文件列表:

sim_biotac (0, 2018-06-11)
sim_biotac\CMakeLists.txt (1583, 2018-06-11)
sim_biotac\config (0, 2018-06-11)
sim_biotac\config\model.yaml (4335037, 2018-06-11)
sim_biotac\include (0, 2018-06-11)
sim_biotac\include\sim_biotac (0, 2018-06-11)
sim_biotac\include\sim_biotac\neural_network.h (7966, 2018-06-11)
sim_biotac\include\sim_biotac\sim_biotac.h (9156, 2018-06-11)
sim_biotac\package.xml (724, 2018-06-11)
sim_biotac\scripts (0, 2018-06-11)
sim_biotac\scripts\set_default_model (71, 2018-06-11)
sim_biotac\src (0, 2018-06-11)
sim_biotac\src\sim_biotac.cpp (8244, 2018-06-11)
sim_biotac_motorhand (0, 2018-06-11)
sim_biotac_motorhand\CMakeLists.txt (607, 2018-06-11)
sim_biotac_motorhand\launch (0, 2018-06-11)
sim_biotac_motorhand\launch\hand.rviz (8866, 2018-06-11)
sim_biotac_motorhand\launch\hand_rviz.launch (471, 2018-06-11)
sim_biotac_motorhand\launch\sim_biotac_motorhand_1.launch (2016, 2018-06-11)
sim_biotac_motorhand\launch\sim_biotac_motorhand_2.launch (2215, 2018-06-11)
sim_biotac_motorhand\launch\touch.rviz (10123, 2018-06-11)
sim_biotac_motorhand\launch\ur5_motorhand.launch (3386, 2018-06-11)
sim_biotac_motorhand\package.xml (1065, 2018-06-11)
sim_biotac_motorhand\robots (0, 2018-06-11)
sim_biotac_motorhand\robots\sim_biotac_motorhand_1.urdf.xacro (1094, 2018-06-11)
sim_biotac_motorhand\robots\sim_biotac_motorhand_2.urdf.xacro (1975, 2018-06-11)
sim_biotac_motorhand\robots\ur5_sim_biotac_motorhand.urdf.xacro (1417, 2018-06-11)
sim_biotac_motorhand\scripts (0, 2018-06-11)
sim_biotac_motorhand\scripts\move_finger_1 (2206, 2018-06-11)
sim_biotac_motorhand\scripts\move_finger_2 (2462, 2018-06-11)
sim_biotac_motorhand\src (0, 2018-06-11)
sim_biotac_motorhand\src\tripod_grasp.cpp (6260, 2018-06-11)
sim_biotac_motorhand\worlds (0, 2018-06-11)
sim_biotac_motorhand\worlds\empty.world (1463, 2018-06-11)
sim_biotac_motorhand\worlds\grasp.world (4478, 2018-06-11)
sim_biotac_train (0, 2018-06-11)
sim_biotac_train\CMakeLists.txt (1675, 2018-06-11)
sim_biotac_train\package.xml (1342, 2018-06-11)
... ...

# Gazebo plug-in for simulating BioTac tactile sensors ## Overview - This repository contains a Gazebo plug-in for simulating BioTac tactile sensors. - The plug-in publishes ROS messages containing simulated electrode and pressure sensor readings as if they were generated by real BioTac sensors. - The sensor outputs are simulated using an artificial neural network. - Example projects, training scripts, and a pretrained sensor model are included. ## Installation - Clone this reposity - If you want to run the demos: get the Shadow hand packages and their dependencies - If you want to train the plug-in yourself instead of using a pretrained model, get Keras, Tensorflow, Apriltags, and the Shadow hand packages ## Running the demos - Launch a simulation environment (eg. `roslaunch sim_biotac_motorhand sim_biotac_motorhand_1.launch`, or `roslaunch sim_biotac_motorhand sim_biotac_motorhand_2.launch`, or `roslaunch sim_biotac_motorhand ur5_motorhand.launch`) - Run one of the tests (eg. `rosrun sim_biotac_motorhand move_finger_1`, or `rosrun sim_biotac_motorhand move_finger_2`, or `rosrun sim_biotac_motorhand tripod_grasp`) ## References - You can download the dataset associated with this network model at https://tams.informatik.uni-hamburg.de/research/datasets/index.php#biotac_single_contact_response - If you use this work, please cite *Philipp Ruppel, Yannick Jonetzko, Michael Grner, Norman Hendrich and Jianwei Zhang, Simulation of the SynTouch BioTac Sensor, The 15th International Conference on Intelligent Autonomous Systems, IAS-15 2018, Baden Baden, Germany.*

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