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 provide a deformable object grasping example, where a RobotiQ-3Finger robot, integrated with 3 tactile sensers at the tips, grasps a soft teddy bear on the ground. The implementation is parallelized, so you can run multiple environments by NUM_ENVS at the same time:

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

python -m examples.grasp_soft_teddy --num_envs 2 --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.

Note that the OpenGL visualization is still under active development, so the renderer should show nothing in this demo.