Awesome

This page provides instructions, datasets, and source code for working with AllSight tactile sensor. AllSight, is an optical tactile sensor with a round 3D structure, potentially designed for robotic in-hand manipulation tasks.

Installation

1. Clone repository

git clone https://github.com/osheraz/allsight
cd allsight

2. Download AllSight-dataset (Optional)

git clone https://github.com/osheraz/allsight_dataset
cd ..

3. Download TACTO sim package (Optional)

cd simulation
git clone https://github.com/osheraz/allsight_sim
cd ..

Follow the instruction inside to setup the simulated environment

4. Install the dependencies

pip install -r requirements.txt

Folder structure

├── train                  # training scripts 
    ├── utils              # helper functions and classes
├── tactile_finger         # ROS1 package for streaming feedback from AllSight
    ├── config             # config files
    ├── launch             # envrionment launch files
    ├── src                # data collection scripts
        ├── envs           # helper functions and classes
├── simulation             # training simulation scripts 
    ├── allsight_sim       # AllSight TACTO sim package
├── allsight_dataset       # dataset and preprocessing scripts

Sensor Setup

For easy plug-and-play support, burn the following image. to the Raspberry Pi. This firmware transforms the Raspberry Pi into a high-quality webcam. It works reliably, boots quickly, and gets out of your way. (Credits to show-me-the-webcam).

Next, it is suggested to adjust camera settings to constant values:

Open a new terminal and enter to the debugging interface:

$ ls -l /dev/ttyACM*
crw-rw---- 1 root dialout 166, 0 sep 25 14:03 /dev/ttyACM0
$ sudo screen /dev/ttyACM0 115200

Within that interface execute:

/usr/bin/camera-ctl

Save the following values:

Usage

Once you setup AllSight, get the device id by entering the following in your terminal:

v4l2-ctl --list-devices

Next, in your python script import the allsight_interface and init your connection by:

from allsight_interface import AllSight
 
allsight = AllSight(dev_name=device_id, serial='/dev/video')
allsight.connect()
allsight.show_view(ref_frame=allsight.get_frame())

For multi-AllSight setups, take a look at hand.py

Scripts

• offline_inference.py: offline inference via dataset.
• inference.py: live inference script.
• hand_inference.py: live inference script.
• train: training scripts.

Bibtex

@misc{azulay2023allsight,
      title={AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability}, 
      author={Osher Azulay and Nimrod Curtis and Rotem Sokolovsky and Guy Levitski and Daniel Slomovik and Guy Lilling and Avishai Sintov},
      year={2023},
      eprint={2307.02928},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}