Can this depth estimation code be used for tactile images generated by Gaslight?

[Shaluols]

Hi,

Thanks for your open source!

Can this depth estimation code be used for tactile images generated by Gaslight?

If I want to embed the depth destimation in downstream robotic manipulation tasks, how can I get the tactile images in simulation? Say for example, Pybullet or Gazebo, do you happen to know if there is such simulation modules to generate tctile images in a robotic simulator?

Best,