1: The GelSight outputs when it contacts objects with rich textures. However, their designs, combining optical and soft-body components, make simulation challenging. Recent advancements in vision-based tactile sensors, such as GelSight, , have made tactile sensing with high spatial resolution and speed possible. However, none of them can simulate tactile sensors which form an irreplaceable part of robotic systems to capture local information such as contact forces, shapes and physical properties. They can simulate dynamic rigid-body, soft-body, vision and laser sensors with varying levels of accuracy and speed. With growing interest in robotics simulation, well-developed simulation frameworks such as PyBullet, MuJoCo, Drake, SOFA, NVIDIA Isaac Gym have been widely used in the robotics community.
#ANDRE DUDEK ILLUMINATIONS MANUAL#
For robotic tasks relying on vast amounts of data, simulation enables researchers to quickly generate large amounts of realistic data, without costly equipment, manual labour, and the risk associated with real-world experiments. Simulation has been widely applied in robotics. Has the lowest pixel-wise intensity errors compared to prior work and can run Experiments reveal that our optical simulation
Optical simulation, creating a comprehensive and computationally efficient
Knowledge, our simulation framework is the first to incorporate marker motionįield simulation that derives from elastomer deformation together with the The example-based approach enables the model toĮasily migrate to other GelSight sensors or its variations. The simulation model is calibrated with less than 100ĭata points from a real sensor. Of the elastomer, we apply the linear elastic deformation theory and the To simulate the surface markers' motion that is caused by the surface stretch This table maps theĭeformed geometries to pixel intensity sampled by the embedded camera. To the deformation with a polynomial look-up table.
We propose anĮxample-based method for simulating GelSight: we simulate the optical response Infers the geometry and forces applied at the contact surface. GelSight sensor uses a piece of soft elastomer as the medium of contact andĮmbeds optical structures to capture the deformation of the elastomer, which In this paper, we propose Taxim, a realisticĪnd high-speed simulation model for a vision-based tactile sensor, GelSight. However, simulating sensors, including tactile sensors, hasīeen a long-standing challenge.
#ANDRE DUDEK ILLUMINATIONS VERIFICATION#
Simulation is widely used in robotics for system verification and large-scaleĭata collection.
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