TacEx: GelSight Tactile Simulation in Isaac Sim Combining Soft-Body and Visuotactile Simulators
Demonstrations
Demonstrations
We run the experiments on an Ubuntu system with
We run the experiments on an Ubuntu system with
- an AMD Ryzen9 5950X 16-Core CPU,
- 32 GB RAM
- an NVIDIA RTX 3080Ti GPU with 12 GB VRAM.
Ball Rolling Experiment
Ball Rolling Experiment
ball_rolling_rigid_tactile.mp4rigid body with compliant contact
ball_rolling_soft.mp4PhysX soft body gelpad
ball_rolling_gipc.mp4GIPC based soft body simulation
(sensor case turned invisible for
better view of the soft body deformation)
Object Lifting
Object Lifting
PhysX soft body gelpads for lifting rigid/soft objects
PhysX soft body gelpads for lifting rigid/soft objects
soft_lift_(speedup).mp4lifting of rigid objects
(video is partially sped up)
the object cannot be lifted
softbody_quad.mp4lifting of a soft object
during the grasp, the gelpads are crushed completely
the soft object is being lifted by the rigid bodies behind the gelpads
when only the gelpads are in contact, then the object falls down immeditately
GIPC gelpads for lifting (and squishing) soft objects
GIPC gelpads for lifting (and squishing) soft objects
GIPC_LIFT.mp4- coarse tet meshes were used here for cube and gelpads
GIPC_LIFT_BALL.mp4Beam Twisting
Beam Twisting
twist_custom_tet.mp4gelpads were turned invisible for better view of the beam
at the end the tetrahedra mesh is shown (in white)