ROS Integration & LiDAR and IMU support

[KJ-Falloutlast]

Hello, thanks for your contribution to the community! I'd like to ask, is there any possiblities for ROS integration. Further more, Does sapien have the specific plan to support more sensors like LiDAR, camera, IMU etc, just like gazebo. It would benefit all the reseacher in the embodied AI community if sapien support these functions.

[fbxiang]

Right now there is no plan to add ROS integration. The focus of SAPIEN is to expose the fundamental building blocks, and higher-level interface should be added by other wrappers. For example, ManiSkill adds gym interface and specific tasks to SAPIEN.
In the past, we have implemented some ROS integration with SAPIEN for testing purposes and in general it can be implemented in Python in a very straightforward way. My robotics stack has generally moved away from ROS so there is no plan to maintain a ROS package.

[KJ-Falloutlast]

Thank you for your support!