OpenTouch Interface

A Python package designed to provide a unified interface for various touch sensors. It simplifies the process of interacting with touch sensors by providing a consistent API regardless of the specific sensor being used.

We also provide an easy-to-use web interface that lets you connect to the sensors and show their data stream without the need to code.

Overview

• Unified API: Interact with multiple types of touch sensors using a single, consistent API.
• Web Dashboard: Manage sensors, record/replay data, and annotate data directly through a web interface.
• Easy Configuration: Use YAML config files to quickly set up and manage sensors.

Supported sensors:

• Digit
• Digit360
• GelSight Mini

Installation

OpenTouch Interface requires Python 3.10+ (tested on Ubuntu 24.04).

Method 1: Install via pip

pip install opentouch-interface

Method 2: From source

git clone https://github.com/lasr-lab/opentouch-interface
cd opentouch-interface
pip install .

Getting started

You can connect touch sensors to the OpenTouch Interface in two main ways:

1. Using the Dashboard (Web Interface)

Start the dashboard. If you run into issues, try reconnecting your sensors and restarting the dashboard.

opentouch-dashboard

Adding Sensors to the Dashboard

Add sensors either by manually entering details or by providing a YAML config file. For example, your YAML might look like:

group_name: Robotic hand  # Group name.
path: test.touch          # File path where data should be saved (optional).

sensors:      # List of sensors belonging to that group
  - ...       # Sensor 1
  - ...       # Sensor 2

payload:      # List of input elements used for data annotations (optional).
  - ...       # e.g., text input
  - ...       # e.g., slider

Sensors are bundled in groups. Within a group sensor names must be unique. An example config file is provided as group.yaml. There, you also find example configs of all supported sensors.

The payload can be used for data annotations. You can find an overview of supported widgets at payload.md.

2. Using Code

For programmatic control, please refer to the demo.py example.

• Run with the default config (digit.yaml)

  python examples/simple/demo.py
  

• Or specify a config file:

  python examples/simple/demo.py --config-name gelsight.yaml
  

Contribution

We welcome contributions! Pleaes check out our CONTRIBUTING.md for guidelines.

License

This project is licensed under the MIT License. See the LICENSE file for more details.