Taccel Examples

Peg-Insertion

The peg-insertion example migrated from the Experimental Release of SAPIEN-IPC.

python -m examples.peg --num_envs NUM_ENVS

Grasping Deformable Object

We will once again demonstrate the deformable object grasping example (previously shown in the Warp-IPC examples), but with the robotic hand integrated with 3 tactile sensers at the tips. This is specified by the --tactile flag:

Note that this tasks shows an example of using Y-up coordinate.

python -m examples.grasp_soft_teddy --num_envs 2 --tactile --viz
Grasping Deformable Object Example

Tac-Man: Tactile-informed Manipulation

To run the Tac-Man examples, run the script:

python -m examples.tac_man --joint_type JOINT_TYPE --seed SEED

Available JOINT_TYPE options:

  • revolute: Revolute joint.

  • prismatic: Prismatic joint.

  • helical: A bolt-and-nut set.

Note that the tactile signals will be displayed via an OpenCV window. When running on a headless server, you will run into the error:

pyglet.display.xlib.NoSuchDisplayException: Cannot connect to "None"

This could be solved by running headlessly, specified by the --headless flag.

Mahjong

To run the Mahjong example, run the script:

python -m examples.mahjong