├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── DIGIT ├── DIGIT_Quick_Start_Guide.pdf ├── adaptors │ ├── Allegro │ │ ├── DIGIT-Allegro-main-V1.stl │ │ ├── DIGIT-Allegro-side-V1.stl │ │ └── adaptor-allegro.png │ ├── Interbotix │ │ ├── DIGIT-WidowX-V1.STL │ │ └── adaptor-interbotix.png │ ├── README.md │ ├── Robotiq │ │ ├── 2F85 │ │ │ ├── DIGIT-Robotiq Adapter-2F85-V1.STL │ │ │ └── adaptor-robotiq-2f85.png │ │ └── 3-Finger │ │ │ ├── DIGIT-robotiq-3fgr-base-V1.STL │ │ │ ├── DIGIT-robotiq-3fgr-bracket-V1.STL │ │ │ └── adaptor-robotiq-3-finger.png │ ├── Sawyer │ │ └── DIGIT-Sawyer-V1.STL │ ├── Schunk │ │ ├── DIGIT-Schunk-V1.STL │ │ └── adaptor-schunk.png │ └── Weiss │ │ └── DIGIT-WSG-50-V1.STL ├── docs │ ├── digit-logo.svg │ └── digit-render.png ├── firmware │ ├── digit-2020-1b-dfu.bin │ ├── digit-2020-1b.bin │ ├── digit-2021-2a-padded.bin │ ├── digit-2021-2a.bin │ ├── digit-programmer │ │ ├── README.md │ │ ├── flash.py │ │ ├── programmer.yaml │ │ ├── requirements.txt │ │ └── udev │ │ │ ├── 50-DIGIT-PROGRAM.rules │ │ │ └── 50-DIGIT.rules │ └── licenses │ │ ├── FTDI LICENSE │ │ └── LICENSE ├── gel │ ├── Digit Gel Mold.stp │ └── Digit Gel.STEP ├── hardware │ ├── Digit BOM - rev 2020-1.pdf │ ├── Digit Flex Schematic - rev 2020-1.pdf │ ├── Digit Flex Schematic - rev 2021-2.pdf │ ├── Digit Schematic - rev 2020-1.pdf │ └── fabrication │ │ ├── digit-flex │ │ ├── 2020-1 │ │ │ ├── Adhesive Outline.PNG │ │ │ ├── DIGIT Lighting Flex PCB Assembly.pdf │ │ │ ├── digit_flex.gbl │ │ │ ├── digit_flex.gbo │ │ │ ├── digit_flex.gbp │ │ │ ├── digit_flex.gbs │ │ │ ├── digit_flex.gm1 │ │ │ ├── digit_flex.gtl │ │ │ ├── digit_flex.gto │ │ │ ├── digit_flex.gtp │ │ │ ├── digit_flex.gts │ │ │ ├── digit_flex.txt │ │ │ ├── digit_flex_adhesive.gm2 │ │ │ └── digit_flex_smt_xy.txt │ │ └── 2021-2 │ │ │ ├── Adhesive Outline.PNG │ │ │ ├── DIGIT Lighting Flex PCB Assembly.pdf │ │ │ ├── digit_flex_adhesive.gm2 │ │ │ ├── digit_flex_smt_xy.txt │ │ │ ├── gel_flex.gbl │ │ │ ├── gel_flex.gbo │ │ │ ├── gel_flex.gbp │ │ │ ├── gel_flex.gbs │ │ │ ├── gel_flex.gm1 │ │ │ ├── gel_flex.gtl │ │ │ ├── gel_flex.gto │ │ │ ├── gel_flex.gtp │ │ │ ├── gel_flex.gts │ │ │ └── gel_flex.txt │ │ └── digit │ │ ├── DIGIT Main PCB Assembly.pdf │ │ ├── digit-roundholes.txt │ │ ├── digit-slotholes.txt │ │ ├── digit_copper_signal_1.g1 │ │ ├── digit_copper_signal_2.g2 │ │ ├── digit_copper_signal_bot.gbl │ │ ├── digit_copper_signal_top.gtl │ │ ├── digit_legend_bot.gbo │ │ ├── digit_legend_top.gto │ │ ├── digit_mechanical_1.gm1 │ │ ├── digit_paste_bot.gbp │ │ ├── digit_paste_top.gtp │ │ ├── digit_smt_xy.txt │ │ ├── digit_soldermask_bot.gbs │ │ └── digit_soldermask_top.gts ├── mechanical │ ├── .DS_Store │ ├── Acrylic_Final.DXF │ ├── Acrylic_Final.STEP │ ├── EnclosureAssy_IM_Final.STEP │ ├── EnclosureAssy_IM_Final.STL │ ├── EnclosureAssy_IM_Final_Back.STL │ ├── EnclosureAssy_IM_Final_Center.STL │ ├── EnclosureAssy_IM_Final_Window.STL │ └── Label.DXF └── releases │ ├── DIGIT-fab-release-2020-1.zip │ └── DIGIT-fab-release-2020-2.zip ├── DIGIT_Pinki ├── DIGIT_Pinki_Quick_Start_Guide.pdf ├── adaptors │ ├── Allegro │ │ ├── AllegroHandAdaptor_3Fibers.step │ │ ├── AllegroHandAdaptor_6Fibers.step │ │ ├── AllegroHandAdaptor_9Fibers.step │ │ └── PinkiGelThread.step │ └── README.md ├── gel │ ├── Pinki Gel Mold.step │ └── Pinki Gel.step └── mechanical │ ├── illumination │ ├── NeopixelHolder.step │ └── NeopixelLightGuideCollimator.step │ └── imaging │ ├── ArducamCageMount.step │ └── MicroscopeEyepieceCageMount.step ├── LICENSE └── README.md /CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog 2 | 3 | ## 2024-03-10 4 | - Added DIGIT Pinki manufacturing and assembly 5 | - Refactored folder structure 6 | 7 | ## 2021-08-12 8 | 9 | - Updated mechanical revision to address rasied issues 10 | 11 | ## 2021-06-28 12 | 13 | - Release revision 2021-2 for Digit Flex 14 | - Changed LED (D1-D5) part number to 19-337C/RSBHGHC-A88/4T 15 | 16 | ## 2021-04-27 17 | 18 | - Released beta firmware (2.00) to support individual RGB control of LED's 19 | 20 | ## 2020-10-19 21 | 22 | - Added assembly view information for DIGIT main and lighting flex PCB 23 | - Added adhesive outline for light flex PCB directly into mechanical layer 2 reflected in gerber files 24 | 25 | ## 2020-07-30 26 | 27 | - Updated DIGIT firmware from 1a to 1b, fixed dfu-util programming issue 28 | 29 | ## 2020-06-06 30 | 31 | - Added fabrication release with BOM, GerberX2, XY files and assembly info for fabrication houses 32 | - Added SMT XY files for Pick and Place 33 | - Updated Gerbers to GerberX2, fixed 2020-1 pick and place assembly DIGIT gerbers 34 | - Updated descriptions in BOM, does not affect design. 35 | - Improved digit-programmer README 36 | 37 | ## 2020-06-05 38 | 39 | - Updated Quick Start Guide with gel manufacturing information 40 | 41 | ## 2020-06-03 42 | 43 | - Improved README 44 | - Improved how to contribute 45 | 46 | ## 2020-06-01 47 | 48 | ### Added 49 | 50 | - Added digit-programmer utility 51 | - Added quick start guide for DIGIT manufacturing and assembly 52 | - Added adaptors for DIGIT sensor 53 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | # Code of Conduct 2 | Facebook has adopted a Code of Conduct that we expect project participants to adhere to. Please [read the full text](https://code.fb.com/codeofconduct) so that you can understand what actions will and will not be tolerated. 3 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contributing to digit-design 2 | We welcome contributions from the community, and want to make contributing to this project as easy and transparent as possible. 3 | 4 | ## Pull Requests 5 | We actively welcome your pull requests. 6 | 7 | 1. Fork the repo and create your branch from `master`. 8 | 2. If you haven't already, complete the Contributor License Agreement ("CLA"). 9 | 10 | ## Contributor License Agreement ("CLA") 11 | In order to accept your pull request, we need you to submit a CLA. You only need to do this once to work on any of Facebook's open source projects. 12 | 13 | Complete your CLA here: 14 | 15 | ## Issues 16 | We use GitHub issues for general feature discussion, Q&A and tracking public bugs. Please ensure your description is clear and has sufficient instructions to be able to reproduce the issue or understand the problem. 17 | 18 | ## License 19 | By contributing to digit-design, you agree that your contributions will be licensed under the [LICENSE file](LICENSE) in the root directory of this source tree. 20 | 21 | -------------------------------------------------------------------------------- /DIGIT/DIGIT_Quick_Start_Guide.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/DIGIT_Quick_Start_Guide.pdf -------------------------------------------------------------------------------- /DIGIT/adaptors/Allegro/DIGIT-Allegro-main-V1.stl: -------------------------------------------------------------------------------- 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/DIGIT/adaptors/Interbotix/DIGIT-WidowX-V1.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/adaptors/Interbotix/DIGIT-WidowX-V1.STL -------------------------------------------------------------------------------- /DIGIT/adaptors/Interbotix/adaptor-interbotix.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/adaptors/Interbotix/adaptor-interbotix.png -------------------------------------------------------------------------------- /DIGIT/adaptors/README.md: -------------------------------------------------------------------------------- 1 | DIGIT is designed to be natively compatible with the [Wonik's Allegro Hand](http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand) 2 | 3 | In addition, we here provide files for 3d-printing adaptors for mounting DIGIT on several common robotic platforms: 4 | - [Interbotix WidowX](https://www.trossenrobotics.com/widowxrobotarm) 5 | - [Robotiq (2 and 3 fingers grippers)](https://robotiq.com/products) 6 | - [Rethink Sawyer](https://www.rethinkrobotics.com/sawyer/) 7 | - [Shunk](https://schunk.com/us_en/gripping-systems/category/gripping-systems/schunk-grippers/) 8 | - [Weiss WSG Series](https://weiss-robotics.com/wsg-series/product/wsg-series/) 9 | 10 | We welcome adaptors contributed from the community. 11 | -------------------------------------------------------------------------------- /DIGIT/adaptors/Robotiq/2F85/DIGIT-Robotiq Adapter-2F85-V1.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/adaptors/Robotiq/2F85/DIGIT-Robotiq Adapter-2F85-V1.STL 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/DIGIT/firmware/digit-programmer/README.md: -------------------------------------------------------------------------------- 1 | # DIGIT Programmer 2 | 3 | A tool to allow flashing new firmware to the DIGIT device 4 | 5 | This utility allows for downgrading or upgrading firmware, as well assigning a device serial number. 6 | 7 | ## Installation 8 | Clone the repository and install the package using: 9 | 10 | git clone https://github.com/facebookresearch/digit-design.git 11 | cd digit-design/firmware/digit-programmer 12 | pip install -r requirements.txt 13 | 14 | This tool also requires ```dfu-util```, install with: 15 | 16 | $ sudo apt install dfu-util 17 | 18 | ### Adding DIGIT and DIGIT-PROGRAM udev Rule 19 | Add your user to the ```plugdev``` group, 20 | 21 | adduser username plugdev 22 | 23 | Copy udev rule, 24 | 25 | sudo cp ./udev/50-DIGIT*.rules /lib/udev/rules.d/ 26 | 27 | Reload rules, 28 | 29 | sudo udevadm control --reload 30 | sudo udevadm trigger 31 | 32 | Replug the DIGIT device into host. 33 | 34 | ### Firmware Download 35 | The current public firmware release is found in the ```digit-design``` respository. 36 | 37 | 38 | ## Usage 39 | To upload firmware to the DIGIT device specify the path to the binary firmware file and the device's serial number (trailing zeros and D prefix is not required). 40 | 41 | Default firmware binary file name is specified in ```programmer.yaml```. 42 | 43 | Flashing DIGIT device with serial number ```D00045```, 44 | 45 | $ python3 flash.py digit.serial=45 46 | 47 | Flashing DIGIT device with alternate firmware binary, 48 | 49 | $ python3 flash.py digit.firmware="digit-development.bin" digit.serial=45 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /DIGIT/firmware/digit-programmer/flash.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved. 2 | import os 3 | import sys 4 | 5 | import logging 6 | import subprocess 7 | 8 | from omegaconf import OmegaConf 9 | 10 | from usb.core import find as find_device 11 | 12 | DIGIT_SERIAL_MASK = "DXXXXX".encode("utf-16le") 13 | DIGIT_SERIAL_ID_LENGTH = 5 14 | DFU_UTIL_CMD = "dfu-util" 15 | DFU_TMP_BIN = "digit_firmware_tmp.bin" 16 | 17 | _log = logging.getLogger("DigitProgrammer") 18 | logging.basicConfig(level=logging.DEBUG) 19 | 20 | 21 | def format_serial(serial): 22 | if not serial.isdigit() or len(serial) > DIGIT_SERIAL_ID_LENGTH: 23 | _log.error("Serial must be between 1 and 5 characters long.") 24 | sys.exit(1) 25 | serial = "D{}".format(serial.rjust(DIGIT_SERIAL_ID_LENGTH, "0")) 26 | serial = serial.encode("utf-16le") 27 | return serial 28 | 29 | 30 | def set_serial(firmware_bin, serial): 31 | _log.info(f"Attempting to find DIGIT serial mask in {firmware_bin} binary.") 