-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathindex.html
More file actions
525 lines (489 loc) · 29.9 KB
/
index.html
File metadata and controls
525 lines (489 loc) · 29.9 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
<!doctype html>
<html class="no-js" lang="en" data-content_root="./">
<head><meta charset="utf-8"/>
<meta name="viewport" content="width=device-width,initial-scale=1"/>
<meta name="color-scheme" content="light dark"><meta name="viewport" content="width=device-width, initial-scale=1" />
<!-- Google tag (gtag.js) -->
<script async src="https://www.googletagmanager.com/gtag/js?id=G-2LMJZFSYL3"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'G-2LMJZFSYL3');
</script>
<link rel="index" title="Index" href="genindex.html" /><link rel="search" title="Search" href="search.html" /><link rel="next" title="Concepts" href="concepts.html" />
<!-- Generated with Sphinx 8.1.3 and Furo 2024.08.06 -->
<title>Taccel - Docs</title>
<link rel="stylesheet" type="text/css" href="_static/pygments.css?v=8f2a1f02" />
<link rel="stylesheet" type="text/css" href="_static/styles/furo.css?v=354aac6f" />
<link rel="stylesheet" type="text/css" href="_static/copybutton.css?v=76b2166b" />
<link rel="stylesheet" type="text/css" href="_static/styles/furo-extensions.css?v=302659d7" />
<style>
body {
--color-code-background: #f8f8f8;
--color-code-foreground: black;
}
@media not print {
body[data-theme="dark"] {
--color-code-background: #202020;
--color-code-foreground: #d0d0d0;
}
@media (prefers-color-scheme: dark) {
body:not([data-theme="light"]) {
--color-code-background: #202020;
--color-code-foreground: #d0d0d0;
}
}
}
</style></head>
<body>
<script>
document.body.dataset.theme = localStorage.getItem("theme") || "auto";
</script>
<svg xmlns="http://www.w3.org/2000/svg" style="display: none;">
<symbol id="svg-toc" viewBox="0 0 24 24">
<title>Contents</title>
<svg stroke="currentColor" fill="currentColor" stroke-width="0" viewBox="0 0 1024 1024">
<path d="M408 442h480c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8H408c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8zm-8 204c0 4.4 3.6 8 8 8h480c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8H408c-4.4 0-8 3.6-8 8v56zm504-486H120c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8h784c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8zm0 632H120c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 8h784c4.4 0 8-3.6 8-8v-56c0-4.4-3.6-8-8-8zM115.4 518.9L271.7 642c5.8 4.6 14.4.5 14.4-6.9V388.9c0-7.4-8.5-11.5-14.4-6.9L115.4 505.1a8.74 8.74 0 0 0 0 13.8z"/>
</svg>
</symbol>
<symbol id="svg-menu" viewBox="0 0 24 24">
<title>Menu</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather-menu">
<line x1="3" y1="12" x2="21" y2="12"></line>
<line x1="3" y1="6" x2="21" y2="6"></line>
<line x1="3" y1="18" x2="21" y2="18"></line>
</svg>
</symbol>
<symbol id="svg-arrow-right" viewBox="0 0 24 24">
<title>Expand</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather-chevron-right">
<polyline points="9 18 15 12 9 6"></polyline>
</svg>
</symbol>
<symbol id="svg-sun" viewBox="0 0 24 24">
<title>Light mode</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="feather-sun">
<circle cx="12" cy="12" r="5"></circle>
<line x1="12" y1="1" x2="12" y2="3"></line>
<line x1="12" y1="21" x2="12" y2="23"></line>
<line x1="4.22" y1="4.22" x2="5.64" y2="5.64"></line>
<line x1="18.36" y1="18.36" x2="19.78" y2="19.78"></line>
<line x1="1" y1="12" x2="3" y2="12"></line>
<line x1="21" y1="12" x2="23" y2="12"></line>
<line x1="4.22" y1="19.78" x2="5.64" y2="18.36"></line>
<line x1="18.36" y1="5.64" x2="19.78" y2="4.22"></line>
</svg>
</symbol>
<symbol id="svg-moon" viewBox="0 0 24 24">
<title>Dark mode</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="icon-tabler-moon">
<path stroke="none" d="M0 0h24v24H0z" fill="none" />
<path d="M12 3c.132 0 .263 0 .393 0a7.5 7.5 0 0 0 7.92 12.446a9 9 0 1 1 -8.313 -12.454z" />
</svg>
</symbol>
<symbol id="svg-sun-with-moon" viewBox="0 0 24 24">
<title>Auto light/dark, in light mode</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round"
class="icon-custom-derived-from-feather-sun-and-tabler-moon">
<path style="opacity: 50%" d="M 5.411 14.504 C 5.471 14.504 5.532 14.504 5.591 14.504 C 3.639 16.319 4.383 19.569 6.931 20.352 C 7.693 20.586 8.512 20.551 9.25 20.252 C 8.023 23.207 4.056 23.725 2.11 21.184 C 0.166 18.642 1.702 14.949 4.874 14.536 C 5.051 14.512 5.231 14.5 5.411 14.5 L 5.411 14.504 Z"/>
