visual-based tactile sensor impl. and shape sensing example #3341
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| This is an implementation of TacSL integrated with Isaac Lab, which demonstrates how to properly configure and use tactile sensors to obtain realistic sensor outputs including tactile RGB images, force fields, and other relevant tactile measurements. | |||
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this should be moved to the main Isaac Lab documentation, it can be a new page under https://isaac-sim.github.io/IsaacLab/main/source/overview/core-concepts/sensors/index.html
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Thanks! A new page has been added. Since it depends on a commit that fixes the documentation build, I will close this MR and open a new one here: MR.
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| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
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we can keep just the top section and remove this block
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Thanks! The license section of all new added files has been cleaned in MR.
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| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
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clean up license headers
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| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
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clean up license headers
| from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg | ||
| from isaaclab.utils.timer import Timer | ||
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| from ..camera import Camera, TiledCamera |
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can we import using the full path?
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
There was a problem hiding this comment.
clean up license headers
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
| # Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | ||
| # All rights reserved. | ||
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| # SPDX-License-Identifier: BSD-3-Clause |
| gelsight_path = os.path.dirname(os.path.realpath(__file__)) | ||
| conf_r10 = { | ||
| "background_path": os.path.join(gelsight_path, "gelsight_data/bg.jpg"), | ||
| "calib_path": os.path.join(gelsight_path, "gelsight_data/polycalib.npz"), |
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what are the npz files used for? should we upload them to nucleus instead?
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Yes, I will upload them once licensing concerns are resolved.
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Description
This is an implementation of TacSL integrated with Isaac Lab, which demonstrates how to properly configure and use tactile sensors to obtain realistic sensor outputs including tactile RGB images, force fields, and other relevant tactile measurements.
Fixes # (issue)
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there