https://github.com/yikaiw/EIP

[ACMMM 2021, Oral] Code release for "Elastic Tactile Simulation Towards Tactile-Visual Perception"
https://github.com/yikaiw/EIP

simulation tactile taichi

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[ACMMM 2021, Oral] Code release for "Elastic Tactile Simulation Towards Tactile-Visual Perception"

• Host: GitHub
• URL: https://github.com/yikaiw/EIP
• Owner: yikaiw
• License: mit
• Created: 2021-07-27T03:42:02.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2022-07-20T11:50:37.000Z (over 2 years ago)
• Last Synced: 2024-08-02T11:23:24.509Z (3 months ago)
• Topics: simulation, tactile, taichi
• Language: Python
• Homepage: https://arxiv.org/pdf/2108.05013.pdf
• Size: 5.75 MB
• Stars: 44
• Watchers: 5
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-taichi - Elastic Interaction of Particles - A simulation of Elastic Interaction of Particles (EIP) implemented in Taichi. (Applications / **Simulation**)
• awesome-taichi - Elastic Interaction of Particles - A simulation of Elastic Interaction of Particles (EIP) implemented in Taichi. (**Simulation**)

README

        
# EIP: Elastic Interaction of Particles

Code release for [**"Elastic Tactile Simulation Towards Tactile-Visual Perception"**](https://arxiv.org/pdf/2108.05013.pdf), in ACMMM (Oral) 2021.

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



## 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,



Simulated particles of the tactile sensor will be automatically saved, which can be visualized with [Meshlab](https://www.meshlab.net/),



Particles can be reconstructed to meshes by Meshlab (e.g., Surface Reconstruction). We adopt [Mitsuba](http://www.mitsuba-renderer.org/) for rendering.

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



We thank a lot for the flexible codebase of [Taichi](https://github.com/taichi-dev/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.