<line x1="14.5" y1="3.25" x2="14.5" y2="1.25"/>
<line x1="14.5" y1="15.85" x2="14.5" y2="17.85"/>
<line x1="10.044" y1="5.094" x2="8.63" y2="3.68"/>
<line x1="19" y1="14.05" x2="20.414" y2="15.464"/>
<line x1="8.2" y1="9.55" x2="6.2" y2="9.55"/>
<line x1="20.8" y1="9.55" x2="22.8" y2="9.55"/>
<line x1="10.044" y1="14.006" x2="8.63" y2="15.42"/>
<line x1="19" y1="5.05" x2="20.414" y2="3.636"/>
<circle cx="14.5" cy="9.55" r="3.6"/>
</svg>
</symbol>
<symbol id="svg-moon-with-sun" viewBox="0 0 24 24">
<title>Auto light/dark, in dark mode</title>
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round"
class="icon-custom-derived-from-feather-sun-and-tabler-moon">
<path d="M 8.282 7.007 C 8.385 7.007 8.494 7.007 8.595 7.007 C 5.18 10.184 6.481 15.869 10.942 17.24 C 12.275 17.648 13.706 17.589 15 17.066 C 12.851 22.236 5.91 23.143 2.505 18.696 C -0.897 14.249 1.791 7.786 7.342 7.063 C 7.652 7.021 7.965 7 8.282 7 L 8.282 7.007 Z"/>
<line style="opacity: 50%" x1="18" y1="3.705" x2="18" y2="2.5"/>
<line style="opacity: 50%" x1="18" y1="11.295" x2="18" y2="12.5"/>
<line style="opacity: 50%" x1="15.316" y1="4.816" x2="14.464" y2="3.964"/>
<line style="opacity: 50%" x1="20.711" y1="10.212" x2="21.563" y2="11.063"/>
<line style="opacity: 50%" x1="14.205" y1="7.5" x2="13.001" y2="7.5"/>
<line style="opacity: 50%" x1="21.795" y1="7.5" x2="23" y2="7.5"/>
<line style="opacity: 50%" x1="15.316" y1="10.184" x2="14.464" y2="11.036"/>
<line style="opacity: 50%" x1="20.711" y1="4.789" x2="21.563" y2="3.937"/>
<circle style="opacity: 50%" cx="18" cy="7.5" r="2.169"/>
</svg>
</symbol>
<symbol id="svg-pencil" viewBox="0 0 24 24">
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="icon-tabler-pencil-code">
<path d="M4 20h4l10.5 -10.5a2.828 2.828 0 1 0 -4 -4l-10.5 10.5v4" />
<path d="M13.5 6.5l4 4" />
<path d="M20 21l2 -2l-2 -2" />
<path d="M17 17l-2 2l2 2" />
</svg>
</symbol>
<symbol id="svg-eye" viewBox="0 0 24 24">
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="none" stroke="currentColor"
stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="icon-tabler-eye-code">
<path stroke="none" d="M0 0h24v24H0z" fill="none" />
<path d="M10 12a2 2 0 1 0 4 0a2 2 0 0 0 -4 0" />
<path
d="M11.11 17.958c-3.209 -.307 -5.91 -2.293 -8.11 -5.958c2.4 -4 5.4 -6 9 -6c3.6 0 6.6 2 9 6c-.21 .352 -.427 .688 -.647 1.008" />
<path d="M20 21l2 -2l-2 -2" />
<path d="M17 17l-2 2l2 2" />
</svg>
</symbol>
</svg>
<input type="checkbox" class="sidebar-toggle" name="__navigation" id="__navigation">
<input type="checkbox" class="sidebar-toggle" name="__toc" id="__toc">
<label class="overlay sidebar-overlay" for="__navigation">
<div class="visually-hidden">Hide navigation sidebar</div>
</label>
<label class="overlay toc-overlay" for="__toc">
<div class="visually-hidden">Hide table of contents sidebar</div>
</label>
<a class="skip-to-content muted-link" href="#furo-main-content">Skip to content</a>
<div class="page">
<header class="mobile-header">
<div class="header-left">
<label class="nav-overlay-icon" for="__navigation">
<div class="visually-hidden">Toggle site navigation sidebar</div>
<i class="icon"><svg><use href="#svg-menu"></use></svg></i>
</label>
</div>
<div class="header-center">
<a href="#"><div class="brand">Taccel - Docs</div></a>
</div>
<div class="header-right">
<div class="theme-toggle-container theme-toggle-header">
<button class="theme-toggle">
<div class="visually-hidden">Toggle Light / Dark / Auto color theme</div>
<svg class="theme-icon-when-auto-light"><use href="#svg-sun-with-moon"></use></svg>
<svg class="theme-icon-when-auto-dark"><use href="#svg-moon-with-sun"></use></svg>
<svg class="theme-icon-when-dark"><use href="#svg-moon"></use></svg>
<svg class="theme-icon-when-light"><use href="#svg-sun"></use></svg>
</button>
</div>
<label class="toc-overlay-icon toc-header-icon" for="__toc">
<div class="visually-hidden">Toggle table of contents sidebar</div>
<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
</label>
</div>
</header>
<aside class="sidebar-drawer">
<div class="sidebar-container">
<div class="sidebar-sticky"><a class="sidebar-brand" href="#">
<span class="sidebar-brand-text">Taccel - Docs</span>
</a><form class="sidebar-search-container" method="get" action="search.html" role="search">
<input class="sidebar-search" placeholder="Search" name="q" aria-label="Search">
