visual-based tactile sensor impl. and shape sensing example

.gitignore

@@ -69,3 +69,5 @@ tests/
 
 # Docker history
 .isaac-lab-docker-history
+
+**/tactile_record/*

scripts/demos/sensors/tacsl/run_tacsl.md

@@ -0,0 +1,53 @@
+
+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.
+
+
+---
+
+## Setup
+
+### Prerequisites
+Please follow the [IsaacLab Documentation](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.html) to install IsaacLab first.
+
+### Additional Dependencies
+Install the required additional dependencies:
+```bash
+conda activate env_isaaclab
+pip install opencv-python==4.11.0 trimesh==4.5.1
+```
+
+### Assets
+Download the Gelsight assets from [here](https://drive.google.com/drive/folders/1SyLF8AI0W8I9r9zCEKVO4bB804THFMGD?usp=drive_link) and place them in the `./assets/` folder.
+
+---
+## Usage
+
+### Verify Installation
+To verify your IsaacLab installation, you can train a robot policy:
+```bash
+./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless
+```
+
+### Run TacSL Demo
+To run the tactile sensor demonstration with shape sensing:
+```bash
+cd scripts/demos/sensors/tacsl
+python tacsl_example.py --enable_cameras --indenter nut --num_envs 8 --use_tactile_taxim --use_tactile_ff --save_viz
+```
+
+### Available Options
+For a complete list of available command-line arguments and options:
+```bash
+cd scripts/demos/sensors/tacsl
+python tacsl_example.py -h
+```
+
+## What to Expect
+
+The demo showcases tactile sensor simulation with various object interactions. You'll see:
+- Real-time tactile RGB image generation as objects contact the sensor surface
+- Force field visualizations showing contact forces and pressure distributions
+- Shape sensing capabilities for object recognition and analysis
+- Configurable sensor parameters and object interactions
+
+The visualization outputs can be saved for further analysis and research purposes.