| # 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) |
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| <todo insert img from model and real sensor> |
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| ## Overview |
| The GelSight Mini is a high resolution Tactile Sensor. |
| <todo Description about GelSight Mini> |
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| ## 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 |
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| 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. |
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| > For whatever reason transluent objects are just "shine through" everything else, i.e. they are always visible. |
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| 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). |
| <todo add camera properties description> |
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| Dimensions (length x width x height): |
| - case 32mm x 28mm x 24mm |
| - gelpad 25.25mm x 20.75mm x 4mm |
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| <todo Insert sketch of gelsight mini model> |
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