<input type="hidden" name="check_keywords" value="yes">
<input type="hidden" name="area" value="default">
</form>
<div id="searchbox"></div><div class="sidebar-scroll"><div class="sidebar-tree">
<p class="caption" role="heading"><span class="caption-text">Get Started</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="concepts.html">Concepts</a></li>
<li class="toctree-l1"><a class="reference internal" href="install.html">Installation</a></li>
<li class="toctree-l1"><a class="reference internal" href="supercharging.html">Blog Post</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Warp-IPC References</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="modules/robot.html">Robot Models</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/model.html">ASR Model APIs</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/integrator.html">IPC Integrator</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/handle.html">Simulation Handles</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/envvar.html">Environment Variables</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Taccel References</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="modules/tactile_robot.html">Tactile Robot Models</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/sensor.html">VBTS Config</a></li>
<li class="toctree-l1"><a class="reference internal" href="modules/taccel.html">Taccel APIs</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/taccel_examples.html">Taccel Examples</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Tools</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="tools/render.html">Rendering Tools</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Development</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="contribute.html">Contribution</a></li>
<li class="toctree-l1"><a class="reference internal" href="issue_todos.html">Current Progress</a></li>
</ul>
</div>
</div>
</div>
</div>
</aside>
<div class="main">
<div class="content">
<div class="article-container">
<a href="#" class="back-to-top muted-link">
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24">
<path d="M13 20h-2V8l-5.5 5.5-1.42-1.42L12 4.16l7.92 7.92-1.42 1.42L13 8v12z"></path>
</svg>
<span>Back to top</span>
</a>
<div class="content-icon-container">
<div class="view-this-page">
<a class="muted-link" href="https://github.com/Taccel-Simulator/Taccel/blob/main/docs/index.rst?plain=true" title="View this page">
<svg><use href="#svg-eye"></use></svg>
<span class="visually-hidden">View this page</span>
</a>
</div><div class="edit-this-page">
<a class="muted-link" href="https://github.com/Taccel-Simulator/Taccel/edit/main/docs/index.rst" title="Edit this page">
<svg><use href="#svg-pencil"></use></svg>
<span class="visually-hidden">Edit this page</span>
</a>
</div><div class="theme-toggle-container theme-toggle-content">
<button class="theme-toggle">
<div class="visually-hidden">Toggle Light / Dark / Auto color theme</div>
<svg class="theme-icon-when-auto-light"><use href="#svg-sun-with-moon"></use></svg>
<svg class="theme-icon-when-auto-dark"><use href="#svg-moon-with-sun"></use></svg>
<svg class="theme-icon-when-dark"><use href="#svg-moon"></use></svg>
<svg class="theme-icon-when-light"><use href="#svg-sun"></use></svg>
</button>
</div>
<label class="toc-overlay-icon toc-content-icon" for="__toc">
<div class="visually-hidden">Toggle table of contents sidebar</div>
<i class="icon"><svg><use href="#svg-toc"></use></svg></i>
</label>
</div>
<article role="main" id="furo-main-content">
<section id="taccel-scaling-up-vision-based-tactile-robotics-via-high-performance-gpu-simulation">
<h1>Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation<a class="headerlink" href="#taccel-scaling-up-vision-based-tactile-robotics-via-high-performance-gpu-simulation" title="Link to this heading">¶</a></h1>
<p><a class="reference external" href="https://yuyangli.com">Yuyang Li</a> <sup>1,3,4,5,*</sup>,
<a class="reference external" href="https://dwxrycb123.github.io/">Wenxin Du</a> <sup>2,*</sup>,
<a class="reference external" href="https://changyu.io/">Chang Yu</a> <sup>2,*</sup>,
<a class="reference external" href="https://xiaoyao-li.github.io">Puhao Li</a> <sup>3,4</sup>,
<a class="reference external" href="https://zihangzhao.com/">Zihang Zhao</a> <sup>1,4,5</sup>,
