├── .gitignore ├── LICENSE ├── README.md ├── difftactile ├── __init__.py ├── baseline │ ├── README.md │ ├── cma_baseline.py │ ├── init.png │ ├── register_tasks.py │ ├── rnn_deploy.py │ ├── rnn_model.pth │ ├── rnn_train.py │ ├── rnn_train_data.pkl │ ├── tactile_env.py │ ├── tactile_eval_env.py │ └── training_rl.py ├── meshes │ ├── objects │ │ ├── A00_0.obj │ │ ├── A16_0.obj │ │ ├── E15_0.obj │ │ ├── J03_2.obj │ │ ├── Random-surface.stl │ │ ├── block-10.stl │ │ └── earpod-case.stl │ └── sensors │ │ ├── gripper-base.stl │ │ └── gripper-finger.stl ├── object_model │ ├── PBD_rope.py │ ├── __init__.py │ ├── mpm_elastic.py │ ├── mpm_plastic.py │ ├── multi_obj.py │ ├── obj_loader.py │ ├── rigid_dynamic.py │ └── rigid_static.py ├── sensor_model │ ├── __init__.py │ ├── fem_sensor.py │ ├── fisheye_model.py │ ├── gripper_fem.py │ ├── gripper_kinematics.py │ ├── imgui.ini │ └── init.png └── tasks │ ├── __init__.py │ ├── box_open.py │ ├── cable_straightening.py │ ├── deform_loss.py │ ├── grasp_elastic.py │ ├── grasp_plastic.py │ ├── imgui.ini │ ├── init.png │ ├── object_repose.py │ └── surface_follow.py ├── docs ├── box.gif ├── pbd.gif ├── repose.gif └── surface.gif ├── requirements.txt └── setup.py /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | __pycache__/ 3 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Genesis-Embodied-AI/DiffTactile/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Genesis-Embodied-AI/DiffTactile/HEAD/README.md -------------------------------------------------------------------------------- /difftactile/__init__.py: 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