  Manipulation in cluttered environments like homes requires stable grasps,
precise placement and robustness against external contact. We present the
Soft-Bubble gripper system with a highly compliant gripping surface and
dense-geometry visuotactile sensing, capable of multiple kinds of tactile
perception. We first present various mechanical design advances and a
fabrication technique to deposit custom patterns to the internal surface of the
sensor that enable tracking of shear-induced displacement of the manipuland.
The depth maps output by the internal imaging sensor are used in an in-hand
proximity pose estimation framework -- the method better captures distances to
corners or edges on the manipuland geometry. We also extend our previous work
on tactile classification and integrate the system within a robust manipulation
pipeline for cluttered home environments. The capabilities of the proposed
system are demonstrated through robust execution multiple real-world
manipulation tasks. A video of the system in action can be found here:
[https://youtu.be/G_wBsbQyBfc].