<a class="reference external" href="https://tengyu.ai">Tengyu Liu</a> <sup>3,4</sup>,
<a class="reference external" href="https://www.math.ucla.edu/~cffjiang/">Chenfanfu Jiang</a> <sup>2,†</sup>,
<a class="reference external" href="https://yzhu.io">Yixin Zhu</a> <sup>1,4,5,6,†</sup>,
<a class="reference external" href="https://siyuanhuang.com">Siyuan Huang</a> <sup>3,4,†</sup></p>
<p><sup>1</sup> Peking University</p>
<p><sup>2</sup> University of California, Los Angeles</p>
<p><sup>3</sup> Beijing Institute for General AI</p>
<p><sup>4</sup> State Key Lab of General AI</p>
<p><sup>5</sup> Beijing Key Laboratory of Behavior and Mental Health, Peking University</p>
<p><sup>6</sup> Embodied Intelligence Lab, PKU-Wuhan Institute for Artificial Intelligence</p>
<p><sup>*</sup> Equal Contributor
<sup>†</sup> Corresponding Author</p>
<p>[📄 <a class="reference external" href="https://taccel-simulator.github.io/assets/taccel-paper.pdf">Paper</a>]
[📘 <a class="reference external" href="https://taccel-simulator.github.io">Docs</a>]
[🛠️ <a class="reference external" href="https://github.com/Taccel-Simulator/Taccel">Code</a>]</p>
<div style="width: 100%; position: relative; padding-bottom: 56.25%;">
<iframe
src="https://player.vimeo.com/video/1075961685"
frameborder="0"
allow="autoplay; fullscreen; picture-in-picture"
allowfullscreen=""
title="Taccel"
style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"
></iframe>
</div><p>Taccel is a high-performance simulation platform for vision-based tactile sensors and robots.</p>
<a class="reference internal image-reference" href="_images/overview.png"><img alt="Taccel Infrastructure" class="align-center" src="_images/overview.png" style="width: 100%;" />
</a>
<p>Taccel integrates IPC and ABD to model robots, tactile sensors, and objects with both accuracy and unprecedented speed, simulating precise physics, realistic tactile signals, and flexible robot-sensor configurations through user-friendly APIs.</p>
<div style="clear: both;"></div><section id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Link to this heading">¶</a></h2>
<p>Our release comes with several examples. See <a class="reference external" href="examples/taccel_examples.html">Taccel Examples</a> for more details.</p>
</section>
<section id="contributing">
<h2>Contributing<a class="headerlink" href="#contributing" title="Link to this heading">¶</a></h2>
<p>We welcome contributions from the community to improve Taccel and make it even more useful for everyone. You can pull requests, report issues, or suggest features via <a class="reference external" href="https://github.com/Taccel-Simulator/Taccel">our GitHub repo</a>.</p>
<p>For more details and instructions, please follow the <a class="reference external" href="./contribute.html">contributing guide</a>.</p>
</section>
<section id="citing">
<h2>Citing<a class="headerlink" href="#citing" title="Link to this heading">¶</a></h2>
<p>If you use Taccel in your research, please use the following citation:</p>
<div class="highlight-bibtex notranslate"><div class="highlight"><pre><span></span><span class="nc">@misc</span><span class="p">{</span><span class="nl">li2025taccel</span><span class="p">,</span>
<span class="w"> </span><span class="na">title</span><span class="p">=</span><span class="s">{Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation}</span><span class="p">,</span>
<span class="w"> </span><span class="na">author</span><span class="p">=</span><span class="s">{Li, Yuyang and Du, Wenxin and Yu, Chang and Li, Puhao and Zhao, Zihang and Liu, Tengyu and Jiang, Chenfanfu and Zhu, Yixin and Huang, Siyuan}</span><span class="p">,</span>
<span class="w"> </span><span class="na">journal</span><span class="p">=</span><span class="s">{arXiv preprint arXiv:2504.12908}</span><span class="p">,</span>
<span class="w"> </span><span class="na">year</span><span class="p">=</span><span class="s">{2025}</span>
<span class="p">}</span>
</pre></div>
</div>
</section>
<section id="index">
<h2>Index<a class="headerlink" href="#index" title="Link to this heading">¶</a></h2>
<ul class="simple">
<li><p><a class="reference internal" href="genindex.html"><span class="std std-ref">Index</span></a></p></li>
<li><p><a class="reference internal" href="py-modindex.html"><span class="std std-ref">Module Index</span></a></p></li>
<li><p><a class="reference internal" href="search.html"><span class="std std-ref">Search Page</span></a></p></li>