32 | with open(firmware_bin, "rb") as firmware_f: 33 | firmware_data = firmware_f.read() 34 | if firmware_data.find(DIGIT_SERIAL_MASK) < 0: 35 | _log.error("Could not find serial pattern in firmware!") 36 | sys.exit(1) 37 | _log.info("Found serial pattern...") 38 | firmware_data = firmware_data.replace(DIGIT_SERIAL_MASK, serial) 39 | with open(DFU_TMP_BIN, "w+b") as firmware_tmp: 40 | firmware_tmp.write(firmware_data) 41 | _log.info("Serial number written to new firmware binary.") 42 | 43 | 44 | def find_digit_usb_dev(id_vendor, id_product): 45 | dev = find_device(idVendor=id_vendor, idProduct=id_product) 46 | return dev 47 | 48 | 49 | def reset_device(usb_dev): 50 | usb_dev.reset() 51 | 52 | 53 | def program_digit(): 54 | cwd = os.path.dirname(os.path.realpath(__file__)) 55 | dfu_util_args = [DFU_UTIL_CMD, "-vRD", DFU_TMP_BIN] 56 | subprocess.run(dfu_util_args, cwd=cwd) 57 | 58 | 59 | def main(): 60 | cli_conf = OmegaConf.from_cli() 61 | base_conf = OmegaConf.load("programmer.yaml") 62 | conf = OmegaConf.merge(base_conf, cli_conf) 63 | _log.info(f"DIGIT programmer config: {conf}") 64 | 65 | full_serial = format_serial(str(conf.digit.serial)) 66 | set_serial(conf.digit.firmware, full_serial) 67 | 68 | _log.info("Flashing DIGIT firmware...") 69 | input("Unplug and plug DIGIT into usb then press ENTER...") 70 | program_digit() 71 | _log.info("Finished flashing firmware to DIGIT!") 72 | 73 | 74 | if __name__ == "__main__": 75 | sys.exit(main()) 76 | -------------------------------------------------------------------------------- /DIGIT/firmware/digit-programmer/programmer.yaml: -------------------------------------------------------------------------------- 1 | digit: 2 | serial: 0 3 | firmware: "../digit-2020-1b-dfu.bin" 4 | usb: 5 | # DIGIT V1 USB Identifier 6 | idVendor: 0x2833 7 | idProduct: 0x0209 8 | -------------------------------------------------------------------------------- /DIGIT/firmware/digit-programmer/requirements.txt: -------------------------------------------------------------------------------- 1 | pyusb 2 | omegaconf -------------------------------------------------------------------------------- /DIGIT/firmware/digit-programmer/udev/50-DIGIT-PROGRAM.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="0403", ATTR{idProduct}=="0fde", GROUP="plugdev", MODE="0666" -------------------------------------------------------------------------------- /DIGIT/firmware/digit-programmer/udev/50-DIGIT.rules: -------------------------------------------------------------------------------- 1 | SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="2833", ATTR{idProduct}=="0209", GROUP="plugdev", MODE="0666" -------------------------------------------------------------------------------- /DIGIT/firmware/licenses/FTDI LICENSE: -------------------------------------------------------------------------------- 1 | https://www.ftdichip.com/FTSourceCodeLicenceTerms.htm 2 | 3 | IMPORTANT NOTICE: PLEASE READ CAREFULLY BEFORE INSTALLING OR USING THE RELEVANT SOFTWARE: 4 | 5 | 6 | 7 | This licence agreement (Licence) is a legal agreement between you (Licensee or you) and Future Technology Devices International Limited of 2 Seaward Place, Centurion Business Park, Glasgow, Scotland, G41 1HH (UK Company Number SC136640) (Licensor or we) for use of application example software provided by the Licensor (Software). 8 | 9 | 10 | 11 | BY INSTALLING OR USING THIS SOFTWARE YOU AGREE TO THE TERMS OF THIS LICENCE WHICH WILL BIND YOU. IF YOU DO NOT AGREE TO THE TERMS OF THIS LICENCE, WE ARE UNWILLING TO LICENSE THE SOFTWARE TO YOU AND YOU MUST DISCONTINUE INSTALLATION AND/OR USE OF THE SOFTWARE NOW. 12 | 13 | 14 | 15 | 1. GRANT AND SCOPE OF LICENCE 16 | 17 | 1.1 In consideration of you agreeing to abide by the terms of this Licence, the Licensor hereby grants to you a non-exclusive, royalty-free licence to use the Software on the terms of this Licence. 18 | 19 | 1.2 In this Licence a "Genuine FTDI Component" means an item of hardware that was manufactured for, and sold by, the Licensor or a member of the Licensor's group of companies. It does not include any counterfeit or fake products. 20 | 21 | 1.3 You may use the Software for internal development and testing purposes and you may incorporate the software into an application you are developing/maintaining (“Your Application”). You may distribute an object code version of the Software (or software derived from the Software) with and/or as part of Your Application and grant sub-licences to use that object code to users of Your Application. 22 | 23 | 1.4 You may also distribute source code versions of the Software, and source code based on the Software (but with your additions/adaptations) (“Customer Adapted Software”). However, if you do you then (in each case) you 24 | 25 | 1.4.1 must not delete or alter any copyright notice, disclaimer and/or legal text that is currently in the source code of the Software; but 26 | 27 | 1.4.2 you may add additional disclaimers and/or legal text in relation to your additions/adaptations. 28 | 29 | 1.5 You may only use the Software in conjunction with products based on and/or incorporating a Genuine FTDI Component. 30 | 31 | 1.6 The Software must not be used in, or for, any medical appliance, device or system in which the failure of the Software might reasonably be expected to result in personal injury. 32 | 33 | 34 | 35 | 2. LICENSEE'S UNDERTAKINGS 36 | 37 | 2.1 Except as expressly set out in this Licence or as permitted by any local law, you undertake: 38 | 39 | 2.1.1 to keep all source code copies of the Software in your possession or control confidential and secure; and 40 | 41 | 2.1.1 to include the copyright notice and legal disclaimers of the Licensor on all entire and partial copies of the Software in any form. 42 | 43 | 44 | 3. INTELLECTUAL PROPERTY RIGHTS 45 | 46 | 3.1 You acknowledge that all intellectual property rights in the Software throughout the world belong to the Licensor, that rights in the Software are licensed (not sold) to you, and that you have no rights in, or to, the Software other than the right to use them in accordance with the terms of this Licence. 47 | 48 | 49 | 50 | 4. WARRANTY 51 | 52 | 4.1 To the maximum extent permitted by applicable law, the software is provided "as is". 53 | 54 | 4.2 All implied warranties, implied conditions and/or implied licences are excluded from this Licence, including but not limited to implied warranties of quality and/or fitness for purpose (in all cases) to the fullest extent permitted by law. 55 | 56 | 4.3 You acknowledge that the Software has not been developed to meet your individual requirements and that the Software may not be uninterrupted or free of bugs or errors. 57 | 58 | 4.4 You will indemnify us against any loss, liability and/or expense suffered or incurred by Licensor (or any related entity) to the extent arising from a claims from a licensor or end-user (in each case) in relation to Your Application and/or the Software and/or software derived from the Software. 59 | 60 | 61 | 62 | 5. LICENSOR'S LIABILITY 63 | 64 | 5.1 To the maximum extent permitted by applicable law, in no event shall the Licensor be liable for any: 65 | 66 | 5.1.1 special loss or damage; 67 | 68 | 5.1.2 incidental loss or damage; 69 | 70 | 5.1.3 indirect or consequential loss or damage: 71 | 72 | 5.1.4 loss of income; 73 | 74 | 5.1.5 loss of business; 75 | 76 | 5.1.6 loss of profits; 77 | 78 | 5.1.7 loss of revenue; 79 | 80 | 5.1.8 loss of contracts; 81 | 82 | 5.1.9 business interruption; 83 | 84 | 5.1.10 loss of the use of money or anticipated savings; 85 | 86 | 5.1.11 loss of information; 87 | 88 | 5.1.12 loss of opportunity; 89 | 90 | 5.1.13 loss of goodwill or reputation; and/or 91 | 92 | 5.1.14 loss of, damage to or corruption of data; (in each case) of any kind howsoever arising and whether caused by delict (including negligence), breach of contract or otherwise. 93 | 94 | 5.2 FTDI's total liability to You in relation to the Software shall not exceed 500 US Dollars. 95 | 96 | 5.3 Nothing in this Licence limits or excludes liability for death or personal injury or for fraud. 97 | 98 | 99 | 100 | 6. TERMINATION 101 | 102 | 6.1 The Licensor may terminate this Licence immediately if: 103 | 104 | 6.1.1 you fail to comply with any of the terms and conditions of the Licence; or 105 | 106 | 6.1.2 you commence or participate in any legal proceedings against the Licensor. 107 | 108 | 6.2 Upon termination: 109 | 110 | 6.2.1 all rights granted to you under this Licence shall cease; 111 | 112 | 6.2.2 you must cease all activities authorised by this Licence; and 113 | 114 | 6.2.3 you must immediately delete or remove the Software from all computer equipment in your possession and immediately destroy all copies of the Software then in your possession, custody or control. 115 | 116 | 117 | 118 | 7. 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WAIVER 127 | 128 | 8.1 If the Licensor fails, at any time during the term of this Licence, to insist on strict performance of any of your obligations under this Licence, or if the Licensor fails to exercise any of the rights or remedies to which he is entitled under this Licence, this shall not constitute a waiver of such rights or remedies and shall not relieve you from compliance with such obligations. 129 | 130 | 8.2 A waiver by the Licensor of any default shall not constitute a waiver of any subsequent default. 131 | 132 | 8.3 No waiver by the Licensor of any of these terms and conditions shall be effective unless it is expressly stated to be a waiver and is communicated to you in writing. 133 | 134 | 135 | 136 | 9. SEVERABILITY 137 | 138 | If any of the terms of this Licence are determined by any competent authority to be invalid, unlawful or unenforceable to any extent, such term, condition or provision will to that extent be severed from the remaining terms, conditions and provisions which will continue to be valid to the fullest extent permitted by law. 139 | 140 | 141 | 142 | 10. ENTIRE AGREEMENT 143 | 144 | 10.1 This Licence constitutes the whole agreement between us and supersedes any previous arrangement, understanding or agreement between us, relating to the licensing of the Software. 145 | 146 | 10.2 Each party acknowledges that in entering into this Licence it does not rely on any statement, representation, warranty or understanding other than those expressly set out in this Licence. Each party agrees that it will have no remedy in respect of any statement, representation, warranty or understanding that is not expressly set out in this Licence. Each party agrees that its only remedy in respect of those representations, statements, assurances and warranties that are set out in this Licence will be for breach of contract in accordance with the terms of this Licence. 147 | 148 | 10.3 The parties agree that nothing in this Licence will limit or exclude any liability they may have for fraud. 149 | 150 | 151 | 152 | 11. MISCELLANEOUS 153 | 154 | 11.1 This Licence does not create a partnership or joint venture between the parties to it, nor authorise a party to act as agent for the other. 155 | 156 | 11.2 This Licence does not create any legal rights enforceable by any third party. 