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tactile_optical_simulation

https://github.com/robo-touch/tactile_optical_simulation

Science Score: 18.0%

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    Found CITATION.cff file
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    codemeta.json file
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    .zenodo.json file
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    Low similarity (15.1%) to scientific vocabulary

Keywords

raytracing tactile
Last synced: 6 months ago · JSON representation ·

Repository

Basic Info
  • Host: GitHub
  • Owner: Robo-Touch
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 26.3 MB
Statistics
  • Stars: 13
  • Watchers: 2
  • Forks: 5
  • Open Issues: 0
  • Releases: 0
Topics
raytracing tactile
Created about 5 years ago · Last pushed over 2 years ago
Metadata Files
Readme Citation

README.md

Tactile optical simulation

Requirements

  • Python>=3.8

Setup

The project uses Mitsuba3 renderer(v3.3.0) for generating all the images.

  • For installing python dependencies bash pip3 install -r requirements.txt

Quick Start

  • python3 generate_image.py
  • To choose the configuration file see files inside file_list_cfgs
  • To choose the render configurations see files inside render_cfgs

Expected Results

| Real Sensor Image | Rendered Image | |:---:|:---:| |Real Sensor Image|Rendered Image|

Usage

User can render a new object by providing its mesh in Wavefront .obj format and passing its name as a param to render function. new_mesh_render.py provides an example. Please refer to the script for more details. - Execute python new_mesh_render.py to render a sensor view without any object pressed against it.

Output Visualization

  • tev is a EXR viewer and comparison tool. You can download the latest executables from here
  • qt4Image is another viewer for exr images across different platform. It can also generate low-dynamic range images with gamma encoding. You can download the utility for linux from this link.

Advanced

  • The model files for GelSight are in Mitsuba xml format. The Mitsuba3 documentation has details on the parameters and how to set them.
  • The important file which are used in rendering for flatgel is or models/flatgel_with_mesh.xml

Not supported

  • Bidirectional Path tracing
  • Heightfields

Citation

bibtex @article{agarwal2020simulation, title={Simulation of Vision-based Tactile Sensors using Physics based Rendering}, author={Agarwal, Arpit and Man, Tim and Yuan, Wenzhen}, journal={arXiv preprint arXiv:2012.13184}, year={2020} }

Owner

  • Name: Robo-Touch
  • Login: Robo-Touch
  • Kind: organization
  • Email: robotouch@lists.illinois.edu

Citation (citation.bib) 

@article{agarwal2020simulation,
  title={Simulation of Vision-based Tactile Sensors using Physics based Rendering},
  author={Agarwal, Arpit and Man, Tim and Yuan, Wenzhen},
  journal={arXiv preprint arXiv:2012.13184},
  year={2020}
}

GitHub Events

Total
  • Watch event: 4
Last Year
  • Watch event: 4

Dependencies

requirements.txt pypi
  • imageio ==2.9.0
  • scikit-image ==0.18.1