added new sensors interface for gelsight mini and digit, technical preview

Author: Mike Lambeta

sensors/README.md

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+# PyTouch Sensors
+
+Python interface for the tactile sensors
+This will become a generic interface for connecting with numerous tactile sensors
+
+## Installation
+
+Clone the repository and install the package using:
+
+```bash
+git clone https://github.com/facebookresearch/pytouch.git
+cd pytouch/sensors
+pip install -r requirements.txt
+python setup.py install
+```
+
+If you cannot access the device by serial number on your system follow [adding udev Rule](#adding-udev-rule)
+
+### Adding udev Rule
+Add your user to the ```plugdev``` group,
+
+```
+sudo adduser username plugdev
+```
+
+Copy udev rule,
+
+```
+sudo cp ./udev-rules/*.rules /lib/udev/rules.d/
+```
+
+Reload rules,
+
+```
+sudo udevadm control --reload
+sudo udevadm trigger
+```
+
+Replug the tactile sensor into host.

sensors/examples/demo_digit.py

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+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+# This source code is licensed under the license found in the LICENSE file in the root directory of this source tree.
+
+import logging
+import pprint
+import time
+
+from pytouch_sensors import digit
+from pytouch_sensors.digit import Digit
+
+logging.basicConfig(level=logging.DEBUG)
+
+# Print a list of connected DIGIT's
+digits = digit.find()
+print("Connected DIGIT's to Host:")
+pprint.pprint(digits)
+
+# Connect to a Digit device with serial number with friendly name
+digit = Digit("D01001", "Left Gripper")
+digit.connect()
+
+# Print device info
+print(digit.info())
+
+# Change LED illumination intensity
+digit.set_intensity(Digit.LIGHTING_MIN)
+time.sleep(1)
+digit.set_intensity(Digit.LIGHTING_MAX)
+
+# Change DIGIT resolution to QVGA
+qvga_res = Digit.STREAMS["QVGA"]
+digit.set_resolution(qvga_res)
+
+# Change DIGIT FPS to 15fps
+fps_30 = Digit.STREAMS["QVGA"]["fps"]["30fps"]
+digit.set_fps(fps_30)
+
+# Grab single frame from DIGIT
+frame = digit.get_frame()
+print(f"Frame WxH: {frame.shape[0]}{frame.shape[1]}")
+
+# Display stream obtained from DIGIT
+digit.show_view()
+
+# Disconnect DIGIT stream
+digit.disconnect()

sensors/examples/demo_gelsight_mini.py

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+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+# This source code is licensed under the license found in the LICENSE file in the root directory of this source tree.
+
+import logging
+import pprint
+import time
+
+from pytouch_sensors import gelsight
+from pytouch_sensors.gelsight import GelsightMini
+
+logging.basicConfig(level=logging.DEBUG)
+
+print("Connected Gelsight sensors to host:")
+gelsight_sensors = gelsight.find()
+pprint.pprint(gelsight_sensors)
+
+gs_mini = GelsightMini("28CF-95MN", "Thumb")
+gs_mini.connect()
+
+# Print device info
+print(gs_mini.info())
+
+frame = gs_mini.get_frame()
+print(f"Frame WxH: {frame.shape[0]}{frame.shape[1]}")
+
+gs_mini.show_view()
+
+gs_mini.disconnect()

sensors/examples/demo_rgb_intensity.py

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+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+# This source code is licensed under the license found in the LICENSE file in the root directory of this source tree.
+
+import logging
+import pprint
+import time
+import random
+
+from pytouch_sensors import digit
+from pytouch_sensors.digit import Digit
+
+logging.basicConfig(level=logging.DEBUG)
+
+# Print a list of connected DIGIT's
+digits = digit.find()
+print("Connected DIGIT's to Host:")
+pprint.pprint(digits)
+
+# Connect to a Digit device with serial number with friendly name
+digit = Digit("D01001", "Left Gripper")
+digit.connect()
+
+# Maximum value for each channel is 15
+rgb_list = [(15, 0, 0), (0, 15, 0), (0, 0, 15)]
+
+# digit.show_view()
+import cv2
+
+# Cycle through colors R, G, B
+while True:
+    rgb = (random.randint(0, 15), random.randint(0, 15), random.randint(0, 15))
+    digit.set_intensity_rgb(*rgb)
+    frame = digit.get_frame()
+    cv2.imshow(f"Digit View {digit.serial}", frame)
+    if cv2.waitKey(1) == 27:
+        break
+    time.sleep(1)
+
+cv2.destroyAllWindows()
+
+# Set all LEDs to same intensity
+digit.set_intensity(15)
+
+digit.disconnect()

sensors/pytouch_sensors/__init__.py

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+from pytouch_sensors import digit
+from pytouch_sensors import gelsight
+
+__version__ = "0.1.0"
+__all__ = ["digit", "gelsight"]

sensors/pytouch_sensors/digit/__init__.py

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+from .digit import Digit, DigitStreams, find
+
+
+__all__ = ["Digit", "DigitStreams", "find"]