157 | 158 | 11.3 This Licence may only be varied by express written legal agreement between the parties. 159 | 160 | 161 | 162 | 12. LAW AND JURISDICTION 163 | 164 | This Licence, its subject matter or its formation (including non-contractual disputes or claims) shall be governed by and construed in accordance with Scots law and submitted to the non-exclusive jurisdiction of the Scottish courts. 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | © Future Technology Devices International Ltd. 2015 -------------------------------------------------------------------------------- /DIGIT/hardware/Digit BOM - rev 2020-1.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/Digit BOM - rev 2020-1.pdf -------------------------------------------------------------------------------- /DIGIT/hardware/Digit Flex Schematic - rev 2020-1.pdf: -------------------------------------------------------------------------------- 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/DIGIT/hardware/fabrication/digit-flex/2020-1/Adhesive Outline.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit-flex/2020-1/Adhesive Outline.PNG -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2020-1/DIGIT Lighting Flex PCB Assembly.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit-flex/2020-1/DIGIT Lighting Flex PCB Assembly.pdf -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2020-1/digit_flex.gbo: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | 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| Y0140763* 129 | X-0037704Y0139764* 130 | X-0027707D02* 131 | Y0144762D01* 132 | Y0142763* 133 | X-0028707* 134 | X-0026708* 135 | X-0027707* 136 | Y0144762* 137 | X-0026708Y0145762* 138 | X-0022709Y0139764D02* 139 | X-002071D01* 140 | X-001971Y0140763* 141 | Y0142763* 142 | X-002071Y0143763* 143 | X-0022709* 144 | X-0023709Y0142763* 145 | Y0140763* 146 | X-0022709Y0139764* 147 | X-0017711Y0143763D02* 148 | Y0139764D01* 149 | Y0141763* 150 | X-0016711Y0142763* 151 | X-0015711Y0143763* 152 | X-0014712* 153 | X-0005715D02* 154 | Y0140763D01* 155 | X-0004715Y0139764* 156 | X-0003715Y0140763* 157 | X-0002716Y0139764* 158 | X-0001716Y0140763* 159 | Y0143763* 160 | X0001283D02* 161 | X0003283D01* 162 | X0004282Y0142763* 163 | Y0139764* 164 | X0001283* 165 | X0000283Y0140763* 166 | X0001283Y0141763* 167 | X0004282* 168 | X0006282Y0143763D02* 169 | X0008281Y0139764D01* 170 | X001028Y0143763* 171 | X0015279Y0139764D02* 172 | X0013279D01* 173 | X001228Y0140763* 174 | Y0142763* 175 | 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X0108249Y0141763* 274 | X0106249* 275 | X010525Y0142763* 276 | X0106249Y0143763* 277 | X0109248* 278 | X0111248Y0139764D02* 279 | X0113247D01* 280 | X0112247* 281 | Y0143763* 282 | X0111248* 283 | X0120245Y0145762D02* 284 | Y0139764D01* 285 | X0117246* 286 | X0116246Y0140763* 287 | Y0142763* 288 | X0117246Y0143763* 289 | X0120245* 290 | X0125243Y0139764D02* 291 | X0123244D01* 292 | X0122244Y0140763* 293 | Y0142763* 294 | X0123244Y0143763* 295 | X0125243* 296 | X0126243Y0142763* 297 | Y0141763* 298 | X0122244* 299 | X0132241Y0145762D02* 300 | Y0139764D01* 301 | X0129242* 302 | X0128242Y0140763* 303 | Y0142763* 304 | X0129242Y0143763* 305 | X0132241* 306 | X0140238Y0145762D02* 307 | Y0139764D01* 308 | X0143237* 309 | X0144237Y0140763* 310 | Y0141763* 311 | X0143237Y0142763* 312 | X0140238* 313 | X0143237* 314 | X0144237Y0143763* 315 | Y0144762* 316 | X0143237Y0145762* 317 | X0140238* 318 | X0149235D02* 319 | X0147236D01* 320 | X0146236Y0144762* 321 | Y0140763* 322 | X0147236Y0139764* 323 | X0149235* 324 | X0150235Y0140763* 325 | Y0144762* 326 | X0149235Y0145762* 327 | X0152234D02* 328 | X0156233D01* 329 | X0154234* 330 | Y0139764* 331 | X016423D02* 332 | X016623D01* 333 | X016523* 334 | Y0145762* 335 | X016423* 336 | X0170229Y0143763D02* 337 | X0172228D01* 338 | X0173228Y0142763* 339 | Y0139764* 340 | X0170229* 341 | X0169229Y0140763* 342 | X0170229Y0141763* 343 | X0173228* 344 | X0175227Y0143763D02* 345 | Y0140763D01* 346 | X0176227Y0139764* 347 | X0179226* 348 | Y0138764* 349 | X0178226Y0137764* 350 | X0177226* 351 | X0179226Y0139764D02* 352 | Y0143763D01* 353 | X0184224Y0139764D02* 354 | X0182225D01* 355 | X0181225Y0140763* 356 | Y0142763* 357 | X0182225Y0143763* 358 | X0184224* 359 | X0185224Y0142763* 360 | Y0141763* 361 | X0181225* 362 | X0187223Y0143763D02* 363 | Y0139764D01* 364 | Y0141763* 365 | X0188223Y0142763* 366 | X0189222Y0143763* 367 | X0190222* 368 | G54D12* 369 | X0009592Y011786D03* 370 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2020-1/digit_flex_smt_xy.txt: -------------------------------------------------------------------------------- 1 | Units used: mil 2 | 3 | Designator Comment Layer Footprint Center-X(mil) Center-Y(mil) Rotation Description 4 | P1 DF37B-16DP-0.4V(53) BottomLayer DF37B-16DP-0.4V(53) 98.425 499.016 360 "" 5 | D3 ARGB1313HS TopLayer ARGB1313HS 1437.008 1160.442 180 ARGB1313HS 6 | D2 ARGB1313HS TopLayer ARGB1313HS 98.425 1160.433 360 ARGB1313HS 7 | D1 ARGB1313HS TopLayer ARGB1313HS -1240.158 1160.433 180 ARGB1313HS 8 | -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/Adhesive Outline.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit-flex/2021-2/Adhesive Outline.PNG -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/DIGIT Lighting Flex PCB Assembly.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit-flex/2021-2/DIGIT Lighting Flex PCB Assembly.pdf -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/digit_flex_adhesive.gm2: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD10C,0.010000*% 7 | %ADD12R,3.144600X0.191850*% 8 | %LNgel_flex-1*% 9 | %LPD*% 10 | G54D10* 11 | X-0141671Y0145762D02* 12 | X-0145669D01* 13 | Y0142763* 14 | X-014367* 15 | X-0145669* 16 | Y0139764* 17 | X-0139671D02* 18 | Y0143763D01* 19 | X-0137672Y0145762* 20 | X-0135672Y0143763* 21 | Y0139764* 22 | Y0142763* 23 | X-0139671* 24 | X-0133673Y0145762D02* 25 | Y0139764D01* 26 | X-0130674* 27 | X-0129674Y0140763* 28 | Y0141763* 29 | X-0130674Y0142763* 30 | X-0133673* 31 | X-0130674* 32 | X-0129674Y0143763* 33 | Y0144762* 34 | X-0130674Y0145762* 35 | X-0133673* 36 | X-0121677Y0139764D02* 37 | Y0145762D01* 38 | X-0117678Y0139764* 39 | Y0145762* 40 | X-011268D02* 41 | X-0114679D01* 42 | X-0115679Y0144762* 43 | Y0140763* 44 | X-0114679Y0139764* 45 | X-011268* 46 | X-011168Y0140763* 47 | Y0144762* 48 | X-011268Y0145762* 49 | X-0109681D02* 50 | X-0105682D01* 51 | X-0107682* 52 | Y0139764* 53 | X-0099684Y0145762D02* 54 | X-0103683D01* 55 | Y0139764* 56 | X-0099684* 57 | X-0103683Y0142763D02* 58 | X-0101683D01* 59 | X-0097685Y0143763D02* 60 | X-0096685D01* 61 | Y0142763* 62 | X-0097685* 63 | Y0143763* 64 | Y0140763D02* 65 | X-0096685D01* 66 | Y0139764* 67 | X-0097685* 68 | Y0140763* 69 | X-0086688Y0144762D02* 70 | X-0085689Y0145762D01* 71 | X-0083689* 72 | X-008269Y0144762* 73 | Y0143763* 74 | X-0083689Y0142763* 75 | X-0084689* 76 | X-0083689* 77 | X-008269Y0141763* 78 | Y0140763* 79 | X-0083689Y0139764* 80 | X-0085689* 81 | X-0086688Y0140763* 82 | X-008069Y0139764D02* 83 | Y0145762D01* 84 | X-0078691Y0143763* 85 | X-0076692Y0145762* 86 | Y0139764* 87 | X-0071693D02* 88 | Y0145762D01* 89 | X-0074692Y0142763* 90 | X-0070693* 91 | X-0064696Y0145762D02* 92 | X-0066695Y0144762D01* 93 | X-0068694Y0142763* 94 | Y0140763* 95 | X-0067694Y0139764* 96 | X-0065695* 97 | X-0064696Y0140763* 98 | Y0141763* 99 | X-0065695Y0142763* 100 | X-0068694* 101 | X-0062696Y0145762D02* 102 | X-0058697D01* 103 | Y0144762* 104 | X-0062696Y0140763* 105 | Y0139764* 106 | X-0054699D02* 107 | X-0056698Y0141763D01* 108 | Y0143763* 109 | X-0054699Y0145762* 110 | X-00517Y0139764D02* 111 | Y0145762D01* 112 | X-0047701Y0139764* 113 | Y0145762* 114 | X-0044702Y0139764D02* 115 | X-0042703D01* 116 | X-0041703Y0140763* 117 | Y0142763* 118 | X-0042703Y0143763* 119 | X-0044702* 120 | X-0045702Y0142763* 121 | Y0140763* 122 | X-0044702Y0139764* 123 | X-0038704Y0144762D02* 124 | Y0143763D01* 125 | X-0039704* 126 | X-0037704* 127 | X-0038704* 128 | Y0140763* 129 | X-0037704Y0139764* 130 | X-0027707D02* 131 | Y0144762D01* 132 | Y0142763* 133 | X-0028707* 134 | X-0026708* 135 | X-0027707* 136 | Y0144762* 137 | X-0026708Y0145762* 138 | X-0022709Y0139764D02* 139 | X-002071D01* 140 | X-001971Y0140763* 141 | Y0142763* 142 | X-002071Y0143763* 143 | X-0022709* 144 | X-0023709Y0142763* 145 | Y0140763* 146 | X-0022709Y0139764* 147 | X-0017711Y0143763D02* 148 | Y0139764D01* 149 | Y0141763* 150 | X-0016711Y0142763* 151 | X-0015711Y0143763* 152 | X-0014712* 153 | X-0005715D02* 154 | Y0140763D01* 155 | X-0004715Y0139764* 156 | X-0003715Y0140763* 157 | X-0002716Y0139764* 158 | X-0001716Y0140763* 159 | Y0143763* 160 | X0001283D02* 161 | X0003283D01* 162 | X0004282Y0142763* 163 | Y0139764* 164 | X0001283* 165 | X0000283Y0140763* 166 | X0001283Y0141763* 167 | X0004282* 168 | X0006282Y0143763D02* 169 | X0008281Y0139764D01* 170 | X001028Y0143763* 171 | X0015279Y0139764D02* 172 | X0013279D01* 173 | X001228Y0140763* 174 | Y0142763* 175 | X0013279Y0143763* 176 | X0015279* 177 | X0016278Y0142763* 178 | Y0141763* 179 | X001228* 180 | X0024276Y0139764D02* 181 | X0027275D01* 182 | X0028274Y0140763* 183 | X0027275Y0141763* 184 | X0025275* 185 | X0024276Y0142763* 186 | X0025275Y0143763* 187 | X0028274* 188 | X0031273Y0139764D02* 189 | X0033273D01* 190 | X0034273Y0140763* 191 | Y0142763* 192 | X0033273Y0143763* 193 | X0031273* 194 | X0030274Y0142763* 195 | Y0140763* 196 | X0031273Y0139764* 197 | X0036272D02* 198 | X0038271D01* 199 | X0037271* 200 | Y0145762* 201 | X0036272* 202 | X0045269D02* 203 | Y0139764D01* 204 | X004227* 205 | X004127Y0140763* 206 | Y0142763* 207 | X004227Y0143763* 208 | X0045269* 209 | X0050267Y0139764D02* 210 | X0048268D01* 211 | X0047268Y0140763* 212 | Y0142763* 213 | X0048268Y0143763* 214 | X0050267* 215 | X0051267Y0142763* 216 | Y0141763* 217 | X0047268* 218 | X0053266Y0143763D02* 219 | Y0139764D01* 220 | Y0141763* 221 | X0054266Y0142763* 222 | X0055266Y0143763* 223 | X0056265* 224 | X0059264Y0139764D02* 225 | X0061264D01* 226 | X0060264* 227 | Y0143763* 228 | X0059264* 229 | X0064263Y0139764D02* 230 | Y0143763D01* 231 | X0067262* 232 | X0068261Y0142763* 233 | Y0139764* 234 | X007226Y0137764D02* 235 | X007326D01* 236 | X007426Y0138764* 237 | Y0143763* 238 | X007126* 239 | X0070261Y0142763* 240 | Y0140763* 241 | X007126Y0139764* 242 | X007426* 243 | X0076259D02* 244 | X0078258Y0141763D01* 245 | Y0143763* 246 | X0076259Y0145762* 247 | X0088255Y0139764D02* 248 | X0090254D01* 249 | X0091254Y0140763* 250 | Y0142763* 251 | X0090254Y0143763* 252 | X0088255* 253 | X0087255Y0142763* 254 | Y0140763* 255 | X0088255Y0139764* 256 | X0093253D02* 257 | Y0143763D01* 258 | X0096252* 259 | X0097252Y0142763* 260 | Y0139764* 261 | X0102251D02* 262 | X0100251D01* 263 | X0099252Y0140763* 264 | Y0142763* 265 | X0100251Y0143763* 266 | X0102251* 267 | X010325Y0142763* 268 | Y0141763* 269 | X0099252* 270 | X010525Y0139764D02* 271 | X0108249D01* 272 | X0109248Y0140763* 273 | X0108249Y0141763* 274 | X0106249* 275 | X010525Y0142763* 276 | X0106249Y0143763* 277 | X0109248* 278 | X0111248Y0139764D02* 279 | X0113247D01* 280 | X0112247* 281 | Y0143763* 282 | X0111248* 283 | X0120245Y0145762D02* 284 | Y0139764D01* 285 | X0117246* 286 | X0116246Y0140763* 287 | Y0142763* 288 | X0117246Y0143763* 289 | X0120245* 290 | X0125243Y0139764D02* 291 | X0123244D01* 292 | X0122244Y0140763* 293 | Y0142763* 294 | X0123244Y0143763* 295 | X0125243* 296 | X0126243Y0142763* 297 | Y0141763* 298 | X0122244* 299 | X0132241Y0145762D02* 300 | Y0139764D01* 301 | X0129242* 302 | X0128242Y0140763* 303 | Y0142763* 304 | X0129242Y0143763* 305 | X0132241* 306 | X0140238Y0145762D02* 307 | Y0139764D01* 308 | X0143237* 309 | X0144237Y0140763* 310 | Y0141763* 311 | X0143237Y0142763* 312 | X0140238* 313 | X0143237* 314 | X0144237Y0143763* 315 | Y0144762* 316 | X0143237Y0145762* 317 | X0140238* 318 | X0149235D02* 319 | X0147236D01* 320 | X0146236Y0144762* 321 | Y0140763* 322 | X0147236Y0139764* 323 | X0149235* 324 | X0150235Y0140763* 325 | Y0144762* 326 | X0149235Y0145762* 327 | X0152234D02* 328 | X0156233D01* 329 | X0154234* 330 | Y0139764* 331 | X016423D02* 332 | X016623D01* 333 | X016523* 334 | Y0145762* 335 | X016423* 336 | X0170229Y0143763D02* 337 | X0172228D01* 338 | X0173228Y0142763* 339 | Y0139764* 340 | X0170229* 341 | X0169229Y0140763* 342 | X0170229Y0141763* 343 | X0173228* 344 | X0175227Y0143763D02* 345 | Y0140763D01* 346 | X0176227Y0139764* 347 | X0179226* 348 | Y0138764* 349 | X0178226Y0137764* 350 | X0177226* 351 | X0179226Y0139764D02* 352 | Y0143763D01* 353 | X0184224Y0139764D02* 354 | X0182225D01* 355 | X0181225Y0140763* 356 | Y0142763* 357 | X0182225Y0143763* 358 | X0184224* 359 | X0185224Y0142763* 360 | Y0141763* 361 | X0181225* 362 | X0187223Y0143763D02* 363 | Y0139764D01* 364 | Y0141763* 365 | X0188223Y0142763* 366 | X0189222Y0143763* 367 | X0190222* 368 | G54D12* 369 | X0009592Y011786D03* 370 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/digit_flex_smt_xy.txt: -------------------------------------------------------------------------------- 1 | Units used: mil 2 | 3 | Designator Comment Layer Footprint Center-X(mil) Center-Y(mil) Rotation Description 4 | P1 DF37B-16DP BottomLayer DF37B-16DP-0.4V(53) 98.425 499.016 0 "" 5 | D3 19-337C/RSBHGHC-A88/4T TopLayer LED_19-337C/RSBHGHC-A88/4T 1437.008 1172.253 90 "Red, Green, Blue (RGB) 625nm Red, 530nm Green, 470nm Blue LED Indication - Discrete 2.05V Red, 2.9V Green, 2.9V Blue 0606 (1616 Metric)" 6 | D2 19-337C/RSBHGHC-A88/4T TopLayer LED_19-337C/RSBHGHC-A88/4T 98.425 1172.244 270 "Red, Green, Blue (RGB) 625nm Red, 530nm Green, 470nm Blue LED Indication - Discrete 2.05V Red, 2.9V Green, 2.9V Blue 0606 (1616 Metric)" 7 | D1 19-337C/RSBHGHC-A88/4T TopLayer LED_19-337C/RSBHGHC-A88/4T -1240.158 1172.244 90 "Red, Green, Blue (RGB) 625nm Red, 530nm Green, 470nm Blue LED Indication - Discrete 2.05V Red, 2.9V Green, 2.9V Blue 0606 (1616 Metric)" 8 | -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/gel_flex.gbl: -------------------------------------------------------------------------------- 1 | %FSTAX23Y23*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD17C,0.006000*% 7 | %ADD18C,0.014000*% 8 | %ADD19R,0.014960X0.027560*% 9 | %ADD20R,0.009060X0.028740*% 10 | %ADD21C,0.005000*% 11 | %ADD22C,0.004000*% 12 | %LNgel_flex-1*% 13 | %LPD*% 14 | G36* 15 | X00048Y00479D02* 16 | X00005D01* 17 | Y00448* 18 | X00007Y00446* 19 | X00047* 20 | X00048Y00479* 21 | G37* 22 | G54D17* 23 | X00173Y01077D02* 24 | X0022Y01125D01* 25 | X00173Y00534D02* 26 | Y01077D01* 27 | X-00699Y01145D02* 28 | X-00202D01* 29 | X-00694Y01164D02* 30 | X-00202D01* 31 | X-00771Y01241D02* 32 | X-00694Y01164D01* 33 | X-00776Y01223D02* 34 | X-00699Y01145D01* 35 | X00893Y01209D02* 36 | X00924Y01241D01* 37 | X00194Y01209D02* 38 | X00893D01* 39 | X00122Y01136D02* 40 | X00194Y01209D01* 41 | X0087Y01225D02* 42 | X00885Y01241D01* 43 | X00186Y01225D02* 44 | X0087D01* 45 | X00106Y01145D02* 46 | X00186Y01225D01* 47 | X01359Y01125D02* 48 | X01475Y01241D01* 49 | X0022Y01125D02* 50 | X01359D01* 51 | X01338Y01142D02* 52 | X01437Y01241D01* 53 | X00207Y01142D02* 54 | X01338D01* 55 | X00153Y01088D02* 56 | X00207Y01142D01* 57 | X00106Y0053D02* 58 | Y01145D01* 59 | X00122Y0053D02* 60 | Y01136D01* 61 | X00194Y01159D02* 62 | X01316D01* 63 | X00137Y01102D02* 64 | X00194Y01159D01* 65 | X00137Y0053D02* 66 | Y01102D01* 67 | X00153Y0053D02* 68 | Y01088D01* 69 | X00043Y0053D02* 70 | Y01138D01* 71 | X-00018Y012D02* 72 | X00043Y01138D01* 73 | X-00687Y012D02* 74 | X-00018D01* 75 | X00059Y0053D02* 76 | Y01144D01* 77 | X-00015Y01219D02* 78 | X00059Y01144D01* 79 | X-00667Y01219D02* 80 | X-00015D01* 81 | X-00727Y01241D02* 82 | X-00687Y012D01* 83 | X-00688Y01241D02* 84 | X-00667Y01219D01* 85 | X-00785Y01206D02* 86 | X-00705Y01127D01* 87 | X-01245Y01206D02* 88 | X-00785D01* 89 | X-01279Y01241D02* 90 | X-01245Y01206D01* 91 | X-01222Y01223D02* 92 | X-00776D01* 93 | X-0124Y01241D02* 94 | X-01222Y01223D01* 95 | X-00705Y01127D02* 96 | X-00202D01* 97 | X-01201Y01241D02* 98 | X-00771D01* 99 | X01316Y01159D02* 100 | X01398Y01241D01* 101 | X00074Y0053D02* 102 | Y01148D01* 103 | X-00017Y01241D02* 104 | X00074Y01148D01* 105 | X-0065Y01241D02* 106 | X-00017D01* 107 | X00183D02* 108 | X00846D01* 109 | X0009Y01147D02* 110 | X00183Y01241D01* 111 | X0009Y0053D02* 112 | Y01147D01* 113 | G54D18* 114 | X00173Y00534D03* 115 | X00078Y005D03* 116 | X0006Y005D03* 117 | X00017Y0047D03* 118 | Y00455D03* 119 | X-00202Y01145D03* 120 | Y01164D03* 121 | Y01127D03* 122 | X01475Y01241D03* 123 | X01437D03* 124 | X01398D03* 125 | X00924D03* 126 | X00885D03* 127 | X00846D03* 128 | X-01279D03* 129 | X-01201D03* 130 | X-0124D03* 131 | X-0065D03* 132 | X-00727D03* 133 | X-00688D03* 134 | X00099Y005D03* 135 | X00039D03* 136 | X00174Y00468D03* 137 | X00122Y005D03* 138 | X0015D03* 139 | G54D19* 140 | X00181Y00499D03* 141 | X00015D03* 142 | G54D20* 143 | X00043Y0053D03* 144 | X00059D03* 145 | X00074D03* 146 | X0009D03* 147 | X00153D03* 148 | X00137D03* 149 | X00122D03* 150 | X00106D03* 151 | Y00468D03* 152 | X00122D03* 153 | X00137D03* 154 | X00153D03* 155 | X0009D03* 156 | X00074D03* 157 | X00059D03* 158 | X00043D03* 159 | G54D21* 160 | X00078Y005D02* 161 | X0009Y00488D01* 162 | X0006Y00499D02* 163 | Y005D01* 164 | Y00499D02* 165 | X00073Y00485D01* 166 | X0005Y00488D02* 167 | X00059Y0048D01* 168 | Y00468D02* 169 | Y0048D01* 170 | X00039Y005D02* 171 | X0005Y00488D01* 172 | X0005* 173 | X00153Y00468D02* 174 | X00174D01* 175 | X00137D02* 176 | 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X-00012Y01064D02* 629 | X-00008Y01058D01* 630 | X-00005Y0105D02* 631 | X-00005Y01043D01* 632 | Y00442D02* 633 | Y01043D01* 634 | X-00017Y0107D02* 635 | X-00012Y01064D01* 636 | G54D25* 637 | X-01247Y01077D03* 638 | D03* 639 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/gel_flex.gtl: -------------------------------------------------------------------------------- 1 | %FSTAX23Y23*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD11C,0.010000*% 7 | %ADD12R,0.019680X0.027560*% 8 | %ADD13R,0.015750X0.021650*% 9 | %ADD17C,0.006000*% 10 | %ADD18C,0.014000*% 11 | %LNgel_flex-1*% 12 | %LPD*% 13 | G36* 14 | X00022Y00481D02* 15 | X00022Y00479D01* 16 | X00048* 17 | X00047Y00446* 18 | X00007* 19 | X00005Y00448* 20 | Y00479* 21 | X00012* 22 | X00012Y00482* 23 | X00022* 24 | Y00481* 25 | G37* 26 | G54D11* 27 | X-01268Y01142D02* 28 | X-00717D01* 29 | X-00548D02* 30 | X-00307D01* 31 | X-00273Y01109D02* 32 | X-0003D01* 33 | X-00307Y01142D02* 34 | X-00273Y01109D01* 35 | X-00688Y01142D02* 36 | X-0066D01* 37 | X-00548* 38 | X-00717D02* 39 | X-00688D01* 40 | X-00548D02* 41 | X-00489Y01201D01* 42 | X00069D02* 43 | X00098D01* 44 | X00126* 45 | X-00489D02* 46 | X00069D01* 47 | X00126D02* 48 | X00722D01* 49 | X00857Y01145D02* 50 | X00885D01* 51 | X00914* 52 | X01408* 53 | X00778D02* 54 | X00857D01* 55 | X00722Y01201D02* 56 | X00778Y01145D01* 57 | X01408D02* 58 | X01437D01* 59 | X01465* 60 | X-0003Y01109D02* 61 | X00017Y01061D01* 62 | Y0047D02* 63 | Y01061D01* 64 | G54D12* 65 | X-0124Y01142D03* 66 | Y01201D03* 67 | X-00688Y01142D03* 68 | Y01201D03* 69 | X00098D03* 70 | Y01142D03* 71 | X00885D03* 72 | Y01201D03* 73 | X01437Y01142D03* 74 | Y01201D03* 75 | G54D13* 76 | X-01211Y01145D03* 77 | Y01198D03* 78 | X-01268Y01145D03* 79 | Y01198D03* 80 | X-0066Y01145D03* 81 | Y01198D03* 82 | X-00717Y01145D03* 83 | Y01198D03* 84 | X00069D03* 85 | Y01145D03* 86 | X00126Y01198D03* 87 | Y01145D03* 88 | X00914D03* 89 | Y01198D03* 90 | X00857Y01145D03* 91 | Y01198D03* 92 | X01465Y01145D03* 93 | Y01198D03* 94 | X01408Y01145D03* 95 | Y01198D03* 96 | G54D17* 97 | X00069Y01079D02* 98 | Y01145D01* 99 | Y01079D02* 100 | X00099Y01049D01* 101 | Y005D02* 102 | Y01049D01* 103 | X00098Y01081D02* 104 | X00115Y01064D01* 105 | X00098Y01081D02* 106 | Y01142D01* 107 | X00115Y00537D02* 108 | Y01064D01* 109 | X00126Y01089D02* 110 | X00144Y01071D01* 111 | X00126Y01089D02* 112 | Y01145D01* 113 | X-0066Y01198D02* 114 | Y01228D01* 115 | X-0065Y01238* 116 | Y01241* 117 | X-00727Y01239D02* 118 | X-00717Y01228D01* 119 | Y01198D02* 120 | Y01228D01* 121 | X-00727Y01239D02* 122 | Y01241D01* 123 | X01475Y01209D02* 124 | Y01241D01* 125 | X01398Y01209D02* 126 | Y01241D01* 127 | X01437Y01209D02* 128 | Y01241D01* 129 | X00885Y01201D02* 130 | Y01241D01* 131 | Y01201D02* 132 | D01* 133 | X00857Y01198D02* 134 | Y01228D01* 135 | X00846Y01239D02* 136 | X00857Y01228D01* 137 | X00846Y01239D02* 138 | Y01241D01* 139 | X00914Y01228D02* 140 | X00924Y01239D01* 141 | X00914Y01198D02* 142 | Y01228D01* 143 | X00924Y01239D02* 144 | Y01241D01* 145 | X-01211Y01198D02* 146 | Y01219D01* 147 | X-01201Y01229D02* 148 | Y01241D01* 149 | X-01211Y01219D02* 150 | X-01201Y01229D01* 151 | X-01268Y01198D02* 152 | Y01219D01* 153 | X-01279Y01229D02* 154 | X-01268Y01219D01* 155 | X00033Y00534D02* 156 | Y01063D01* 157 | X-00029Y01127D02* 158 | X00033Y01063D01* 159 | X-00202Y01127D02* 160 | X-00029D01* 161 | X-00033Y01164D02* 162 | X00066Y01063D01* 163 | X-00202Y01164D02* 164 | X-00033D01* 165 | X00066Y00542D02* 166 | Y01063D01* 167 | X-00202Y01145D02* 168 | X-0003D01* 169 | X00039Y005D02* 170 | Y00528D01* 171 | X00033Y00534D02* 172 | X00039Y00528D01* 173 | X00173Y00469D02* 174 | Y00534D01* 175 | Y00469D02* 176 | X00174Y00468D01* 177 | X0015Y005D02* 178 | Y00529D01* 179 | X00144Y00535D02* 180 | X0015Y00529D01* 181 | X00144Y00535D02* 182 | Y01071D01* 183 | X00078Y005D02* 184 | Y0053D01* 185 | X00066Y00542D02* 186 | X00078Y0053D01* 187 | X00122Y005D02* 188 | Y0053D01* 189 | X00115Y00537D02* 190 | X00122Y0053D01* 191 | X0006Y005D02* 192 | Y00529D01* 193 | X00051Y00537D02* 194 | X0006Y00529D01* 195 | X00051Y00537D02* 196 | Y01064D01* 197 | X-0003Y01145D02* 198 | X00051Y01064D01* 199 | X-00688Y01201D02* 200 | Y01244D01* 201 | X-0124Y01201D02* 202 | Y01241D01* 203 | X-01279D02* 204 | X-01279Y0124D01* 205 | Y01229D02* 206 | Y0124D01* 207 | X-00727Y01241D02* 208 | Y01242D01* 209 | X-00688Y01244D02* 210 | D01* 211 | G54D18* 212 | X00173Y00534D03* 213 | X00078Y005D03* 214 | X0006Y005D03* 215 | X00017Y0047D03* 216 | Y00455D03* 217 | X-00202Y01145D03* 218 | Y01164D03* 219 | Y01127D03* 220 | X01475Y01241D03* 221 | X01437D03* 222 | X01398D03* 223 | X00924D03* 224 | X00885D03* 225 | X00846D03* 226 | X-01279D03* 227 | X-01201D03* 228 | X-0124D03* 229 | X-0065D03* 230 | X-00727D03* 231 | X-00688D03* 232 | X00099Y005D03* 233 | X00039D03* 234 | X00174Y00468D03* 235 | X00122Y005D03* 236 | X0015D03* 237 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/gel_flex.gtp: -------------------------------------------------------------------------------- 1 | %FSTAX23Y23*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD12R,0.019680X0.027560*% 7 | %ADD13R,0.015750X0.021650*% 8 | %LNgel_flex-1*% 9 | %LPD*% 10 | G54D12* 11 | X-0124Y01142D03* 12 | Y01201D03* 13 | X-00688Y01142D03* 14 | Y01201D03* 15 | X00098D03* 16 | Y01142D03* 17 | X00885D03* 18 | Y01201D03* 19 | X01437Y01142D03* 20 | Y01201D03* 21 | G54D13* 22 | X-01211Y01145D03* 23 | Y01198D03* 24 | X-01268Y01145D03* 25 | Y01198D03* 26 | X-0066Y01145D03* 27 | Y01198D03* 28 | X-00717Y01145D03* 29 | Y01198D03* 30 | X00069D03* 31 | Y01145D03* 32 | X00126Y01198D03* 33 | Y01145D03* 34 | X00914D03* 35 | Y01198D03* 36 | X00857Y01145D03* 37 | Y01198D03* 38 | X01465Y01145D03* 39 | Y01198D03* 40 | X01408Y01145D03* 41 | Y01198D03* 42 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/gel_flex.gts: -------------------------------------------------------------------------------- 1 | %FSTAX23Y23*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD14R,0.027690X0.035560*% 7 | %ADD15R,0.023750X0.029650*% 8 | %ADD16C,0.022000*% 9 | %LNgel_flex-1*% 10 | %LPD*% 11 | G54D14* 12 | X-0124Y01142D03* 13 | Y01201D03* 14 | X-00688Y01142D03* 15 | Y01201D03* 16 | X00098D03* 17 | Y01142D03* 18 | X00885D03* 19 | Y01201D03* 20 | X01437Y01142D03* 21 | Y01201D03* 22 | G54D15* 23 | X-01211Y01145D03* 24 | Y01198D03* 25 | X-01268Y01145D03* 26 | Y01198D03* 27 | X-0066Y01145D03* 28 | Y01198D03* 29 | X-00717Y01145D03* 30 | Y01198D03* 31 | X00069D03* 32 | Y01145D03* 33 | X00126Y01198D03* 34 | Y01145D03* 35 | X00914D03* 36 | Y01198D03* 37 | X00857Y01145D03* 38 | Y01198D03* 39 | X01465Y01145D03* 40 | Y01198D03* 41 | X01408Y01145D03* 42 | Y01198D03* 43 | G54D16* 44 | X00173Y00534D03* 45 | X00078Y005D03* 46 | X0006Y005D03* 47 | X00017Y0047D03* 48 | Y00455D03* 49 | X-00202Y01145D03* 50 | Y01164D03* 51 | Y01127D03* 52 | X01475Y01241D03* 53 | X01437D03* 54 | X01398D03* 55 | X00924D03* 56 | X00885D03* 57 | X00846D03* 58 | X-01279D03* 59 | X-01201D03* 60 | X-0124D03* 61 | X-0065D03* 62 | X-00727D03* 63 | X-00688D03* 64 | X00099Y005D03* 65 | X00039D03* 66 | X00174Y00468D03* 67 | X00122Y005D03* 68 | X0015D03* 69 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit-flex/2021-2/gel_flex.txt: -------------------------------------------------------------------------------- 1 | %FSTAX23Y23*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD9500C,0.007000*% 7 | %LNgel_flex-1*% 8 | %LPD*% 9 | G54D9500* 10 | X00017Y00455D03* 11 | Y0047D03* 12 | X00039Y005D03* 13 | X0006Y005D03* 14 | X00078Y005D03* 15 | X00099D03* 16 | X00122D03* 17 | X0015D03* 18 | X00174Y00468D03* 19 | X00173Y00534D03* 20 | X-0124Y01241D03* 21 | X-01279D03* 22 | X-01201D03* 23 | X-00727D03* 24 | X-00688D03* 25 | X-0065D03* 26 | X-00202Y01164D03* 27 | Y01145D03* 28 | Y01127D03* 29 | X00846Y01241D03* 30 | X00885D03* 31 | X00924D03* 32 | X01398D03* 33 | X01437D03* 34 | X01475D03* 35 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/DIGIT Main PCB Assembly.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit/DIGIT Main PCB Assembly.pdf -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit-roundholes.txt: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD9500C,0.008000*% 7 | %ADD9501C,0.012000*% 8 | %ADD9502C,0.015000*% 9 | %ADD9503C,0.122050*% 10 | %LNdigit-roundholes-1*% 11 | %LPD*% 12 | G54D9500* 13 | X001437Y0022047D03* 14 | X0012992Y0024016D03* 15 | X001437Y0025984D03* 16 | X0012992Y0027953D03* 17 | X0010818Y0029528D03* 18 | X0009843Y0044094D03* 19 | X00079Y0048275D03* 20 | X00081Y0065748D03* 21 | X00121Y00695D03* 22 | X00141Y00774D03* 23 | X0017572Y0077328D03* 24 | X00209Y00737D03* 25 | Y00715D03* 26 | X00221Y00667D03* 27 | Y00647D03* 28 | X0022037Y0057937D03* 29 | X0030315Y0059055D03* 30 | X00318Y0054724D03* 31 | X0030807Y0048228D03* 32 | X00304Y00331D03* 33 | X0033D03* 34 | X00354D03* 35 | X00391Y0031416D03* 36 | X0037008Y0028698D03* 37 | X0049213Y00303D03* 38 | Y00246D03* 39 | X00518Y00254D03* 40 | X00563Y0026D03* 41 | X00598D03* 42 | X0063287D03* 43 | X006639Y003189D03* 44 | X0065748Y0041339D03* 45 | X0063287D03* 46 | X005689Y0042323D03* 47 | X0054295Y0041732D03* 48 | X0051968D03* 49 | X0048819D03* 50 | X00686Y00462D03* 51 | Y0048425D03* 52 | Y00506D03* 53 | Y0052846D03* 54 | X00682Y00627D03* 55 | X00678Y00686D03* 56 | Y00712D03* 57 | X00686Y0077D03* 58 | X00669Y00795D03* 59 | X00636Y00796D03* 60 | X0061417Y0079528D03* 61 | X0059646Y0080807D03* 62 | X0057874Y0079528D03* 63 | X005605Y0078524D03* 64 | X0055905Y008061D03* 65 | X005315Y0079528D03* 66 | X0050787D03* 67 | X0048425D03* 68 | X00461Y00794D03* 69 | X00437D03* 70 | X00299Y0078D03* 71 | X0031Y00685D03* 72 | X0032Y00641D03* 73 | X00273Y00871D03* 74 | X00354Y00887D03* 75 | X00353Y0094488D03* 76 | X0032283Y00973D03* 77 | X0031462Y0102362D03* 78 | X0034055D03* 79 | X00155Y00986D03* 80 | X00108Y00949D03* 81 | X00141Y00879D03* 82 | X0050295Y0089272D03* 83 | X0054232D03* 84 | X00562Y00981D03* 85 | X0058661Y0098155D03* 86 | X0062205Y00983D03* 87 | X0065748Y0098148D03* 88 | X00683Y0091D03* 89 | X00715Y00869D03* 90 | X00748Y00991D03* 91 | X00875Y0091142D03* 92 | X00804Y0079705D03* 93 | X00899Y00697D03* 94 | X009Y00507D03* 95 | X00814Y0058439D03* 96 | X00825Y00406D03* 97 | X0075295Y0017815D03* 98 | X0052953Y0014862D03* 99 | X0040059Y0008393D03* 100 | X00375Y0008366D03* 101 | X00272Y00345D03* 102 | X0020417Y0041732D03* 103 | G54D9501* 104 | X0073228Y0037D03* 105 | X0091732Y00592D03* 106 | G54D9502* 107 | X00686Y0025197D03* 108 | G54D9503* 109 | X0015748Y0011811D03* 110 | X0082677D03* 111 | X0049213Y0105118D03* 112 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit-slotholes.txt: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD9504C,0.023620*% 7 | %LNdigit-slotholes-1*% 8 | %LPD*% 9 | G54D9504* 10 | X0035138Y0015276D02* 11 | Y0017441D01* 12 | X0063287Y0015276D02* 13 | Y0017441D01* 14 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_legend_bot.gbo: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD11C,0.009840*% 7 | %ADD12C,0.007870*% 8 | %ADD14C,0.010000*% 9 | %LNdigit-1*% 10 | %LPD*% 11 | G54D11* 12 | X0077953Y0079528D02* 13 | D01* 14 | X0077951Y0079562* 15 | X0077948Y0079596* 16 | X0077942Y007963* 17 | X0077933Y0079663* 18 | X0077923Y0079696* 19 | X007791Y0079728* 20 | X0077895Y0079758* 21 | X0077878Y0079788* 22 | X0077859Y0079817* 23 | X0077837Y0079844* 24 | X0077814Y0079869* 25 | X007779Y0079893* 26 | X0077763Y0079915* 27 | X0077736Y0079935* 28 | X0077707Y0079954* 29 | X0077676Y007997* 30 | X0077645Y0079984* 31 | X0077613Y0079995* 32 | X007758Y0080005* 33 | X0077546Y0080012* 34 | X0077512Y0080017* 35 | X0077478Y0080019* 36 | X0077443* 37 | X0077409Y0080017* 38 | X0077375Y0080012* 39 | X0077341Y0080005* 40 | X0077308Y0079995* 41 | X0077276Y0079984* 42 | X0077245Y007997* 43 | X0077215Y0079954* 44 | X0077185Y0079935* 45 | X0077158Y0079915* 46 | X0077131Y0079893* 47 | X0077107Y0079869* 48 | X0077084Y0079844* 49 | X0077062Y0079817* 50 | X0077043Y0079788* 51 | X0077026Y0079758* 52 | X0077011Y0079728* 53 | X0076998Y0079696* 54 | X0076988Y0079663* 55 | X0076979Y007963* 56 | X0076973Y0079596* 57 | X007697Y0079562* 58 | X0076969Y0079528* 59 | X007697Y0079493* 60 | X0076973Y0079459* 61 | X0076979Y0079425* 62 | X0076988Y0079392* 63 | X0076998Y0079359* 64 | X0077011Y0079327* 65 | X0077026Y0079297* 66 | X0077043Y0079267* 67 | X0077062Y0079238* 68 | X0077084Y0079211* 69 | X0077107Y0079186* 70 | X0077131Y0079162* 71 | X0077158Y007914* 72 | X0077185Y007912* 73 | X0077215Y0079101* 74 | X0077245Y0079085* 75 | X0077276Y0079071* 76 | X0077308Y007906* 77 | X0077341Y007905* 78 | X0077375Y0079043* 79 | X0077409Y0079038* 80 | X0077443Y0079036* 81 | X0077478* 82 | X0077512Y0079038* 83 | X0077546Y0079043* 84 | X007758Y007905* 85 | X0077613Y007906* 86 | X0077645Y0079071* 87 | X0077676Y0079085* 88 | X0077707Y0079101* 89 | X0077736Y007912* 90 | X0077763Y007914* 91 | X007779Y0079162* 92 | X0077814Y0079186* 93 | X0077837Y0079211* 94 | X0077859Y0079238* 95 | X0077878Y0079267* 96 | X0077895Y0079297* 97 | X007791Y0079327* 98 | X0077923Y0079359* 99 | X0077933Y0079392* 100 | X0077942Y0079425* 101 | X0077948Y0079459* 102 | X0077951Y0079493* 103 | X0077953Y0079528* 104 | X0054823Y002498D02* 105 | D01* 106 | X0054821Y0025014* 107 | X0054818Y0025048* 108 | X0054812Y0025082* 109 | X0054803Y0025115* 110 | X0054793Y0025148* 111 | X005478Y002518* 112 | X0054765Y002521* 113 | X0054748Y002524* 114 | X0054729Y0025269* 115 | X0054707Y0025296* 116 | X0054684Y0025321* 117 | X005466Y0025345* 118 | X0054633Y0025367* 119 | X0054606Y0025387* 120 | X0054577Y0025406* 121 | X0054546Y0025422* 122 | X0054515Y0025436* 123 | X0054483Y0025447* 124 | X005445Y0025457* 125 | X0054416Y0025464* 126 | X0054382Y0025469* 127 | X0054348Y0025471* 128 | X0054313* 129 | X0054279Y0025469* 130 | X0054245Y0025464* 131 | X0054211Y0025457* 132 | X0054178Y0025447* 133 | X0054146Y0025436* 134 | X0054115Y0025422* 135 | X0054085Y0025406* 136 | X0054055Y0025387* 137 | X0054028Y0025367* 138 | X0054001Y0025345* 139 | X0053977Y0025321* 140 | X0053954Y0025296* 141 | X0053932Y0025269* 142 | X0053913Y002524* 143 | X0053896Y002521* 144 | X0053881Y002518* 145 | X0053868Y0025148* 146 | X0053858Y0025115* 147 | X0053849Y0025082* 148 | X0053843Y0025048* 149 | X005384Y0025014* 150 | X0053839Y002498* 151 | X005384Y0024945* 152 | X0053843Y0024911* 153 | X0053849Y0024877* 154 | X0053858Y0024844* 155 | X0053868Y0024811* 156 | X0053881Y0024779* 157 | X0053896Y0024749* 158 | X0053913Y0024719* 159 | X0053932Y002469* 160 | X0053954Y0024663* 161 | X0053977Y0024638* 162 | X0054001Y0024614* 163 | X0054028Y0024592* 164 | X0054055Y0024572* 165 | X0054085Y0024553* 166 | X0054115Y0024537* 167 | X0054146Y0024523* 168 | X0054178Y0024512* 169 | X0054211Y0024502* 170 | X0054245Y0024495* 171 | X0054279Y002449* 172 | X0054313Y0024488* 173 | X0054348* 174 | X0054382Y002449* 175 | X0054416Y0024495* 176 | X005445Y0024502* 177 | X0054483Y0024512* 178 | X0054515Y0024523* 179 | X0054546Y0024537* 180 | X0054577Y0024553* 181 | X0054606Y0024572* 182 | X0054633Y0024592* 183 | X005466Y0024614* 184 | X0054684Y0024638* 185 | X0054707Y0024663* 186 | X0054729Y002469* 187 | X0054748Y0024719* 188 | X0054765Y0024749* 189 | X005478Y0024779* 190 | X0054793Y0024811* 191 | X0054803Y0024844* 192 | X0054812Y0024877* 193 | X0054818Y0024911* 194 | X0054821Y0024945* 195 | X0054823Y002498* 196 | G54D12* 197 | X0073228Y0081299D02* 198 | Y0082776D01* 199 | X0071752Y0084252D02* 200 | X0073228Y0082776D01* 201 | X0070276Y0084252D02* 202 | X0071752D01* 203 | X0073228Y0037008D02* 204 | Y0039961D01* 205 | X0070276Y0037008D02* 206 | X0073228D01* 207 | X0025984D02* 208 | X0028937D01* 209 | X0025984D02* 210 | Y0039961D01* 211 | Y0081299D02* 212 | Y0084252D01* 213 | X0028937* 214 | X0064567Y0007067D02* 215 | Y0011138D01* 216 | X0033858Y0007067D02* 217 | Y0011138D01* 218 | Y0022815D02* 219 | X0041732D01* 220 | X0033858Y0021579D02* 221 | Y0022815D01* 222 | X0056693D02* 223 | X0064567D01* 224 | Y0021579D02* 225 | Y0022815D01* 226 | X0033858Y0007067D02* 227 | X0064567D01* 228 | X001378Y0056299D02* 229 | X0014173D01* 230 | X001378Y0059449D02* 231 | X0014173D01* 232 | G54D14* 233 | X00804Y0085964D02* 234 | Y0083881D01* 235 | X0079984Y0083465* 236 | X007915* 237 | X0078734Y0083881* 238 | Y0085964* 239 | X0077901Y0083465D02* 