</ul>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Get Started</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="concepts.html">Concepts</a><ul>
<li class="toctree-l2"><a class="reference internal" href="concepts.html#vision-based-tactile-sensors-vbts">Vision-Based Tactile Sensors (VBTS)</a></li>
<li class="toctree-l2"><a class="reference internal" href="concepts.html#taccel">Taccel</a></li>
<li class="toctree-l2"><a class="reference internal" href="concepts.html#warp-ipc">Warp-IPC</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="install.html">Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="install.html#install-the-essential-libraries">Install the Essential Libraries</a></li>
<li class="toctree-l2"><a class="reference internal" href="install.html#clone-our-repo-and-install-taccel">Clone Our Repo and Install Taccel</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="supercharging.html">Blog Post</a><ul>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#behind-taccel-the-nvidia-warp-implemented-ipc-solver-for-nvidia-warp-and-newton">Behind Taccel: The NVIDIA Warp-implemented IPC Solver for NVIDIA Warp and Newton</a></li>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#precise-and-scalable-robot-simulation-with-taccel">Precise and Scalable Robot Simulation with Taccel</a></li>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#taccel-in-action-flexible-and-user-friendly-apis">Taccel in Action: Flexible and User-friendly APIs</a></li>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#conclusion">Conclusion</a></li>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#see-also">See Also</a></li>
<li class="toctree-l2"><a class="reference internal" href="supercharging.html#references">References</a></li>
</ul>
</li>
</ul>
</div>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Warp-IPC References</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="modules/robot.html">Robot Models</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/robot.html#warp_ipc.robots.Link"><code class="docutils literal notranslate"><span class="pre">Link</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/robot.html#warp_ipc.robots.Kinematic"><code class="docutils literal notranslate"><span class="pre">Kinematic</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/robot.html#warp_ipc.robots.Robot"><code class="docutils literal notranslate"><span class="pre">Robot</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/model.html">ASR Model APIs</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/model.html#warp_ipc.sim_model.ASRModel"><code class="docutils literal notranslate"><span class="pre">ASRModel</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/integrator.html">IPC Integrator</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/integrator.html#warp_ipc.ipc_integrator.IPCIntegrator"><code class="docutils literal notranslate"><span class="pre">IPCIntegrator</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/handle.html">Simulation Handles</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.utils.constants.BodyType"><code class="docutils literal notranslate"><span class="pre">BodyType</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.body_handle.TriMeshBodyHandle"><code class="docutils literal notranslate"><span class="pre">TriMeshBodyHandle</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.body_handle.TetMeshBodyHandle"><code class="docutils literal notranslate"><span class="pre">TetMeshBodyHandle</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.body_handle.BodyHandle"><code class="docutils literal notranslate"><span class="pre">BodyHandle</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.joint_handle.JointType"><code class="docutils literal notranslate"><span class="pre">JointType</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.joint_handle.WorldJointHandle"><code class="docutils literal notranslate"><span class="pre">WorldJointHandle</span></code></a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/handle.html#warp_ipc.joint_handle.LocalJointHandle"><code class="docutils literal notranslate"><span class="pre">LocalJointHandle</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/envvar.html">Environment Variables</a></li>
</ul>
