Curved Tactile Sensor Simulation with Hydroelastic Contacts in MuJoCo

This work builds upon prior research on the highly realistic simulation of tactile sensors integrated into MuJoCo, using hydroelastic contact surfaces. Our modifications introduce an additional layer of abstraction, allowing generalization to any sensor shape and overcoming the limitation of exclusively simulating flat surfaces. Using a fingertip sensor as an example, we demonstrate how our extension is able to successfully simulate curved sensor surfaces.