This package is a forked version of the repository TACTO. It provides a simulator for vision-based tactile sensors, such as DIGIT with MuJoCo.

For more information refer to the corresponding paper TACTO: A Fast, Flexible, and Open-source Simulator for High-resolution Vision-based Tactile Sensors.

NOTE: the simulator is not meant to provide a physically accurate dynamics of the contacts (e.g., deformation, friction), but rather relies on existing physics engines.

1. Fresh environment with python 3.8
2. pip install -r requirements.txt
3. pip install dm-control==1.0.14
   • Ignore warnings related to pyopengl
4. pip install pyopengl==3.1.4
   • Ignore warnings related to pyopengl
5. Install OSMesa

Run demo by executing python demo_mujoco_digit.py

This project is licensed under MIT license, as found in the LICENSE file.

If you use this project in your research, please cite:

@Article{Wang2022TACTO,
  author   = {Wang, Shaoxiong and Lambeta, Mike and Chou, Po-Wei and Calandra, Roberto},
  title    = {{TACTO}: A Fast, Flexible, and Open-source Simulator for High-resolution Vision-based Tactile Sensors},
  journal  = {IEEE Robotics and Automation Letters (RA-L)},
  year     = {2022},
  volume   = {7},
  number   = {2},
  pages    = {3930--3937},
  issn     = {2377-3766},
  doi      = {10.1109/LRA.2022.3146945},
  url      = {https://arxiv.org/abs/2012.08456},
}