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feat!: Add rcs_taxim and update grasp_digit_demo.py with associated assets accordingly #268

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feat!: Add rcs_taxim and update grasp_digit_demo.py with associated assets accordingly #268

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25e5a27
add missing requirements in build_deps and tqdm
tenfoldpaper Apr 9, 2026
ac7e658
add taxim extension with updated example code
tenfoldpaper Apr 9, 2026
6af3a6c
! remove references to deprecated rcs_tacto
tenfoldpaper Apr 9, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yaml
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Expand Up @@ -72,7 +72,7 @@ jobs:
- rcs_xarm7
- rcs_realsense
- rcs_robotiq2f85
- rcs_tacto
- rcs_taxim
- rcs_usb_cam
runs-on: ubuntu-latest
steps:
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27 changes: 5 additions & 22 deletions assets/scenes/fr3_digit_simple_pick_up/fr3_0.xml
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@@ -1,7 +1,4 @@
<mujoco>
<extension>
<plugin plugin="mujoco.sensor.touch_grid" />
</extension>
<worldbody>
<body name="base_0" childclass="fr3" gravcomp="1">
<body name="fr3_link0_0" gravcomp="1">
Expand Down Expand Up @@ -95,17 +92,17 @@
<geom mesh="digit_sensor_no_backplate" class="visual" material="black" />
<geom mesh="digit_sensor_no_backplate_collision" class="collision" name="finger_c_left_0" />

<body name="left_tacto">
<body name="left_taxim">
<geom mesh="digit_sensor_pad" class="visual" material="grey_material" />
<geom mesh="digit_sensor_pad" class="collision" name="finger_1_left_0" friction="0.4"/>
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_left_0_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_1_left_1_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_1_left_2_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_1_left_3_0" friction="2 0.05 0.0001"/>
<site name="left_tacto_pad_0" pos="0 0.005 -0.075" euler="1.5707963267948966 0 3.141592653589793"/>
<site name="left_taxim_pad_0" pos="0 0.0173 -0.075" euler="-1.570796 0 1.570796"/>
</body>

<joint name="finger_joint1_0" class="finger" />
<joint name="finger_joint1_0" class="finger"/>
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
</body>
<body name="right_finger_0" pos="0.00 -0.01 0.075" euler="0 3.141592653589793 0" gravcomp="1">
Expand All @@ -116,14 +113,14 @@
<geom mesh="digit_sensor_no_backplate" class="visual" material="black" />
<geom mesh="digit_sensor_no_backplate_collision" class="collision" name="finger_c_right_0" />

<body name="right_tacto">
<body name="right_taxim">
<geom mesh="digit_sensor_pad" class="visual" material="grey_material" />
<geom mesh="digit_sensor_pad" class="collision" name="finger_1_right_0"/>
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_right_0_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_1_right_1_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_1_right_2_0" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_1_right_3_0" friction="2 0.05 0.0001"/>
<site name="right_tacto_pad_0" pos="0 0.005 -0.075" euler="1.5707963267948966 0 3.141592653589793"/>
<site name="right_taxim_pad_0" pos="0 0.0173 -0.075" euler="-1.570796 0 1.570796"/>
</body>

<joint name="finger_joint2_0" class="finger" />
Expand Down Expand Up @@ -162,18 +159,4 @@

<general class="fr3" name="actuator8_0" tendon="split_0" forcerange="-100 100" ctrlrange="0 255" gainprm="0.01568627451 0 0" biasprm="0 -100 -10" />
</actuator>
<sensor>
<plugin name="left_tacto_pad_0" plugin="mujoco.sensor.touch_grid" objtype="site" objname="left_tacto_pad_0">
<config key="size" value="120 160" />
<config key="fov" value="60 70" />
<config key="gamma" value="0" />
<config key="nchannel" value="3" />
</plugin>
<plugin name="right_tacto_pad_0" plugin="mujoco.sensor.touch_grid" objtype="site" objname="right_tacto_pad_0">
<config key="size" value="120 160" />
<config key="fov" value="60 70" />
<config key="gamma" value="0" />
<config key="nchannel" value="3" />
</plugin>
</sensor>
</mujoco>
5 changes: 2 additions & 3 deletions assets/scenes/fr3_digit_simple_pick_up/fr3_common.xml
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Expand Up @@ -18,10 +18,10 @@
<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0" />
</default>
<default class="tacto_visual">
<default class="taxim_visual">
<geom type="mesh" group="2" contype="0" conaffinity="0" friction="0.4" solimp="0.99 0.9999 0.000001" />
</default>
<default class="tacto_collision">
<default class="taxim_collision">
<geom type="mesh" group="3" mass="0" density="0" friction="0.4" solimp="0.99 0.9999 0.000001" />
</default>
<default class="collision">
Expand Down Expand Up @@ -61,7 +61,6 @@
<material name="button_green" rgba="0.102241 0.571125 0.102242 1" />
<material name="button_red" rgba="0.520996 0.008023 0.013702 1" />
<material name="button_blue" rgba="0.024157 0.445201 0.737911 1" />

<mesh file="fr3_link0_0.obj" />
<mesh file="fr3_link0_1.obj" />
<mesh file="fr3_link0_2.obj" />
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21 changes: 8 additions & 13 deletions assets/scenes/fr3_digit_simple_pick_up/scene.xml
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@@ -1,4 +1,4 @@
<mujoco model="simple pick up task">
<mujoco model="digit_simple_pick_up">
<include file="fr3_common.xml" />
<include file="fr3_0.xml" />

Expand All @@ -12,29 +12,24 @@

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />

<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0 0 0" rgb2="0 0 0" markrgb="0.8 0.8 0.8" width="300" height="300" />

