GelSight SDK
June 2, 2025 · View on GitHub
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.
⚠️ The original streaming implementation uses OpenCV and may drop to ~10 Hz. The low-latency version uses FFmpeg to maintain 25 Hz, but on some systems it can introduce severe frame delay and duplication. Contributions to improve this are welcome via Pull Request.
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.