├── .assets ├── digit360_explode.gif ├── digit360_hand.png ├── digit360_logo.png ├── digit360_mesh1.gif ├── digit360_mesh2.gif ├── digit360_overview.png ├── digit_360_expand.50.png ├── digit_360_full_keyshot.46.png └── lens_spdt.PNG ├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── design ├── README.md ├── fingertip │ ├── README.md │ ├── digit360_fingertip.stp │ └── digit360_fingertip_mold.stp ├── hardware │ ├── 1_digit360_gelsensor_fingertip.pdf │ ├── 2_digit360_ics_cmos.pdf │ ├── 3_digit360_ics_ctrl.pdf │ ├── 4_digit360_mcu_nn_ctrl.pdf │ ├── 5_digit360_data_usb.pdf │ ├── README.md │ ├── digit360_external_debug_tool.pdf │ ├── guidelines_1_digit360_gelsensor_fingertip.pdf │ ├── guidelines_2_digit360_ics_cmos.pdf │ ├── guidelines_3_digit360_ics_ctrl.pdf │ ├── guidelines_4_digit360_mcu_nn_ctrl.pdf │ ├── guidelines_5_digit360_data_usb.pdf │ └── templates │ │ └── gelsensor │ │ ├── GS_Connector.SchDoc │ │ ├── GS_LEDs.SchDoc │ │ ├── GS_Sensors.SchDoc │ │ ├── GS_Template.PcbDoc │ │ └── GelSensor_Template.PrjPcb ├── lens │ ├── README.md │ ├── digit360_lens.stp │ ├── elements │ │ ├── digit360_lens_L 1.stp │ │ ├── digit360_lens_L 2.stp │ │ ├── digit360_lens_L 3.stp │ │ ├── digit360_lens_L 4.stp │ │ ├── digit360_lens_L 5.stp │ │ ├── digit360_lens_Stop.stp │ │ ├── digit360_lens_adhesive.stp │ │ └── digit360_lens_filter.stp │ └── spdt │ │ └── digit360_spdt_lens.STEP └── mechanical │ ├── README.md │ └── digit360.stp ├── digit360 ├── README.md ├── __init__.py ├── install_digit360_venv.sh ├── interface │ ├── README.md │ ├── __init__.py │ ├── control │ │ ├── ident.py │ │ └── led.py │ ├── digit360.py │ ├── examples │ │ ├── test_audio.py │ │ ├── test_image.py │ │ ├── test_led.py │ │ ├── test_stream.py │ │ └── test_usb.py │ ├── proto │ │ ├── __init__.py │ │ └── digit360_proto_v1.proto │ ├── system │ │ └── digit360_programmer.py │ └── usb │ │ └── usb.py ├── requirements │ └── requirements.txt ├── ros2 │ ├── README.md │ ├── d360 │ │ ├── __init__.py │ │ ├── colcon_build.sh │ │ ├── config │ │ │ └── hand_config.yaml │ │ ├── d360 │ │ │ ├── __init__.py │ │ │ ├── d360_audio_pub.py │ │ │ ├── d360_gas_pub.py │ │ │ ├── d360_image_encode.py │ │ │ ├── d360_image_pub.py │ │ │ ├── d360_serial_io.py │ │ │ └── examples │ │ │ │ └── d360_image_decode.py │ │ ├── launch │ │ │ ├── d360_hand_launch.py │ │ │ ├── d360_launch.py │ │ │ └── d360_min_launch.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── d360 │ │ ├── setup.cfg │ │ └── setup.py │ └── d360_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── AudioDataD360.msg │ │ ├── AudioInfoD360.msg │ │ ├── GasHTData.msg │ │ ├── ImuEulerD360.msg │ │ ├── ImuQuatD360.msg │ │ ├── ImuRawD360.msg │ │ ├── LightControl.msg │ │ ├── PressureAPD360.msg │ │ └── PressureD360.msg │ │ └── package.xml └── udev │ ├── 50-digit360.rules │ └── README.md ├── docs ├── README.md └── digit_360_bus_architecture.pdf ├── firmware ├── README.md ├── ics │ └── digit360_ics_ctrl_v001.img ├── mcu │ └── digit360_mcu_nn_ctrl_v122.bin └── usb │ └── digit360_usb_data_v1_meta_vid.bin ├── meshes ├── digit360_allegro_right.urdf ├── digit360_allegro_right_4sec.urdf ├── digit360_mesh.stl ├── discrete │ ├── base_link.STL │ ├── base_link_left.STL │ ├── box.stl │ ├── box.stl.convex.stl │ ├── digit.STL │ ├── digit.STL.convex.stl │ ├── digit2_sec4_sensor_1l0.stl │ ├── digit2_sec4_sensor_1l1.stl │ ├── digit2_sec4_sensor_1l2.stl │ ├── digit2_sec4_sensor_1l3.stl │ ├── digit2_sec4_sensor_2l0.stl │ ├── digit2_sec4_sensor_2l1.stl │ ├── digit2_sec4_sensor_2l2.stl │ ├── digit2_sec4_sensor_2l3.stl │ ├── digit2_sec4_sensor_3l0.stl │ ├── digit2_sec4_sensor_3l1.stl │ ├── digit2_sec4_sensor_3l2.stl │ ├── digit2_sec4_sensor_3l3.stl │ ├── digit2_sec4_sensor_4l3.stl │ ├── digit2_sensor_1l0.stl │ ├── digit2_sensor_1l1.stl │ ├── digit2_sensor_1l10.stl │ ├── digit2_sensor_1l11.stl │ ├── digit2_sensor_1l12.stl │ ├── digit2_sensor_1l13.stl │ ├── digit2_sensor_1l14.stl │ ├── digit2_sensor_1l15.stl │ ├── digit2_sensor_1l16.stl │ ├── digit2_sensor_1l17.stl │ ├── digit2_sensor_1l18.stl │ ├── digit2_sensor_1l19.stl │ ├── digit2_sensor_1l2.stl │ ├── digit2_sensor_1l20.stl │ ├── digit2_sensor_1l21.stl │ ├── digit2_sensor_1l22.stl │ ├── digit2_sensor_1l23.stl │ ├── digit2_sensor_1l24.stl │ ├── digit2_sensor_1l25.stl │ ├── digit2_sensor_1l26.stl │ ├── digit2_sensor_1l27.stl │ ├── digit2_sensor_1l28.stl │ ├── digit2_sensor_1l29.stl │ ├── digit2_sensor_1l3.stl │ ├── digit2_sensor_1l30.stl │ ├── digit2_sensor_1l31.stl │ ├── digit2_sensor_1l32.stl │ ├── digit2_sensor_1l33.stl │ ├── digit2_sensor_1l34.stl │ ├── digit2_sensor_1l35.stl │ ├── digit2_sensor_1l4.stl │ ├── digit2_sensor_1l5.stl │ ├── digit2_sensor_1l6.stl │ ├── digit2_sensor_1l7.stl │ ├── digit2_sensor_1l8.stl │ ├── digit2_sensor_1l9.stl │ ├── digit2_sensor_2l0.stl │ ├── digit2_sensor_2l1.stl │ ├── digit2_sensor_2l10.stl │ ├── digit2_sensor_2l11.stl │ ├── digit2_sensor_2l12.stl │ ├── digit2_sensor_2l13.stl │ ├── digit2_sensor_2l14.stl │ ├── digit2_sensor_2l15.stl │ ├── digit2_sensor_2l16.stl │ ├── digit2_sensor_2l17.stl │ ├── digit2_sensor_2l18.stl │ ├── digit2_sensor_2l19.stl │ ├── digit2_sensor_2l2.stl │ ├── digit2_sensor_2l20.stl │ ├── digit2_sensor_2l21.stl │ ├── digit2_sensor_2l22.stl │ ├── digit2_sensor_2l23.stl │ ├── digit2_sensor_2l24.stl │ ├── digit2_sensor_2l25.stl │ ├── digit2_sensor_2l26.stl │ ├── digit2_sensor_2l27.stl │ ├── digit2_sensor_2l28.stl │ ├── digit2_sensor_2l29.stl │ ├── digit2_sensor_2l3.stl │ ├── digit2_sensor_2l30.stl │ ├── digit2_sensor_2l31.stl │ ├── digit2_sensor_2l32.stl │ ├── digit2_sensor_2l33.stl │ ├── digit2_sensor_2l34.stl │ ├── digit2_sensor_2l35.stl │ ├── digit2_sensor_2l4.stl │ ├── digit2_sensor_2l5.stl │ ├── digit2_sensor_2l6.stl │ ├── digit2_sensor_2l7.stl │ ├── digit2_sensor_2l8.stl │ ├── digit2_sensor_2l9.stl │ ├── digit2_sensor_3l0.stl │ ├── digit2_sensor_3l1.stl │ ├── digit2_sensor_3l10.stl │ ├── digit2_sensor_3l11.stl │ ├── digit2_sensor_3l12.stl │ ├── digit2_sensor_3l13.stl │ ├── digit2_sensor_3l14.stl │ ├── digit2_sensor_3l15.stl │ ├── digit2_sensor_3l16.stl │ ├── digit2_sensor_3l17.stl │ ├── digit2_sensor_3l18.stl │ ├── digit2_sensor_3l19.stl │ ├── digit2_sensor_3l2.stl │ ├── digit2_sensor_3l20.stl │ ├── digit2_sensor_3l21.stl │ ├── digit2_sensor_3l22.stl │ ├── digit2_sensor_3l23.stl │ ├── digit2_sensor_3l24.stl │ ├── digit2_sensor_3l25.stl │ ├── digit2_sensor_3l26.stl │ ├── digit2_sensor_3l27.stl │ ├── digit2_sensor_3l28.stl │ ├── digit2_sensor_3l29.stl │ ├── digit2_sensor_3l3.stl │ ├── digit2_sensor_3l30.stl │ ├── digit2_sensor_3l31.stl │ ├── digit2_sensor_3l32.stl │ ├── digit2_sensor_3l33.stl │ ├── digit2_sensor_3l34.stl │ ├── digit2_sensor_3l35.stl │ ├── digit2_sensor_3l4.stl │ ├── digit2_sensor_3l5.stl │ ├── digit2_sensor_3l6.stl │ ├── digit2_sensor_3l7.stl │ ├── digit2_sensor_3l8.stl │ ├── digit2_sensor_3l9.stl │ ├── digit2_sensor_4l11.stl │ ├── digit2_sensor_4l23.stl │ ├── digit2_sensor_4l35.stl │ ├── digit2_sensor_4l5.stl │ ├── digit2_sensor_base.stl │ ├── 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