Taccel: Vision-based Tactile Robotics Simulator

Overview

Taccel is a high-performance physics simulator developed to enable realistic simulation of robots integrated with vision-based tactile sensors. It is develop with the joint efforts from PKU CoRe Lab and UCLA AIVC Lab.

The infrastructure of Taccel and the Warp-IPC is shown above.

Quickstart

• Index

• Module Index

• Search Page

Get Started

• Concepts
  • Vision-Based Tactile Sensors (VBTS)
  • Taccel
  • Warp-IPC
• Installation
  • Install the Essential Libraries
  • Clone Our Repo and Install Taccel

Warp-IPC References

• Robot Models
  • Robot
• ASR Model APIs
  • ASRModel
• IPC Integrator
  • IPCIntegrator
• Warp-IPC Examples
  • Deformable Object Grasping

Taccel References

• Tactile Robot Models
  • TactileRobot
• VBTS Config
  • VBTSConfig
• Taccel APIs
  • TaccelModel
• Taccel Examples
  • Peg-Insertion
  • Deformable Object Grasping with Tactile Sensors
  • Tac-Man Series: Tactile-informed Manipulation

Tools

• Rendering Tools
• Preprocessing Tools

Development

• Contribution
  • Code Formatting
  • Pull Request
• Current Progress
  • Known Issues
  • Development To-Dos
• License

License

Taccel is provided under the ??? License.

Contributing

TBD

Citing

If you use Taccel in your research, please use the following citation:

TBD