</div>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Taccel References</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="modules/tactile_robot.html">Tactile Robot Models</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/tactile_robot.html#taccel.taccel.TactileRobot"><code class="docutils literal notranslate"><span class="pre">TactileRobot</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/sensor.html">VBTS Config</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/sensor.html#taccel.turdf.sensor.SensorElastomer"><code class="docutils literal notranslate"><span class="pre">SensorElastomer</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/taccel.html">Taccel APIs</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/taccel.html#taccel.taccel.TaccelModel"><code class="docutils literal notranslate"><span class="pre">TaccelModel</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="examples/taccel_examples.html">Taccel Examples</a><ul>
<li class="toctree-l2"><a class="reference internal" href="examples/taccel_examples.html#peg-insertion">Peg-Insertion</a></li>
<li class="toctree-l2"><a class="reference internal" href="examples/taccel_examples.html#grasping-deformable-object">Grasping Deformable Object</a></li>
<li class="toctree-l2"><a class="reference internal" href="examples/taccel_examples.html#tac-man-tactile-informed-manipulation">Tac-Man: Tactile-informed Manipulation</a></li>
</ul>
</li>
</ul>
</div>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Tools</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="tools/render.html">Rendering Tools</a><ul>
<li class="toctree-l2"><a class="reference internal" href="tools/render.html#dumping-scene-meshes-for-visualization">Dumping Scene Meshes for Visualization</a></li>
<li class="toctree-l2"><a class="reference internal" href="tools/render.html#using-the-warp-render">Using the <code class="docutils literal notranslate"><span class="pre">warp.render</span></code></a></li>
</ul>
</li>
</ul>
</div>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Development</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="contribute.html">Contribution</a><ul>
<li class="toctree-l2"><a class="reference internal" href="contribute.html#code-formatting">Code Formatting</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="issue_todos.html">Current Progress</a><ul>
<li class="toctree-l2"><a class="reference internal" href="issue_todos.html#known-issues">Known Issues</a></li>
</ul>
</li>
</ul>
</div>
</section>
</section>
</article>
</div>
<footer>
<div class="related-pages">
<a class="next-page" href="concepts.html">
<div class="page-info">
<div class="context">
<span>Next</span>
</div>
<div class="title">Concepts</div>
</div>
<svg class="furo-related-icon"><use href="#svg-arrow-right"></use></svg>
</a>
</div>
<div class="bottom-of-page">
<div class="left-details">
<div class="copyright">
Copyright © 2025, the Taccel Team
</div>
Made with <a href="https://www.sphinx-doc.org/">Sphinx</a> and <a class="muted-link" href="https://pradyunsg.me">@pradyunsg</a>'s
<a href="https://github.com/pradyunsg/furo">Furo</a>
</div>
<div class="right-details">
<div class="icons">
<a class="muted-link fa-brands fa-solid fa-github fa-2x" href="https://github.com/Taccel-Simulator/Taccel" aria-label="GitHub"></a>
</div>
</div>
</div>
</footer>
</div>
<aside class="toc-drawer">
<div class="toc-sticky toc-scroll">
<div class="toc-title-container">
<span class="toc-title">
On this page
</span>
</div>
<div class="toc-tree-container">
<div class="toc-tree">
<ul>
<li><a class="reference internal" href="#">Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation</a><ul>
<li><a class="reference internal" href="#examples">Examples</a></li>
<li><a class="reference internal" href="#contributing">Contributing</a></li>
<li><a class="reference internal" href="#citing">Citing</a></li>
<li><a class="reference internal" href="#index">Index</a><ul>
</ul>
</li>
</ul>
</li>
</ul>
</div>
</div>
</div>
</aside>
</div>
</div><script src="_static/documentation_options.js?v=4ebf8126"></script>
<script src="_static/doctools.js?v=9bcbadda"></script>
<script src="_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="_static/scripts/furo.js?v=5fa4622c"></script>
<script src="_static/clipboard.min.js?v=a7894cd8"></script>
<script src="_static/copybutton.js?v=f281be69"></script>
<script async="async" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
</body>
</html>