GelSight SDK

 

This repository is a modified version of the the official gsrobotics implementation, offering improvements in usability and sensor compatibility.

Key Features

• Sensor Calibration: Added functionality for users to calibrate their own GelSight sensors.

• Expanded Sensor Compatibility: Compatible with other GelSight sensors, including Digit and lab-made sensors.

• Low-Latency Sensor Reading: Including an enhanced image streaming pipeline for reduced latency and frame drop, especially for GelSight Mini.

Authors:

• Hung-Jui Huang (hungjuih@andrew.cmu.edu)
• Ruihan Gao (ruihang@andrew.cmu.edu)

Support System

• Tested on Ubuntu 22.04
• Tested on GelSight Mini and Digit
• Python >= 3.9

Installation

Clone and install gs_sdk from source:

git clone git@github.com:joehjhuang/gs_sdk.git
cd gs_sdk
pip install -e .

Coordinate Conventions

The coordinate system convention in this SDK is shown below, using the GelSight Mini sensor for illustration:

2D (sensor image)	3D

Sensor Calibration

For more details on sensor calibration, see the Calibration README.

Examples

These examples show basic usage of this GelSight SDK.

Sensor Streaming

Stream images from a connected GelSight Mini:

python examples/stream_device.py

Low Latency Sensor Streaming

Stream images with low latency and without frame dropping from a connected GelSight Mini:

python examples/fast_stream_device.py

Reconstruct Touched Surface

Reconstruct a touched surface using the calibration model. Calibration steps are detailed in the Calibration README.

python examples/reconstruct.py

The reconstructed surface will be displayed and saved in examples/data.