control an object. Can SAPIEN have such API? I think such a function would be very useful for developers who want to manipulate objects without explicitly preparing a robotic hand. I imagine pybullet's applyExternalForce/Torque-like method (from this guide) would be great.

[fbxiang]

We have actor.add_force_at_point and actor.add_force_torque provided.
https://github.com/haosulab/SAPIEN/blob/master/python/pysapien_content.hpp#L943-L959

[keiohta]

Thanks for the quick reply! I confirmed force can be applied by using actor.add_force_at_point.