Tactile Robot Models

In Taccel, the robot links are represented by affine bodies, while the gel pads are discretized as tetrahedral meshes.

class taccel.taccel.TactileRobot(urdf_path: str, tac_fab_path: str = '', mesh_dir: str | None = None, actuated_joints: list[str] | None = None, env_id: int = 0, finger_link_names: List[str] = [], fingertip_link_names: List[str] = [], device: device = device(type='cuda', index=0), use_collision: bool = False)

Bases: Robot

A class representing a tactile robot with various tactile sensors.

vbts_cfgs

List of VBTSConfig objects loaded from the tactile fabrication file.

Type:

list[VBTSConfig]

gel_handles()

Returns a list of gel body handles from the VBTS configurations.

tac_rest_meshes()

Returns a list of unstructured grids representing the rest meshes of the tactile sensors.

tac_gel_density()

Returns a list of densities for the tactile gels.

tac_gel_E()

Returns a list of Young’s modulus values for the tactile gels.

tac_gel_nu()

Returns a list of Poisson’s ratio values for the tactile gels.

tac_gel_friction()

Returns a list of friction coefficients for the tactile gels.

num_tactile_markers()

Returns the total number of tactile markers.

num_tac_verts()

Returns a list of the number of vertices for each tactile rest mesh.

num_tac()

Returns the number of tactile sensors.

_load_tac_fabrications()

Loads the tactile fabrications from a given path and returns a list of VBTSConfig objects.

__init__(urdf_path: str, tac_fab_path: str = '', mesh_dir: str | None = None, actuated_joints: list[str] | None = None, env_id: int = 0, finger_link_names: List[str] = [], fingertip_link_names: List[str] = [], device: device = device(type='cuda', index=0), use_collision: bool = False)

Initializes the TactileRobot object.

Parameters:

• urdf_path (str) – Path to the URDF file.

• tac_fab_path (str, optional) – Path to the tactile fabrication file. Defaults to “”.

• mesh_dir (str | None, optional) – Directory containing mesh files. Defaults to None.

• actuated_joints (list[str] | None, optional) – List of actuated joints. Defaults to None.

• env_id (int, optional) – Environment ID. Defaults to 0.

• finger_link_names (List[str], optional) – List of finger link names. Defaults to [].

• fingertip_link_names (List[str], optional) – List of fingertip link names. Defaults to [].

• device (torch.device, optional) – Device to load the tactile data onto. Defaults to torch.device(“cuda:0”).

property gel_handles

property num_tac

property num_tac_verts

property num_tactile_markers: int

property tac_gel_E: list[float]

property tac_gel_density: list[float]

property tac_gel_friction: list[float]

property tac_gel_nu: list[float]

property tac_rest_meshes: list[UnstructuredGrid]