Simulation is widely used for studying and executing various manipulation tasks, yet accurately simulating tactile sensors remains a significant challenge—even though many off-the-shelf physics simulators can replicate diverse sensing modalities. Our research aims to fill this gap by developing fast, accurate, and generalizable simulation frameworks for vision-based tactile sensors, adaptable to different sensor designs and simulation platforms. Unlike vision, which provides global information, tactile sensors yield localized data such as contact force and location—crucial for tasks involving heavy occlusion or complex contact dynamics. By enabling efficient simulation of tactile inputs, our work facilitates the exploration of tactile sensing’s role in fine-grained manipulation. Additionally, simulation reduces wear and tear on physical sensor and robot hardware, while still allowing for thorough testing and validation of a wide range of manipulation strategies.