Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot interaction. However, the simulation of tactile sensors is still a challenge. In this paper, we built the first fully general optical tactile simulation system for a GelSight sensor using physics-based rendering techniques. We propose physically accurate light models and show in-depth analysis of individual components of our simulation pipeline. Our system outperforms previous simulation techniques qualitatively and quantitative on image similarity metrics. Our code and experimental data is open-sourced at https://labs.ri.cmu.edu/robotouch/tactile-optical-simulation/

翻译：光学感应器提供了高分辨率、紧凑和廉价的数据,以进行精确的手工操作和人体-机器人互动。然而,对触摸感应器进行模拟仍然是一个挑战。在本文件中,我们利用基于物理的造法技术,为GelSight感应器建立了第一个完全通用的光学触觉模拟系统。我们提出了物理精确的光学模型,并展示了对我们模拟管道各个组成部分的深入分析。我们的系统在质量和数量上超过了先前的图像相似度指标模拟技术。我们的代码和实验数据在https://labs.ri.cmu.edu/robotouch/tactile-光学模拟/公开来源于https://labs.ri.cmu.edu/robotoch/tactile-光学模拟。