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DiffTactile: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
<p align="center"> <img src="docs/box.gif" width="200" /> <img src="docs/pbd.gif" width="200" /> <img src="docs/repose.gif" width="200" /> <img src="docs/surface.gif" width="200" /> </p>This package provides a tactile simulator with differential physics for contact-rich manipulation tasks . It models soft tactile sensors, objects with various material properties, and contact between sensors and objects. For more information, please refer to the project webpage or corresponding paper.
Installation
You can create a Conda environment for this simulator:
conda create -n difftactile python=3.9.16
conda activate difftactile
And install the package with its dependencies using
git clone https://github.com/DiffTactile/DiffTactile.git
cd DiffTactile
pip install -r requirements.txt -e .
File Structure
meshes
includes all object and sensor mesh models.object_model
includes soft (elastic, elastoplastic), rigid, multi-material, and cable object models.sensor_model
includes FEM tactile sensor model and parallel-jaw gripper model.tasks
includes gradient-based skill learning for manipulation tasks.baseline
includes baseline methods (CMA-ES, PPO, SAC, RNN) implementation.
Usage example
Under the tasks, run
python box_open.py --use_state --use_tactile
use_state
means using state rewardsuse_tactile
means using tactile rewards
This will optimize the trajectory of the box opening task with differential physics.
License
This project is licensed under MIT license, as found in the LICENSE file.
Citating DiffTactile
If you use DiffTactile in your research, please cite
@inproceedings{
si2024difftactile,
title={{DIFFTACTILE}: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation},
author={Zilin Si and Gu Zhang and Qingwei Ben and Branden Romero and Zhou Xian and Chao Liu and Chuang Gan},
booktitle={The Twelfth International Conference on Learning Representations},
year={2024},
url={https://openreview.net/forum?id=eJHnSg783t}
}