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EIP: Elastic Interaction of Particles

Code release for "Elastic Tactile Simulation Towards Tactile-Visual Perception", in ACMMM (Oral) 2021.

By Yikai Wang, Wenbing Huang, Bin Fang, Fuchun Sun, Chang Li.

<p align="center"><img src="assets/intro.png" width="820" /></p>

Dependencies

python==3.7.6
taichi==0.6.32
pytorch==1.6.0
pytorch3d==0.2.5
imageio==2.9.0
open3d==0.11.0
opencv-python==4.4.0
openexr==2.4.1

Scripts

We provide two objects (torus and gear) as examples.

First, transform mesh to voxels

python mesh2voxel.py --path obj_path  # e.g., obj/torus.obj

Then perform EIP, for example,

python show_torus_vertical.py --name exp_name

Will obtain fine-grained tacile patterns like,

<p align="center"><img src="assets/patterns.png" width="920" /></p>

Simulated particles of the tactile sensor will be automatically saved, which can be visualized with Meshlab,

<p align="center"><img src="assets/particles.png" width="520" /></p>

Particles can be reconstructed to meshes by Meshlab (e.g., Surface Reconstruction). We adopt Mitsuba for rendering.

Similarly, performing the vertical contact on the gear object (show_gear_vertical.py) provides the following deformation (after rendering),

<p align="center"><img src="assets/gear.png" width="920" /></p>

We thank a lot for the flexible codebase of Taichi.

Citation

If you find our work useful for your research, please consider citing the following paper.

@inproceedings{wang2021eip,
  title={Elastic Tactile Simulation Towards Tactile-Visual Perception},
  author={Wang, Yikai and Huang, Wenbing and Fang, Bin and Sun, Fuchun and Li, Chang},
  booktitle={ACM International Conference on Multimedia (ACM MM)},
  year={2021}
}

License

EIP is released under MIT License.