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BioTac Sim

This repo contains simulation scripts and assets for the ICRA 2021 paper, "Sim-to-real for robotic tactile sensing via physics-based simulation and learned latent projections." (paper | website)

The script provides a simple example of how to import the BioTac assets into NVIDIA Isaac Gym, launch an FEM simulation with multiple indenters across multiple parallel environments, and extract useful features (net forces, nodal coordinates, and element-wise stresses).

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