Support for Peg-in-Hole Insertion Task with Tactile Feedback?

[Kenn3o3]

Hi, I'm exploring DiffTactile for simulating robotic learning tasks involving a robot arm, gripper, and GelSight Mini tactile sensor. The simulator looks great for contact-rich manipulation, but I don't see explicit support for peg-in-hole insertion tasks in the paper or examples.

Could you provide guidance on how to extend the framework? For instance, tips on modeling peg/hole objects, integrating insertion dynamics, and setting up RL baselines like PPO/SAC for it.

Any insights or code snippets would be super helpful—thanks for the awesome work!