GelSight Mini Sensor
- Source of the sensor model (gelpad and case): https://github.com/gelsightinc/gsrobotics (last accessed 15.02.2025).
- Datasheet: https://www.gelsight.com/wp-content/uploads/productsheet/Mini/GelSight_Datasheet_GSMini.pdf (last accessed 15.02.2025)
Overview
The GelSight Mini is a high resolution Tactile Sensor.
Model Description
We separated sensor case and gelpad to specify different physics properties for the sensor. For example
- soft vs. rigid gelpad (PhysX)
- soft body gelpad with custom physics (e.g., IPC)
- different friction values for gelpad vs. case
Additionally we added a translucent plate between gelpad and sensor case.
This plate is used to attach the gelpad to the sensor case (in PhysX based simulation).
The translucency is important for camera based simulation approaches.
Without it, the camera would render images of the plate and not of the indenter.
Alternatively, you can turn the meshes that get in the way of the camera invisible.
If the Translucency is not activated in the Render Settings then the objects are simply invisible.
For whatever reason transluent objects are just "shine through" everything else, i.e. they are always visible.
Like the real sensor, our model contains a camera at the center of the case. The camera can be used for tactile simulation approaches that use height maps of the indentation (e.g. Taxim, FOTS).
Dimensions (length x width x height):
- case 32mm x 28mm x 24mm
- gelpad 25.25mm x 20.75mm x 4mm