| schema_version: "1.0" | |
| module: | |
| name: haptos | |
| version: "0.1.0" | |
| display_name: "HAPTOS — General Tactile Representation Learning" | |
| description: "Foundation model for tactile sensing and contact-rich manipulation with learned tactile representations" | |
| category: manipulation.tactile | |
| license: Apache-2.0 | |
| paper: "General Tactile Representation Learning" | |
| capabilities: | |
| provides: | |
| - type: tactile_sensing | |
| subtype: representation_learning | |
| - type: contact_estimation | |
| subtype: force_torque | |
| interface: | |
| inputs: | |
| - name: tactile_data | |
| ros2_type: std_msgs/msg/Float32MultiArray | |
| - name: image | |
| ros2_type: sensor_msgs/msg/Image | |
| outputs: | |
| - name: tactile_features | |
| ros2_type: std_msgs/msg/Float32MultiArray | |
| - name: contact_state | |
| ros2_type: std_msgs/msg/String | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda, onnxruntime_cpu] | |
| - name: nvidia_jetson | |
| backends: [tensorrt, onnxruntime_cuda] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: haptos-base | |
| backend: onnxruntime_cuda | |
| fps: 30 | |
| latency_p50_ms: 20 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 200 | |
| health_topic: /anima/haptos/health | |
| composability: | |
| pairs_well_with: | |
| - manipulation.grasping | |
| - manipulation.vla | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-haptos:0.1.0 | |
| port: 8090 | |