DIGIT-INTERFACE

Python interface for the DIGIT tactile sensor.

For updates and discussions please join the #DIGIT channel at the www.touch-sensing.org community.

Installation

The preferred way of installation is through PyPi:

pip install digit-interface

Alternatively, you can manually clone the repository and install the package using:

git clone https://github.com/facebookresearch/digit-interface.git 
cd digit-interface
pip install -r requirements.txt
python setup.py install

If you cannot access the device by serial number on your system follow adding DIGIT udev Rule

Usage

The default connection method to the DIGIT tactile sensor is through the unique device serial number. The serial number is found on the back of each DIGIT. See List all connected DIGIT's to find device serial numbers which are connected to the host.

Once you have the device serial number, reading data from the sensor should be as easy as

from digit_interface.digit import Digit
 
d = Digit("D12345") # Unique serial number
d.connect()
d.show_view()
d.disconnect()

Upon connection each DIGIT device initializes with a default stream resolution of VGA: 640x480 at 30fps

Further Usage

List all connected DIGIT's:

To list all connected DIGIT's and display sensor information:

from digit_interface.digit_handler import DigitHandler

digits = DigitHandler.list_digits()

Obtain a single frame:

from digit_interface.digit import Digit

d = Digit("D12345") # Unique serial number
d.connect()
frame = d.get_frame()

List supported stream formats:

Additional streams are supported, these streams vary in resolution and frames per second.

To list the available stream formats:

from digit_interface.digit_handler import DigitHandler

print("Supported streams: \n {}".format(DigitHandler.STREAMS))

Change resolution:

d.set_resolution(DigitHandler.STREAMS["QVGA"])

Change FPS,

Based on supported fps for each respective resolution. All streams support pre-defined resolutions which can be found in DigitHandler.STREAMS

d.set_fps(DigitHandler.STREAMS["QVGA"]["fps"]["15fps"])

Adding DIGIT udev Rule

Add your user to the plugdev group,

adduser username plugdev

Copy udev rule,

sudo cp ./udev/50-DIGIT.rules /lib/udev/rules.d/

Reload rules,

sudo udevadm control --reload
sudo udevadm trigger

Replug the DIGIT device into host.

License

This code is licensed under CC-by-NC, as found in the LICENSE file.

Citing

If you use this project in your research, please cite this paper:

@Article{Lambeta2020DIGIT,
  author  = {Lambeta, Mike and Chou, Po-Wei and Tian, Stephen and Yang, Brian and Maloon, Benjamin and Victoria Rose Most and Stroud, Dave and Santos, Raymond and Byagowi, Ahmad and Kammerer, Gregg and Jayaraman, Dinesh and Calandra, Roberto},
  title   = {{DIGIT}: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year    = {2020},
  volume  = {5},
  number  = {3},
  pages   = {3838--3845},
  doi     = {10.1109/LRA.2020.2977257},
}