240 | X0077068D01* 241 | X0077484* 242 | Y0085964* 243 | X0077901Y0085547* 244 | X0041339Y0027953D02* 245 | X0043838D01* 246 | Y0029202* 247 | X0043421Y0029619* 248 | X0042588* 249 | X0042172Y0029202* 250 | Y0027953* 251 | Y0028786D02* 252 | X0041339Y0029619D01* 253 | X0043838Y0032118D02* 254 | X0043421Y0031285D01* 255 | X0042588Y0030452* 256 | X0041755* 257 | X0041339Y0030869* 258 | Y0031701* 259 | X0041755Y0032118* 260 | X0042172* 261 | X0042588Y0031701* 262 | Y0030452* 263 | X0011024Y0084252D02* 264 | Y0086751D01* 265 | X0009774* 266 | X0009358Y0086335* 267 | Y0085502* 268 | X0009774Y0085085* 269 | X0011024* 270 | X0010191D02* 271 | X0009358Y0084252D01* 272 | X0006858Y0086751D02* 273 | X0008524D01* 274 | Y0085502* 275 | X0007691Y0085918* 276 | X0007275* 277 | X0006858Y0085502* 278 | Y0084668* 279 | X0007275Y0084252* 280 | X0008108* 281 | X0008524Y0084668* 282 | X0011024Y0080709D02* 283 | Y0083208D01* 284 | X0009774* 285 | X0009358Y0082791* 286 | Y0081958* 287 | X0009774Y0081542* 288 | X0011024* 289 | X0010191D02* 290 | X0009358Y0080709D01* 291 | X0007275D02* 292 | Y0083208D01* 293 | X0008524Y0081958* 294 | X0006858* 295 | X0045276Y0027953D02* 296 | X0047775D01* 297 | Y0029202* 298 | X0047358Y0029619* 299 | X0046525* 300 | X0046109Y0029202* 301 | Y0027953* 302 | Y0028786D02* 303 | X0045276Y0029619D01* 304 | X0047358Y0030452D02* 305 | X0047775Y0030869D01* 306 | Y0031701* 307 | X0047358Y0032118* 308 | X0046942* 309 | X0046525Y0031701* 310 | Y0031285* 311 | Y0031701* 312 | X0046109Y0032118* 313 | X0045692* 314 | X0045276Y0031701* 315 | Y0030869* 316 | X0045692Y0030452* 317 | X0066043Y0101279D02* 318 | X0068542D01* 319 | Y0102529* 320 | X0068126Y0102946* 321 | X0067293* 322 | X0066876Y0102529* 323 | Y0101279* 324 | Y0102113D02* 325 | X0066043Y0102946D01* 326 | Y0105445D02* 327 | Y0103779D01* 328 | X0067709Y0105445* 329 | X0068126* 330 | X0068542Y0105028* 331 | Y0104195* 332 | X0068126Y0103779* 333 | X00108Y003937D02* 334 | Y0041869D01* 335 | X000955* 336 | X0009134Y0041453* 337 | Y004062* 338 | X000955Y0040203* 339 | X00108* 340 | X0009967D02* 341 | X0009134Y003937D01* 342 | X0008301D02* 343 | X0007468D01* 344 | X0007884* 345 | Y0041869* 346 | X0008301Y0041453* 347 | X0027816Y0021149D02* 348 | Y0021982D01* 349 | Y0021565* 350 | X0029898* 351 | X0030315Y0021982* 352 | Y0022398* 353 | X0029898Y0022815* 354 | X0030315Y0020316D02* 355 | Y0019483D01* 356 | Y0019899* 357 | X0027816* 358 | X0028232Y0020316* 359 | X0039878Y0090938D02* 360 | X0040295Y0090521D01* 361 | Y0089688* 362 | X0039878Y0089272* 363 | X0038212* 364 | X0037795Y0089688* 365 | Y0090521* 366 | X0038212Y0090938* 367 | X0037795Y0091771D02* 368 | Y0092604D01* 369 | Y0092187* 370 | X0040295* 371 | X0039878Y0091771* 372 | Y0093853D02* 373 | X0040295Y009427D01* 374 | Y0095103* 375 | X0039878Y009552* 376 | X0039461* 377 | X0039045Y0095103* 378 | Y0094687* 379 | Y0095103* 380 | X0038628Y009552* 381 | X0038212* 382 | X0037795Y0095103* 383 | Y009427* 384 | X0038212Y0093853* 385 | X0072358Y0029225D02* 386 | X0072775Y0028809D01* 387 | Y0027976* 388 | X0072358Y0027559* 389 | X0070692* 390 | X0070276Y0027976* 391 | Y0028809* 392 | X0070692Y0029225* 393 | X0070276Y0030058D02* 394 | Y0030891D01* 395 | Y0030475* 396 | X0072775* 397 | X0072358Y0030058* 398 | X0070276Y0033807D02* 399 | Y0032141D01* 400 | X0071942Y0033807* 401 | X0072358* 402 | X0072775Y0033391* 403 | Y0032557* 404 | X0072358Y0032141* 405 | X0008176Y0063106D02* 406 | X0008593Y0063523D01* 407 | X0009426* 408 | X0009843Y0063106* 409 | Y006144* 410 | X0009426Y0061024* 411 | X0008593* 412 | X0008176Y006144* 413 | X0007343Y0061024D02* 414 | X000651D01* 415 | X0006927* 416 | Y0063523* 417 | X0007343Y0063106* 418 | X0005261Y0061024D02* 419 | X0004428D01* 420 | X0004844* 421 | Y0063523* 422 | X0005261Y0063106* 423 | X0010145Y0053658D02* 424 | X0010561Y0054074D01* 425 | X0011394* 426 | X0011811Y0053658* 427 | Y0051991* 428 | X0011394Y0051575* 429 | X0010561* 430 | X0010145Y0051991* 431 | X0009312Y0051575D02* 432 | X0008479D01* 433 | X0008895* 434 | Y0054074* 435 | X0009312Y0053658* 436 | X0007229D02* 437 | X0006813Y0054074D01* 438 | X000598* 439 | X0005563Y0053658* 440 | Y0051991* 441 | X000598Y0051575* 442 | X0006813* 443 | X0007229Y0051991* 444 | Y0053658* 445 | X0006208Y0059169D02* 446 | X0006624Y0059586D01* 447 | X0007457* 448 | X0007874Y0059169* 449 | Y0057503* 450 | X0007457Y0057087* 451 | X0006624* 452 | X0006208Y0057503* 453 | X0005375D02* 454 | X0004958Y0057087D01* 455 | X0004125* 456 | X0003709Y0057503* 457 | Y0059169* 458 | X0004125Y0059586* 459 | X0004958* 460 | X0005375Y0059169* 461 | Y0058753* 462 | X0004958Y0058336* 463 | X0003709* 464 | X0063916Y0102946D02* 465 | X0064333Y0102529D01* 466 | Y0101696* 467 | X0063916Y0101279* 468 | X006225* 469 | X0061834Y0101696* 470 | Y0102529* 471 | X006225Y0102946* 472 | X0063916Y0103779D02* 473 | X0064333Y0104195D01* 474 | Y0105028* 475 | X0063916Y0105445* 476 | X00635* 477 | X0063083Y0105028* 478 | X0062667Y0105445* 479 | X006225* 480 | X0061834Y0105028* 481 | Y0104195* 482 | X006225Y0103779* 483 | X0062667* 484 | X0063083Y0104195* 485 | X00635Y0103779* 486 | X0063916* 487 | X0063083Y0104195D02* 488 | Y0105028D01* 489 | X0059976Y0102946D02* 490 | X0060393Y0102529D01* 491 | Y0101696* 492 | X0059976Y0101279* 493 | X005831* 494 | X0057894Y0101696* 495 | Y0102529* 496 | X005831Y0102946* 497 | X0060393Y0103779D02* 498 | Y0105445D01* 499 | X0059976* 500 | X005831Y0103779* 501 | X0057894* 502 | X000857Y0074917D02* 503 | X0008987Y0075334D01* 504 | X000982* 505 | X0010236Y0074917* 506 | Y0073251* 507 | X000982Y0072835* 508 | X0008987* 509 | X000857Y0073251* 510 | X0006071Y0075334D02* 511 | X0006904Y0074917D01* 512 | X0007737Y0074084* 513 | Y0073251* 514 | X0007321Y0072835* 515 | X0006487* 516 | X0006071Y0073251* 517 | Y0073668* 518 | X0006487Y0074084* 519 | X0007737* 520 | X000857Y0078854D02* 521 | X0008987Y0079271D01* 522 | X000982* 523 | X0010236Y0078854* 524 | Y0077188* 525 | X000982Y0076772* 526 | X0008987* 527 | X000857Y0077188* 528 | X0006071Y0079271D02* 529 | X0007737D01* 530 | Y0078021* 531 | X0006904Y0078438* 532 | X0006487* 533 | X0006071Y0078021* 534 | Y0077188* 535 | X0006487Y0076772* 536 | X0007321* 537 | X0007737Y0077188* 538 | X0008176Y0070583D02* 539 | X0008593Y0070999D01* 540 | X0009426* 541 | X0009843Y0070583* 542 | Y0068916* 543 | X0009426Y00685* 544 | X0008593* 545 | X0008176Y0068916* 546 | X0006094Y00685D02* 547 | Y0070999D01* 548 | X0007343Y006975* 549 | X0005677* 550 | X0024894Y0029807D02* 551 | X0024478Y0029391D01* 552 | X0023645* 553 | X0023228Y0029807* 554 | Y0031473* 555 | X0023645Y003189* 556 | X0024478* 557 | X0024894Y0031473* 558 | X0025727Y0029807D02* 559 | X0026144Y0029391D01* 560 | X0026977* 561 | X0027394Y0029807* 562 | Y0030224* 563 | X0026977Y003064* 564 | X0026561* 565 | X0026977* 566 | X0027394Y0031057* 567 | Y0031473* 568 | X0026977Y003189* 569 | X0026144* 570 | X0025727Y0031473* 571 | X0024107Y002587D02* 572 | X002369Y0025454D01* 573 | X0022858* 574 | X0022441Y002587* 575 | Y0027536* 576 | X0022858Y0027953* 577 | X002369* 578 | X0024107Y0027536* 579 | X0026606Y0027953D02* 580 | X002494D01* 581 | X0026606Y0026287* 582 | Y002587* 583 | X002619Y0025454* 584 | X0025357* 585 | X002494Y002587* 586 | X0068224Y0029225D02* 587 | X0068641Y0028809D01* 588 | Y0027976* 589 | X0068224Y0027559* 590 | X0066558* 591 | X0066142Y0027976* 592 | Y0028809* 593 | X0066558Y0029225* 594 | X0066142Y0030058D02* 595 | Y0030891D01* 596 | Y0030475* 597 | X0068641* 598 | X0068224Y0030058* 599 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_mechanical_1.gm1: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %ADD14C,0.010000*% 7 | %LNdigit-1*% 8 | %LPD*% 9 | G54D14* 10 | X0001968Y0070866D02* 11 | X000217Y0075225D01* 12 | X0002773Y0079547* 13 | X0003772Y0083795* 14 | X0005159Y0087932* 15 | X0006921Y0091925* 16 | X0009045Y0095737* 17 | X0011511Y0099337* 18 | X0014299Y0102694* 19 | X0017384Y010578* 20 | X0020742Y0108568* 21 | X0024342Y0111034* 22 | X0028154Y0113157* 23 | X0032146Y011492* 24 | X0036284Y0116306* 25 | X0040531Y0117306* 26 | X0044853Y0117909* 27 | X0049213Y011811* 28 | X0053572Y0117909* 29 | X0057894Y0117306* 30 | X0062142Y0116306* 31 | X0066279Y011492* 32 | X0070271Y0113157* 33 | X0074083Y0111034* 34 | X0077684Y0108568* 35 | X0081041Y010578* 36 | X0084126Y0102694* 37 | X0086914Y0099337* 38 | X008938Y0095737* 39 | X0091504Y0091925* 40 | X0093266Y0087932* 41 | X0094653Y0083795* 42 | X0095652Y0079547* 43 | X0096255Y0075225* 44 | X0096457Y0070866* 45 | Y0013779D02* 46 | Y0070866D01* 47 | X0096217Y0011045D02* 48 | X0096457Y0013779D01* 49 | X0095507Y0008393D02* 50 | X0096217Y0011045D01* 51 | X0094347Y0005905D02* 52 | X0095507Y0008393D01* 53 | X0092772Y0003657D02* 54 | X0094347Y0005905D01* 55 | X0090831Y0001716D02* 56 | X0092772Y0003657D01* 57 | X0088583Y0000141D02* 58 | X0090831Y0001716D01* 59 | X0086095Y-0001019D02* 60 | X0088583Y0000141D01* 61 | X0083443Y-0001729D02* 62 | X0086095Y-0001019D01* 63 | X0080709Y-0001969D02* 64 | X0083443Y-0001729D01* 65 | X0017716Y-0001969D02* 66 | X0080709D01* 67 | X0014982Y-0001729D02* 68 | X0017716Y-0001969D01* 69 | X001233Y-0001019D02* 70 | X0014982Y-0001729D01* 71 | X0009842Y0000141D02* 72 | X001233Y-0001019D01* 73 | X0007594Y0001716D02* 74 | X0009842Y0000141D01* 75 | X0005653Y0003657D02* 76 | X0007594Y0001716D01* 77 | X0004078Y0005905D02* 78 | X0005653Y0003657D01* 79 | X0002918Y0008393D02* 80 | X0004078Y0005905D01* 81 | X0002208Y0011045D02* 82 | X0002918Y0008393D01* 83 | X0001968Y0013779D02* 84 | X0002208Y0011045D01* 85 | X0001968Y0013779D02* 86 | Y0070866D01* 87 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_paste_bot.gbp: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %AMD63* 7 | 4,1,8,-0.019700,0.002000,-0.019700,-0.002000,-0.017700,-0.003900,0.017700,-0.003900,0.019700,-0.002000,0.019700,0.002000,0.017700,0.003900,-0.017700,0.003900,-0.019700,0.002000,0.0* 8 | % 9 | %ADD17R,0.020470X0.020470*% 10 | %ADD19R,0.035430X0.039370*% 11 | %ADD23R,0.017720X0.021650*% 12 | %ADD29R,0.020470X0.020470*% 13 | %ADD60R,0.318900X0.318900*% 14 | %ADD61O,0.007870X0.039370*% 15 | %ADD62O,0.039370X0.007870*% 16 | G04~CAMADD=63~4~0.0~0.0~78.7~393.7~0.0~19.7~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~90.0~394.0~78.0* 17 | %ADD63D63*% 18 | %ADD64R,0.017720X0.017720*% 19 | %ADD65R,0.021650X0.025590*% 20 | %ADD66R,0.015750X0.059060*% 21 | %ADD67R,0.024410X0.024410*% 22 | %LNdigit-1*% 23 | %LPD*% 24 | G54D17* 25 | X0032283Y0094488D03* 26 | Y0091339D03* 27 | X0063287Y002874D03* 28 | Y003189D03* 29 | X0062205Y0094488D03* 30 | Y0091339D03* 31 | X0058661Y0094488D03* 32 | Y0091339D03* 33 | X0059842Y002874D03* 34 | Y003189D03* 35 | G54D19* 36 | X0010827Y0057874D03* 37 | X0017126D03* 38 | G54D23* 39 | X0016732Y0044094D03* 40 | X0013189D03* 41 | G54D29* 42 | X0015157Y0062598D03* 43 | X0018307D03* 44 | X0014961Y005315D03* 45 | X001811D03* 46 | X0015157Y00696D03* 47 | X0018307D03* 48 | X0015157Y0066142D03* 49 | X0018307D03* 50 | X0029921Y0030709D03* 51 | X0033071D03* 52 | G54D60* 53 | X0049606Y006063D03* 54 | G54D61* 55 | X0068504Y0084252D03* 56 | X0066929D03* 57 | X0065354D03* 58 | X0063779D03* 59 | X0062205D03* 60 | X006063D03* 61 | X0059055D03* 62 | X005748D03* 63 | X0055905D03* 64 | X0054331D03* 65 | X0052756D03* 66 | X0051181D03* 67 | X0049606D03* 68 | X0048031D03* 69 | X0046457D03* 70 | X0044882D03* 71 | X0043307D03* 72 | X0041732D03* 73 | X0040157D03* 74 | X0038583D03* 75 | X0037008D03* 76 | X0035433D03* 77 | X0033858D03* 78 | X0032283D03* 79 | X0030709D03* 80 | Y0037008D03* 81 | X0032283D03* 82 | X0033858D03* 83 | X0035433D03* 84 | X0037008D03* 85 | X0038583D03* 86 | X0040157D03* 87 | X0041732D03* 88 | X0043307D03* 89 | X0044882D03* 90 | X0046457D03* 91 | X0048031D03* 92 | X0049606D03* 93 | X0051181D03* 94 | X0052756D03* 95 | X0054331D03* 96 | X0055905D03* 97 | X005748D03* 98 | X0059055D03* 99 | X006063D03* 100 | X0062205D03* 101 | X0063779D03* 102 | X0065354D03* 103 | X0066929D03* 104 | X0068504D03* 105 | G54D62* 106 | X0025984Y0079527D03* 107 | Y0077953D03* 108 | Y0076378D03* 109 | Y0074803D03* 110 | Y0073228D03* 111 | Y0071653D03* 112 | Y0070079D03* 113 | Y0068504D03* 114 | Y0066929D03* 115 | Y0065354D03* 116 | Y0063779D03* 117 | Y0062205D03* 118 | Y006063D03* 119 | Y0059055D03* 120 | Y005748D03* 121 | Y0055905D03* 122 | Y0054331D03* 123 | Y0052756D03* 124 | Y0051181D03* 125 | Y0049606D03* 126 | Y0048031D03* 127 | Y0046457D03* 128 | Y0044882D03* 129 | Y0043307D03* 130 | Y0041732D03* 131 | X0073228D03* 132 | Y0043307D03* 133 | Y0044882D03* 134 | Y0046457D03* 135 | Y0048031D03* 136 | Y0049606D03* 137 | Y0051181D03* 138 | Y0052756D03* 139 | Y0054331D03* 140 | Y0055905D03* 141 | Y005748D03* 142 | Y0059055D03* 143 | Y006063D03* 144 | Y0062205D03* 145 | Y0063779D03* 146 | Y0065354D03* 147 | Y0066929D03* 148 | Y0068504D03* 149 | Y0070079D03* 150 | Y0071653D03* 151 | Y0073228D03* 152 | Y0074803D03* 153 | Y0076378D03* 154 | Y0077953D03* 155 | G54D63* 156 | X0073228Y0079528D03* 157 | G54D64* 158 | X0052756Y002874D03* 159 | Y003189D03* 160 | X0056299D03* 161 | Y002874D03* 162 | X0065748Y0091339D03* 163 | Y0094488D03* 164 | G54D65* 165 | X0014173Y0084646D03* 166 | X001811D03* 167 | X0014173Y0080709D03* 168 | X001811D03* 169 | G54D66* 170 | X0054331Y0019862D03* 171 | X0051772D03* 172 | X0049213D03* 173 | X0046654D03* 174 | X0044094D03* 175 | G54D67* 176 | X0014028Y00736D03* 177 | X0017572D03* 178 | X0029724Y0026772D03* 179 | X0033268D03* 180 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_paste_top.gtp: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %AMD16* 7 | 4,1,8,-0.030000,0.007500,-0.030000,-0.007500,-0.022500,-0.015000,0.022500,-0.015000,0.030000,-0.007500,0.030000,0.007500,0.022500,0.015000,-0.022500,0.015000,-0.030000,0.007500,0.0* 8 | 1,1,0.015000,-0.022500,0.007500* 9 | 1,1,0.015000,-0.022500,-0.007500* 10 | 1,1,0.015000,0.022500,-0.007500* 11 | 1,1,0.015000,0.022500,0.007500* 12 | % 13 | G04~CAMADD=16~8~0.0~0.0~300.0~600.0~75.0~0.0~15~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~90.0~600.0~300.0* 14 | %ADD16D16*% 15 | %ADD17R,0.020470X0.020470*% 16 | %ADD18R,0.039370X0.035430*% 17 | %ADD19R,0.035430X0.039370*% 18 | %ADD20R,0.031500X0.035430*% 19 | %ADD21R,0.051180X0.027560*% 20 | %ADD22C,0.009000*% 21 | %ADD23R,0.017720X0.021650*% 22 | %ADD24R,0.025590X0.021650*% 23 | %ADD25R,0.021650X0.017720*% 24 | %ADD26R,0.017720X0.011810*% 25 | %ADD27R,0.014960X0.043310*% 26 | %ADD28R,0.009060X0.028740*% 27 | %ADD29R,0.020470X0.020470*% 28 | %ADD30R,0.028350X0.028350*% 29 | %LNdigit-1*% 30 | %LPD*% 31 | G54D16* 32 | X0006205Y0033169D03* 33 | X0006299Y0029528D03* 34 | Y0026D03* 35 | Y0022441D03* 36 | Y0018898D03* 37 | G54D17* 38 | X0082451Y0025295D03* 39 | Y0022146D03* 40 | X0072342D03* 41 | Y0025295D03* 42 | X0091732Y0066142D03* 43 | Y0062992D03* 44 | X00931Y0051125D03* 45 | Y0054275D03* 46 | X0066899Y0056115D03* 47 | Y0059265D03* 48 | X0070442Y0056115D03* 49 | Y0059265D03* 50 | X0066929Y0086614D03* 51 | Y0083465D03* 52 | X0063386Y0086614D03* 53 | Y0083465D03* 54 | G54D18* 55 | X0077559Y0029626D03* 56 | Y0023327D03* 57 | X0026083Y0048228D03* 58 | Y0054527D03* 59 | X0091732Y0046457D03* 60 | Y0040157D03* 61 | G54D19* 62 | X0052461Y0085138D03* 63 | X005876D03* 64 | G54D20* 65 | X0010925Y0060728D03* 66 | Y0054232D03* 67 | X0015846Y0060728D03* 68 | Y0054232D03* 69 | G54D21* 70 | X0085039Y0062992D03* 71 | Y0066732D03* 72 | Y0070472D03* 73 | X007559D03* 74 | Y0062992D03* 75 | X0085433Y0046654D03* 76 | Y0050394D03* 77 | Y0054134D03* 78 | X0075984D03* 79 | Y0046654D03* 80 | G54D22* 81 | X0053858Y0062598D03* 82 | Y006063D03* 83 | Y0058661D03* 84 | Y0056693D03* 85 | Y0054724D03* 86 | X0051732Y0062598D03* 87 | Y006063D03* 88 | Y0058661D03* 89 | Y0056693D03* 90 | Y0054724D03* 91 | X0049606Y0062598D03* 92 | Y006063D03* 93 | Y0058661D03* 94 | Y0056693D03* 95 | Y0054724D03* 96 | X004748Y0062598D03* 97 | Y006063D03* 98 | Y0058661D03* 99 | Y0056693D03* 100 | Y0054724D03* 101 | X0045354Y0062598D03* 102 | Y006063D03* 103 | Y0058661D03* 104 | Y0056693D03* 105 | Y0054724D03* 106 | G54D23* 107 | X0060433Y003937D03* 108 | X005689D03* 109 | X0060433Y00357D03* 110 | X005689D03* 111 | X0024213Y0102362D03* 112 | X0027756D03* 113 | X0024213Y0098819D03* 114 | X0027756D03* 115 | G54D24* 116 | X007126Y0094882D03* 117 | Y0090945D03* 118 | X0028346D03* 119 | Y0094882D03* 120 | X0014173Y0090945D03* 121 | Y0094882D03* 122 | G54D25* 123 | X0084252Y0094685D03* 124 | Y0091142D03* 125 | G54D26* 126 | X0075295Y0094882D03* 127 | Y0092913D03* 128 | Y0090945D03* 129 | X008061D03* 130 | Y0092913D03* 131 | Y0094882D03* 132 | X0018602D03* 133 | Y0092913D03* 134 | Y0090945D03* 135 | X0023917D03* 136 | Y0092913D03* 137 | Y0094882D03* 138 | G54D27* 139 | X0039075Y0016437D03* 140 | X0059252D03* 141 | G54D28* 142 | X0054675Y0021358D03* 143 | X00531D03* 144 | X0051526D03* 145 | X0049951D03* 146 | X0043652D03* 147 | X0045226D03* 148 | X0046801D03* 149 | X0048376D03* 150 | Y0011319D03* 151 | X0046801D03* 152 | X0045226D03* 153 | X0043652D03* 154 | X0049951D03* 155 | X0051526D03* 156 | X00531D03* 157 | X0054675D03* 158 | G54D29* 159 | X007874Y0076378D03* 160 | X007559D03* 161 | X0079134Y0040551D03* 162 | X0075984D03* 163 | X0024409Y0066535D03* 164 | X0027559D03* 165 | X0024409Y0070079D03* 166 | X0027559D03* 167 | X0024409Y0062992D03* 168 | X0027559D03* 169 | X0024409Y0059449D03* 170 | X0027559D03* 171 | G54D30* 172 | X0011417Y0065748D03* 173 | X0015354D03* 174 | X0011417Y0048425D03* 175 | X0015354D03* 176 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_smt_xy.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/hardware/fabrication/digit/digit_smt_xy.txt -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_soldermask_bot.gbs: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %AMD71* 7 | 4,1,8,-0.023700,0.004000,-0.023700,-0.004000,-0.019700,-0.007900,0.019700,-0.007900,0.023700,-0.004000,0.023700,0.004000,0.019700,0.007900,-0.019700,0.007900,-0.023700,0.004000,0.0* 8 | % 9 | %ADD32R,0.028470X0.028470*% 10 | %ADD34R,0.043430X0.047370*% 11 | %ADD38R,0.025720X0.029650*% 12 | %ADD44R,0.028470X0.028470*% 13 | %ADD46O,0.063120X0.084770*% 14 | %ADD47C,0.158000*% 15 | %ADD48C,0.024000*% 16 | %ADD49C,0.039000*% 17 | %ADD50C,0.032000*% 18 | %ADD68R,0.326900X0.326900*% 19 | %ADD69O,0.015870X0.047370*% 20 | %ADD70O,0.047370X0.015870*% 21 | G04~CAMADD=71~4~0.0~0.0~158.7~473.7~0.0~39.7~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~90.0~474.0~158.0* 22 | %ADD71D71*% 23 | %ADD72R,0.025720X0.025720*% 24 | %ADD73R,0.029650X0.033590*% 25 | %ADD74R,0.023750X0.067060*% 26 | %ADD75R,0.032410X0.032410*% 27 | %LNdigit-1*% 28 | %LPD*% 29 | G54D32* 30 | X0032283Y0094488D03* 31 | Y0091339D03* 32 | X0063287Y002874D03* 33 | Y003189D03* 34 | X0062205Y0094488D03* 35 | Y0091339D03* 36 | X0058661Y0094488D03* 37 | Y0091339D03* 38 | X0059842Y002874D03* 39 | Y003189D03* 40 | G54D34* 41 | X0010827Y0057874D03* 42 | X0017126D03* 43 | G54D38* 44 | X0016732Y0044094D03* 45 | X0013189D03* 46 | G54D44* 47 | X0015157Y0062598D03* 48 | X0018307D03* 49 | X0014961Y005315D03* 50 | X001811D03* 51 | X0015157Y00696D03* 52 | X0018307D03* 53 | X0015157Y0066142D03* 54 | X0018307D03* 55 | X0029921Y0030709D03* 56 | X0033071D03* 57 | G54D46* 58 | X0063287Y0016358D03* 59 | X0035138D03* 60 | G54D47* 61 | X0049213Y0105118D03* 62 | X0015748Y0011811D03* 63 | X0082677D03* 64 | G54D48* 65 | X0010818Y0029528D03* 66 | X0012992Y0027953D03* 67 | X0048819Y0041732D03* 68 | X0051968D03* 69 | X0054295D03* 70 | X0020417D03* 71 | X001437Y0022047D03* 72 | X0012992Y0024016D03* 73 | X001437Y0025984D03* 74 | X0049213Y00246D03* 75 | X0075295Y0017815D03* 76 | X0034055Y0102362D03* 77 | X00375Y0008366D03* 78 | X0040059Y0008393D03* 79 | X0052953Y0014862D03* 80 | X0050295Y0089272D03* 81 | X0009843Y0044094D03* 82 | X00518Y00254D03* 83 | X0054232Y0089272D03* 84 | X005315Y0079528D03* 85 | X00209Y00715D03* 86 | X00299Y0078D03* 87 | X00669Y00795D03* 88 | X0050787Y0079528D03* 89 | X00437Y00794D03* 90 | X00354Y00331D03* 91 | X0061417Y0079528D03* 92 | X00221Y00667D03* 93 | X0030315Y0059055D03* 94 | X0033Y00331D03* 95 | X0048425Y0079528D03* 96 | X0063287Y0041339D03* 97 | X00391Y0031416D03* 98 | X0059646Y0080807D03* 99 | X00686Y0077D03* 100 | X00354Y00887D03* 101 | X00636Y00796D03* 102 | X00273Y00871D03* 103 | X00221Y00647D03* 104 | X00304Y00331D03* 105 | X0057874Y0079528D03* 106 | X0065748Y0041339D03* 107 | X0055905Y008061D03* 108 | X00209Y00737D03* 109 | X00461Y00794D03* 110 | X005605Y0078524D03* 111 | X005689Y0042323D03* 112 | X0037008Y0028698D03* 113 | X0030807Y0048228D03* 114 | X0017572Y0077328D03* 115 | X00562Y00981D03* 116 | X00683Y0091D03* 117 | X00353Y0094488D03* 118 | X0032283Y00973D03* 119 | X00108Y00949D03* 120 | X0062205Y00983D03* 121 | X0058661Y0098155D03* 122 | X0065748Y0098148D03* 123 | X00081Y0065748D03* 124 | X00079Y0048275D03* 125 | X00155Y00986D03* 126 | X00748Y00991D03* 127 | X00715Y00869D03* 128 | X00814Y0058439D03* 129 | X00804Y0079705D03* 130 | X00899Y00697D03* 131 | X009Y00507D03* 132 | X00825Y00406D03* 133 | X0049213Y00303D03* 134 | X0063287Y0026D03* 135 | X00598D03* 136 | X00272Y00345D03* 137 | X00121Y00695D03* 138 | X00141Y00774D03* 139 | Y00879D03* 140 | X0031462Y0102362D03* 141 | X00875Y0091142D03* 142 | X0032Y00641D03* 143 | X00318Y0054724D03* 144 | X0022037Y0057937D03* 145 | X006639Y003189D03* 146 | X00563Y0026D03* 147 | X00682Y00627D03* 148 | X00678Y00686D03* 149 | X00686Y00462D03* 150 | Y0048425D03* 151 | Y00506D03* 152 | Y0052846D03* 153 | X00678Y00712D03* 154 | X0031Y00685D03* 155 | G54D49* 156 | X00686Y0025197D03* 157 | G54D50* 158 | X0091732Y00592D03* 159 | X0073228Y0037D03* 160 | G54D68* 161 | X0049606Y006063D03* 162 | G54D69* 163 | X0068504Y0084252D03* 164 | X0066929D03* 165 | X0065354D03* 166 | X0063779D03* 167 | X0062205D03* 168 | X006063D03* 169 | X0059055D03* 170 | X005748D03* 171 | X0055905D03* 172 | X0054331D03* 173 | X0052756D03* 174 | X0051181D03* 175 | X0049606D03* 176 | X0048031D03* 177 | X0046457D03* 178 | X0044882D03* 179 | X0043307D03* 180 | X0041732D03* 181 | X0040157D03* 182 | X0038583D03* 183 | X0037008D03* 184 | X0035433D03* 185 | X0033858D03* 186 | X0032283D03* 187 | X0030709D03* 188 | Y0037008D03* 189 | X0032283D03* 190 | X0033858D03* 191 | X0035433D03* 192 | X0037008D03* 193 | X0038583D03* 194 | X0040157D03* 195 | X0041732D03* 196 | X0043307D03* 197 | X0044882D03* 198 | X0046457D03* 199 | X0048031D03* 200 | X0049606D03* 201 | X0051181D03* 202 | X0052756D03* 203 | X0054331D03* 204 | X0055905D03* 205 | X005748D03* 206 | X0059055D03* 207 | X006063D03* 208 | X0062205D03* 209 | X0063779D03* 210 | X0065354D03* 211 | X0066929D03* 212 | X0068504D03* 213 | G54D70* 214 | X0025984Y0079527D03* 215 | Y0077953D03* 216 | Y0076378D03* 217 | Y0074803D03* 218 | Y0073228D03* 219 | Y0071653D03* 220 | Y0070079D03* 221 | Y0068504D03* 222 | Y0066929D03* 223 | Y0065354D03* 224 | Y0063779D03* 225 | Y0062205D03* 226 | Y006063D03* 227 | Y0059055D03* 228 | Y005748D03* 229 | Y0055905D03* 230 | Y0054331D03* 231 | Y0052756D03* 232 | Y0051181D03* 233 | Y0049606D03* 234 | Y0048031D03* 235 | Y0046457D03* 236 | Y0044882D03* 237 | Y0043307D03* 238 | Y0041732D03* 239 | X0073228D03* 240 | Y0043307D03* 241 | Y0044882D03* 242 | Y0046457D03* 243 | Y0048031D03* 244 | Y0049606D03* 245 | Y0051181D03* 246 | Y0052756D03* 247 | Y0054331D03* 248 | Y0055905D03* 249 | Y005748D03* 250 | Y0059055D03* 251 | Y006063D03* 252 | Y0062205D03* 253 | Y0063779D03* 254 | Y0065354D03* 255 | Y0066929D03* 256 | Y0068504D03* 257 | Y0070079D03* 258 | Y0071653D03* 259 | Y0073228D03* 260 | Y0074803D03* 261 | Y0076378D03* 262 | Y0077953D03* 263 | G54D71* 264 | X0073228Y0079528D03* 265 | G54D72* 266 | X0052756Y002874D03* 267 | Y003189D03* 268 | X0056299D03* 269 | Y002874D03* 270 | X0065748Y0091339D03* 271 | Y0094488D03* 272 | G54D73* 273 | X0014173Y0084646D03* 274 | X001811D03* 275 | X0014173Y0080709D03* 276 | X001811D03* 277 | G54D74* 278 | X0054331Y0019862D03* 279 | X0051772D03* 280 | X0049213D03* 281 | X0046654D03* 282 | X0044094D03* 283 | G54D75* 284 | X0014028Y00736D03* 285 | X0017572D03* 286 | X0029724Y0026772D03* 287 | X0033268D03* 288 | M02* -------------------------------------------------------------------------------- /DIGIT/hardware/fabrication/digit/digit_soldermask_top.gts: -------------------------------------------------------------------------------- 1 | %FSTAX25Y25*% 2 | %MOIN*% 3 | %SFA1B1*% 4 | 5 | %IPPOS*% 6 | %AMD31* 7 | 4,1,8,-0.034000,0.007500,-0.034000,-0.007500,-0.022500,-0.019000,0.022500,-0.019000,0.034000,-0.007500,0.034000,0.007500,0.022500,0.019000,-0.022500,0.019000,-0.034000,0.007500,0.0* 8 | 1,1,0.023000,-0.022500,0.007500* 9 | 1,1,0.023000,-0.022500,-0.007500* 10 | 1,1,0.023000,0.022500,-0.007500* 11 | 1,1,0.023000,0.022500,0.007500* 12 | % 13 | G04~CAMADD=31~8~0.0~0.0~380.0~680.0~115.0~0.0~15~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~0.0~0~0.0~0.0~0.0~90.0~680.0~380.0* 14 | %ADD31D31*% 15 | %ADD32R,0.028470X0.028470*% 16 | %ADD33R,0.047370X0.043430*% 17 | %ADD34R,0.043430X0.047370*% 18 | %ADD35R,0.039500X0.043430*% 19 | %ADD36R,0.059180X0.035560*% 20 | %ADD37C,0.012940*% 21 | %ADD38R,0.025720X0.029650*% 22 | %ADD39R,0.033590X0.029650*% 23 | %ADD40R,0.029650X0.025720*% 24 | %ADD41R,0.025720X0.019810*% 25 | %ADD42R,0.020470X0.048820*% 26 | %ADD43R,0.014570X0.034250*% 27 | %ADD44R,0.028470X0.028470*% 28 | %ADD45R,0.036350X0.036350*% 29 | %ADD46O,0.063120X0.084770*% 30 | %ADD47C,0.158000*% 31 | %ADD48C,0.024000*% 32 | %ADD49C,0.039000*% 33 | %ADD50C,0.032000*% 34 | %LNdigit-1*% 35 | %LPD*% 36 | G54D31* 37 | X0006205Y0033169D03* 38 | X0006299Y0029528D03* 39 | Y0026D03* 40 | Y0022441D03* 41 | Y0018898D03* 42 | G54D32* 43 | X0082451Y0025295D03* 44 | Y0022146D03* 45 | X0072342D03* 46 | Y0025295D03* 47 | X0091732Y0066142D03* 48 | Y0062992D03* 49 | X00931Y0051125D03* 50 | Y0054275D03* 51 | X0066899Y0056115D03* 52 | Y0059265D03* 53 | X0070442Y0056115D03* 54 | Y0059265D03* 55 | X0066929Y0086614D03* 56 | Y0083465D03* 57 | X0063386Y0086614D03* 58 | Y0083465D03* 59 | G54D33* 60 | X0077559Y0029626D03* 61 | Y0023327D03* 62 | X0026083Y0048228D03* 63 | Y0054527D03* 64 | X0091732Y0046457D03* 65 | Y0040157D03* 66 | G54D34* 67 | X0052461Y0085138D03* 68 | X005876D03* 69 | G54D35* 70 | X0010925Y0060728D03* 71 | Y0054232D03* 72 | X0015846Y0060728D03* 73 | Y0054232D03* 74 | G54D36* 75 | X0085039Y0062992D03* 76 | Y0066732D03* 77 | Y0070472D03* 78 | X007559D03* 79 | Y0062992D03* 80 | X0085433Y0046654D03* 81 | Y0050394D03* 82 | Y0054134D03* 83 | X0075984D03* 84 | Y0046654D03* 85 | G54D37* 86 | X0053858Y0062598D03* 87 | Y006063D03* 88 | Y0058661D03* 89 | Y0056693D03* 90 | Y0054724D03* 91 | X0051732Y0062598D03* 92 | Y006063D03* 93 | Y0058661D03* 94 | Y0056693D03* 95 | Y0054724D03* 96 | X0049606Y0062598D03* 97 | Y006063D03* 98 | Y0058661D03* 99 | Y0056693D03* 100 | Y0054724D03* 101 | X004748Y0062598D03* 102 | Y006063D03* 103 | Y0058661D03* 104 | Y0056693D03* 105 | Y0054724D03* 106 | X0045354Y0062598D03* 107 | Y006063D03* 108 | Y0058661D03* 109 | Y0056693D03* 110 | Y0054724D03* 111 | G54D38* 112 | X0060433Y003937D03* 113 | X005689D03* 114 | X0060433Y00357D03* 115 | X005689D03* 116 | X0024213Y0102362D03* 117 | X0027756D03* 118 | X0024213Y0098819D03* 119 | X0027756D03* 120 | G54D39* 121 | X007126Y0094882D03* 122 | Y0090945D03* 123 | X0028346D03* 124 | Y0094882D03* 125 | X0014173Y0090945D03* 126 | Y0094882D03* 127 | G54D40* 128 | X0084252Y0094685D03* 129 | Y0091142D03* 130 | G54D41* 131 | X0075295Y0094882D03* 132 | Y0092913D03* 133 | Y0090945D03* 134 | X008061D03* 135 | Y0092913D03* 136 | Y0094882D03* 137 | X0018602D03* 138 | Y0092913D03* 139 | Y0090945D03* 140 | X0023917D03* 141 | Y0092913D03* 142 | Y0094882D03* 143 | G54D42* 144 | X0039075Y0016437D03* 145 | X0059252D03* 146 | G54D43* 147 | X0054675Y0021358D03* 148 | X00531D03* 149 | X0051526D03* 150 | X0049951D03* 151 | X0043652D03* 152 | X0045226D03* 153 | X0046801D03* 154 | X0048376D03* 155 | Y0011319D03* 156 | X0046801D03* 157 | X0045226D03* 158 | X0043652D03* 159 | X0049951D03* 160 | X0051526D03* 161 | X00531D03* 162 | X0054675D03* 163 | G54D44* 164 | X007874Y0076378D03* 165 | X007559D03* 166 | X0079134Y0040551D03* 167 | X0075984D03* 168 | X0024409Y0066535D03* 169 | X0027559D03* 170 | X0024409Y0070079D03* 171 | X0027559D03* 172 | X0024409Y0062992D03* 173 | X0027559D03* 174 | X0024409Y0059449D03* 175 | X0027559D03* 176 | G54D45* 177 | X0011417Y0065748D03* 178 | X0015354D03* 179 | X0011417Y0048425D03* 180 | X0015354D03* 181 | G54D46* 182 | X0063287Y0016358D03* 183 | X0035138D03* 184 | G54D47* 185 | X0049213Y0105118D03* 186 | X0015748Y0011811D03* 187 | X0082677D03* 188 | G54D48* 189 | X0010818Y0029528D03* 190 | X0012992Y0027953D03* 191 | X0048819Y0041732D03* 192 | X0051968D03* 193 | X0054295D03* 194 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-------------------------------------------------------------------------------- /DIGIT/releases/DIGIT-fab-release-2020-1.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/releases/DIGIT-fab-release-2020-1.zip -------------------------------------------------------------------------------- /DIGIT/releases/DIGIT-fab-release-2020-2.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT/releases/DIGIT-fab-release-2020-2.zip -------------------------------------------------------------------------------- /DIGIT_Pinki/DIGIT_Pinki_Quick_Start_Guide.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/digit-design/de292229d43eed1deba58b856b2fe1ee04097631/DIGIT_Pinki/DIGIT_Pinki_Quick_Start_Guide.pdf -------------------------------------------------------------------------------- /DIGIT_Pinki/adaptors/README.md: -------------------------------------------------------------------------------- 1 | DIGIT Pinki is designed to be natively compatible with the [Wonik's Allegro Hand](http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand) 2 | 3 | We welcome adaptors contributed from the community. 4 | -------------------------------------------------------------------------------- /DIGIT_Pinki/gel/Pinki Gel Mold.step: -------------------------------------------------------------------------------- 1 | ISO-10303-21; 2 | HEADER; 3 | /* Generated by software containing ST-Developer 4 | * from STEP Tools, Inc. 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For 396 | the avoidance of doubt, this paragraph does not form part of the 397 | public licenses. 398 | 399 | Creative Commons may be contacted at creativecommons.org. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # DIGIT-DESIGN 2 | 3 | [![License: CC BY-NC 4.0](https://img.shields.io/badge/License-CC%20BY--NC%204.0-lightgrey.svg)](LICENSE) 4 | 5 | DIGIT-logo 6 | 7 | 8 | DIGIT-render 9 | 10 | Manufacturing design files for the [DIGIT tactile sensor](https://digit.ml). 11 | 12 | **For updates and discussions please join the #DIGIT channel at the [www.touch-sensing.org](https://www.touch-sensing.org/) community.** 13 | 14 | ## Content 15 | 16 | [This repository](DIGIT) contains the documentation and manufacturing files for the plastics enclosure, elastomer, electronics and the firmware binary. 17 | 18 | ## Design Notes 19 | 20 | Due to some parts being out of stock due to shortages, we recommend the following part substituions: 21 | 22 | * Digit Main PCB, Camera, OVM7692-RAAA with OVM7692-RYAA 23 | * Digit Main PCB, MCU, FT900-R with FT900Q-C-T 24 | * Digit Flex PCB, LEDs, ARGB1313HS-TR with 19-337C/RSBHGHC-A88/4T 25 | * Note: this change is only compatible with Digit Flex rev. 2021-2 26 | 27 | ## Quick Start 28 | 29 | Manufacturing and assembly documentation is found in the [Quick Start Guide](/DIGIT/DIGIT_Quick_Start_Guide.pdf) 30 | 31 | The manufacturing files are released in [releases](/DIGIT/releases) for PCBA fabrication. 32 | 33 | ## Questions and Contributing 34 | 35 | If you have questions or need help with the content of this repo please open a ticket. 36 | We welcome useful contributions to the repo -- if you want to contribute please read [how to contribute](CONTRIBUTING.md). 37 | 38 | ## License 39 | These design files are licensed under CC-by-NC, as found in the [LICENSE](LICENSE) file. 40 | 41 | ## Citing 42 | If you use this project in your research, please cite this [paper](https://arxiv.org/abs/2005.14679): 43 | 44 | ```BibTeX 45 | @Article{Lambeta2020DIGIT, 46 | author = {Lambeta, Mike and Chou, Po-Wei and Tian, Stephen and Yang, Brian and Maloon, Benjamin and Victoria Rose Most and Stroud, Dave and Santos, Raymond and Byagowi, Ahmad and Kammerer, Gregg and Jayaraman, Dinesh and Calandra, Roberto}, 47 | title = {{DIGIT}: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation}, 48 | journal = {IEEE Robotics and Automation Letters (RA-L)}, 49 | year = {2020}, 50 | volume = {5}, 51 | number = {3}, 52 | pages = {3838--3845}, 53 | doi = {10.1109/LRA.2020.2977257}, 54 | } 55 | ``` 56 | # DIGIT-PINKI-DESIGN 57 | 58 | [![License: CC BY-NC 4.0](https://img.shields.io/badge/License-CC%20BY--NC%204.0-lightgrey.svg)](LICENSE) 59 | 60 | ## Content 61 | 62 | [This repository](DIGIT_Pinki) contains the documentation and manufacturing files for the plastics enclosure, elastomer, and assembly. 63 | 64 | ## Quick Start 65 | 66 | Manufacturing and assembly documentation is found in the [Quick Start Guide](DIGIT_Pinki/DIGIT_Pinki_Quick_Start_Guide.pdf) 67 | 68 | ## Questions and Contributing 69 | 70 | If you have questions or need help with the content of this repo please open a ticket. 71 | We welcome useful contributions to the repo -- if you want to contribute please read [how to contribute](CONTRIBUTING.md). 72 | 73 | ## License 74 | These design files are licensed under CC-by-NC, as found in the [LICENSE](LICENSE) file. 75 | 76 | ## Citing 77 | If you use this project in your research, please cite this [paper](https://arxiv.org/abs/2403.05500). 78 | 79 | --------------------------------------------------------------------------------