DIGIT-GUI

Overview

DIGIT-GUI is a user-friendly graphical interface for configuring and capturing data from a single DIGIT tactile sensor. Built with Tkinter, it provides an accessible way to:

• Adjust sensor RGB LED intensity and video stream mode.
• Preview live tactile images in real time.
• Select the number of frames and interaction number for organised data collection.
• Choose and manage the save directory for captured images.
• Set a countdown timer before capturing starts.
• Capture and save single frames or batches of frames with a single click.
• Automatically save and restore user preferences.

Requirements

• Operating System: Linux only (DIGIT sensors are supported on Linux only)
• Tested Environment: Ubuntu 22.04, Python 3.10.12
• Python Environment: Use a regular Python virtual environment (Tkinter and Anaconda have compatibility issues on Linux)
• Packages: digit-interface, pillow

Installation

1. Clone the repository:

   git clone https://github.com/gemixin/digit-gui.git
   cd digit-gui
   

2. (Optional) Set up a virtual environment:

   python3 -m venv venv
   source venv/bin/activate
   

3. Install the required packages:
   Tkinter is included with Python by default. Install the DIGIT interface library and Pillow:

   pip install -r requirements.txt
   

Running the GUI

1. Connect your DIGIT sensor via USB.

2. Run the GUI script:

   python3 digit_gui.py
   

Notes for usage:

• Changes you make to settings will automatically be saved.
• The default save directory is the local directory.
• The maximum number of frames to capture at once is 600 (10 seconds at 60fps) (can be changed in the code if you wish).
• The maximum interaction number is 9999.
• The interaction number automatically increments after each capture, but can always be manually set as well.
• The maximum number of seconds for the countdown timer is 10 (can be changed in the code if you wish).

Known Issues

• VGA Mode Bug: The digit-interface library has a known issue with VGA mode producing glitchy output.
  See issue #10.
  ✅ Recommendation: Stick to QVGA mode for reliable operation.

Citation

If you use DIGIT or this repo in your research, please cite:

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, Dinesh Jayaraman, Roberto Calandra
IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 3, pp. 3838–3845, 2020
https://doi.org/10.1109/LRA.2020.2977257