<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
</asset>

<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="1 0.005 0.0001" />
<!-- <body>
<geom type="box" name="isocube" size="0.2 0.2 0.2" rgba="0.153 0.961 0.329 0.2" pos="0.498 0.0 0.226" contype="0" conaffinity="0" group="2"/>
</body> -->

<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<camera name="bird_eye_cam" pos="0.271 -0.000 2.080" xyaxes="0.001 -1.000 -0.000 1.000 0.001 0.017" />
<camera name="openvla_view" pos="1.535 -0.406 0.757" xyaxes="0.246 0.969 0.000 -0.468 0.119 0.876" />
<camera name="right_side" pos="0.217 -1.738 0.583" xyaxes="1.000 -0.010 0.000 0.001 0.143 0.990"/>
<camera name="front" pos="2.278 -0.020 0.931" xyaxes="0.003 1.000 0.000 -0.274 0.001 0.962"/>
<camera name="left_side" pos="0.266 1.832 0.434" xyaxes="-1.000 -0.021 0.000 0.002 -0.092 0.996"/>
<camera name="side_view" pos="1.760 -1.205 0.621" xyaxes="0.681 0.733 0.000 -0.105 0.097 0.990"/>

<body name="yellow_box_geom" pos="0.44 0.1 0.03">
<geom type="cylinder" size="0.025 0.01" rgba="1 1 0 1" name="yellow_box_geom" friction="1 0.3 0.1" density="50" />
<joint type="free" name="yellow-box-joint" />
<body name="box_geom" pos="0.44 0.1 0.03" quat="0 0 0 1">
<geom type="box" size="0.032 0.016 0.0288" rgba="0 0.984 0.373 1" name="box_geom" friction="1 0.3 0.1" density="50" />
<joint type="free" name="box_joint" />
</body>
</worldbody>
</mujoco>
2 changes: 1 addition & 1 deletion docs/extensions/index.md
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Expand Up @@ -10,7 +10,7 @@ rcs_xarm7
rcs_so101
rcs_realsense
rcs_usb_cam
rcs_tacto
rcs_taxim
rcs_robotics_library
rcs_robotiq2f85
```
2 changes: 1 addition & 1 deletion docs/extensions/overview.md
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Expand Up @@ -28,7 +28,7 @@ RCS comes with several supported extensions:
- **rcs_so101**: Support for the SO101 robot.
- **rcs_realsense**: Support for Intel RealSense cameras.
- **rcs_usb_cam**: Support for generic USB webcams.
- **rcs_tacto**: Integration with the Tacto tactile sensor simulator.
- **rcs_taxim**: Integration with the Taxim tactile sensor simulator.
- **rcs_robotics_library**: Integration with the Robotics Library (RL).
- **rcs_robotiq2f85**: Integration with the Robotiq 2F-85 Gripper.

Expand Down
6 changes: 3 additions & 3 deletions docs/extensions/rcs_tacto.md
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@@ -1,9 +1,9 @@
# RCS Tacto Extension
# RCS Taxim Extension

This extension provides integration with the [Tacto](https://github.com/facebookresearch/tacto) tactile sensor simulator.
This extension provides integration with the [Taxim](https://github.com/Robo-Touch/Taxim) tactile sensor simulator.

## Installation

```shell
pip install -ve extensions/rcs_tacto
pip install -ve extensions/rcs_taxim
```
6 changes: 3 additions & 3 deletions examples/fr3/grasp_digit_demo.py
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Expand Up @@ -6,7 +6,7 @@
import numpy as np
from rcs._core.common import Pose
from rcs.envs.base import GripperWrapper, RobotEnv
from rcs_tacto.creators import FR3TactoSimplePickUpSimEnvCreator
from rcs_taxim.creators import FR3TaximSimplePickUpSimEnvCreator
from tqdm import tqdm

logger = logging.getLogger(__name__)
Expand Down Expand Up @@ -79,7 +79,7 @@ def pickup(self, geom_name: str):


def main():
env_fact = FR3TactoSimplePickUpSimEnvCreator()
env_fact = FR3TaximSimplePickUpSimEnvCreator()
env = env_fact(
render_mode="human",
delta_actions=False,
Expand All @@ -89,7 +89,7 @@ def main():
# reset the environment
env.reset()
controller = PickUpDemo(env)
controller.pickup("yellow_box_geom")
controller.pickup("box_geom")
env.close()


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8 changes: 0 additions & 8 deletions extensions/rcs_tacto/README.md
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102 changes: 0 additions & 102 deletions extensions/rcs_tacto/src/rcs_tacto/tacto_wrapper.py
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8 changes: 4 additions & 4 deletions extensions/rcs_tacto/pyproject.toml → extensions/rcs_taxim/pyproject.toml
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Expand Up @@ -3,18 +3,18 @@ requires = ["setuptools"]
build-backend = "setuptools.build_meta"

[project]
name = "rcs_tacto"
name = "rcs_taxim"
version = "0.6.3"
description = "RCS integration of tacto"
description = "RCS integration of mujoco-taxim"
dependencies = [
"rcs>=0.6.3",
"omegaconf",
"mujoco-tacto@git+https://github.com/utn-air/mujoco-tacto.git@main",
"mujoco-taxim@git+https://github.com/utn-air/mujoco-taxim.git@main",
]
readme = "README.md"
maintainers = [
{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
{ name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
{ name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
]
authors = [{ name = "Seongjin Bien", email = "seongjin.bien@utn.de" }]
requires-python = ">=3.10"
Expand Down
0 ...sions/rcs_tacto/src/rcs_tacto/__init__.py → ...sions/rcs_taxim/src/rcs_taxim/__init__.py
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