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

Bases: Robot

A class representing a tactile robot with various tactile sensors.

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

Initializes the TactileRobot object.

Parameters:

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

• 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.

• 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_coll_layers: List[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]

property urdf_path: str

Returns the path to the URDF file.

write_urdf(target_path: str | None = None)

Write the modified URDF back to file