Tactile Dipole Moment

This repository contains 3D design files and code used for the ICRA 2024 paper "An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors".

Link: https://arxiv.org/abs/2404.15626

Description

• 3D_cad_file contains mesh and CAD files for the 3D printed jigs used in experiments.
• code contains code written for the project.
• The code included here is not meant to be stand-alone, as it requires ROS and other packages to run properly. Instead, it is meant to document the implementation of calculations used in the paper.
• The core calculations presented in the paper are contained in touch.py, within current_contact_state().