Incorporating effective tactile sensing and mechanical compliance is key\ntowards enabling robust and safe operation of robots in unknown, uncertain and\ncluttered environments. Towards realizing this goal, we present a lightweight,\neasy-to-build, highly compliant dense geometry sensor and end effector that\ncomprises an inflated latex membrane with a depth sensor behind it. We present\nthe motivations and the hardware design for this Soft-bubble and demonstrate\nits capabilities through example tasks including tactile-object classification,\npose estimation and tracking, and nonprehensile object manipulation. We also\npresent initial experiments to show the importance of high-resolution geometry\nsensing for tactile tasks and discuss applications in robust manipulation.\n