├── Hardware ├── Electrical │ ├── LED Driver │ │ ├── LED Driver - Schematic.pdf │ │ ├── LED Driver-B_Mask.gbr │ │ ├── LED Driver-B_Paste.gbr │ │ ├── LED Driver-B_SilkS.gbr │ │ ├── LED Driver-Bottom.gbr │ │ ├── LED Driver-Edge_Cuts.gbr │ │ ├── LED Driver-F_Mask.gbr │ │ ├── LED Driver-F_Paste.gbr │ │ ├── LED Driver-F_SilkS.gbr │ │ ├── LED Driver-Top.gbr │ │ ├── LED Driver-bottom-pos.csv │ │ ├── LED Driver-top-pos.csv │ │ ├── LED Driver.drl │ │ ├── LED Driver.kicad_pcb │ │ ├── LED Driver.pro │ │ └── fp-info-cache │ └── LED Harness │ │ ├── GREEN │ │ ├── LED_Harness_3x2_GREEN-B_Cu.gbr │ │ ├── LED_Harness_3x2_GREEN-B_Mask.gbr │ │ ├── LED_Harness_3x2_GREEN-B_Paste.gbr │ │ ├── LED_Harness_3x2_GREEN-B_SilkS.gbr │ │ ├── LED_Harness_3x2_GREEN-Edge_Cuts.gbr │ │ ├── LED_Harness_3x2_GREEN-F_Cu.gbr │ │ ├── LED_Harness_3x2_GREEN-F_Mask.gbr │ │ ├── LED_Harness_3x2_GREEN-F_Paste.gbr │ │ ├── LED_Harness_3x2_GREEN-F_SilkS.gbr │ │ ├── LED_Harness_3x2_GREEN-bottom-pos.csv │ │ ├── LED_Harness_3x2_GREEN-top-pos.csv │ │ ├── LED_Harness_3x2_GREEN.drl │ │ ├── LED_Harness_3x2_GREEN.kicad_pcb │ │ └── _autosave-LED_Harness_3x2_GREEN.kicad_pcb │ │ └── RED+BLUE │ │ ├── LED_Harness_3x2_RED+BLUE-B_Cu.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-B_Mask.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-B_Paste.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-B_SilkS.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-Edge_Cuts.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-F_Cu.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-F_Mask.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-F_Paste.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-F_SilkS.gbr │ │ ├── LED_Harness_3x2_RED+BLUE-bottom-pos.csv │ │ ├── LED_Harness_3x2_RED+BLUE-top-pos.csv │ │ ├── LED_Harness_3x2_RED+BLUE.drl │ │ └── LED_Harness_3x2_RED+BLUE.kicad_pcb ├── GelSlim Hardware Quick Start Tutorial.pdf ├── GelSlim Quick Start Tutorial-Updated.pdf ├── Mechanical │ ├── Elastomer │ │ ├── 92095A216_BUTTON HEAD HEX DRIVE SCREW.step │ │ ├── 94545A225_18-8 SS WING NUTS.step │ │ ├── cutting_template.step │ │ ├── mold_back.step │ │ └── mold_front.step │ ├── Fasteners │ │ ├── 6659K650_OIL-EMBEDDED FLANGED SLEEVE BEARING.step │ │ ├── 91698A204_METRIC 18-8 SS FLAT HEAD PHIL MACHINE SCREW.step │ │ ├── 94180A307_HEAT-SET INSERTS FOR PLASTICS.step │ │ └── McMasterCarr_Order.PNG │ ├── Finger │ │ ├── Robtiq 2F-85 │ │ │ ├── STEP │ │ │ │ ├── finger_back.step │ │ │ │ ├── finger_body.step │ │ │ │ └── finger_tip.step │ │ │ └── STL │ │ │ │ ├── finger_back.stl │ │ │ │ ├── finger_body.stl │ │ │ │ └── finger_tip.stl │ │ └── Weiss WSG-32 │ │ │ ├── STEP │ │ │ ├── finger_back.step │ │ │ ├── finger_body.step │ │ │ └── finger_tip.step │ │ │ └── STL │ │ │ ├── finger_back.stl │ │ │ ├── finger_body.stl │ │ │ └── finger_tip.stl │ ├── Shaping Lens │ │ └── shaping_lens.step │ └── exploded_assembly.step └── README.md ├── LICENSE ├── Ordering ├── LED_Driver_DigiKey_Quote.csv ├── LED_Driver_Digikey_Quote.pdf ├── LED_Harness_Mouser_Quote.csv └── LED_Harness_Mouser_Quote.pdf ├── README.md ├── Simulation and Optimization ├── Results │ └── README.txt └── Settings │ └── README.txt ├── Software ├── GUI │ ├── GelSlim │ │ ├── GelSlim.sh │ │ ├── ROS.sh │ │ ├── abe_corr.npz │ │ ├── calibration.py │ │ ├── calibration.pyc │ │ ├── camera.sh │ │ ├── depth_realtime.py │ │ ├── fast_poisson.py │ │ ├── fast_poisson.pyc │ │ ├── gelsight_show_image.py │ │ ├── gui.py │ │ ├── gui.pyc │ │ ├── img_processor.py │ │ ├── load │ │ │ ├── arp_cache.txt │ │ │ ├── count_map.npy │ │ │ ├── count_map_3.npy │ │ │ ├── raspberry_new.launch │ │ │ ├── suction_env.sh │ │ │ ├── table_3.npy │ │ │ └── table_3_smooth.npy │ │ ├── raspi_connect.sh │ │ ├── reboot.sh │ │ ├── recon_jpg.py │ │ ├── reconfigure.sh │ │ ├── reconstruction │ │ │ ├── images │ │ │ │ ├── reconstruct_0.jpg │ │ │ │ ├── reconstruct_1.jpg │ │ │ │ ├── reconstruct_10.jpg │ │ │ │ ├── reconstruct_2.jpg │ │ │ │ ├── reconstruct_3.jpg │ │ │ │ ├── reconstruct_5.jpg │ │ │ │ ├── reconstruct_6.jpg │ │ │ │ ├── reconstruct_7.jpg │ │ │ │ ├── reconstruct_8.jpg │ │ │ │ ├── reconstruct_9.jpg │ │ │ │ ├── sample.zip │ │ │ │ └── updated_reconstruction.zip │ │ │ └── plots │ │ │ │ ├── Figure_1-1.png │ │ │ │ ├── Figure_1.png │ │ │ │ ├── sample_plot.png │ │ │ │ └── sample_realtime_depth.mp4 │ │ ├── slip_detector_both.py │ │ ├── test_data │ │ │ ├── ref.jpg │ │ │ ├── sample.zip │ │ │ ├── sample_10.jpg │ │ │ ├── sample_13.jpg │ │ │ ├── sample_14.jpg │ │ │ ├── sample_15.jpg │ │ │ ├── sample_17.jpg │ │ │ ├── sample_18.jpg │ │ │ ├── sample_19.jpg │ │ │ ├── sample_20.jpg │ │ │ ├── sample_21.jpg │ │ │ ├── sample_22.jpg │ │ │ ├── sample_23.jpg │ │ │ ├── sample_25.jpg │ │ │ ├── sample_26.jpg │ │ │ ├── sample_27.jpg │ │ │ ├── sample_28.jpg │ │ │ ├── sample_29.jpg │ │ │ ├── sample_3.jpg │ │ │ ├── sample_30.jpg │ │ │ ├── sample_31.jpg │ │ │ ├── sample_32.jpg │ │ │ ├── sample_33.jpg │ │ │ ├── sample_35.jpg │ │ │ ├── sample_37.jpg │ │ │ ├── sample_38.jpg │ │ │ ├── sample_39.jpg │ │ │ ├── sample_4.jpg │ │ │ ├── sample_40.jpg │ │ │ ├── sample_41.jpg │ │ │ ├── sample_42.jpg │ │ │ ├── sample_43.jpg │ │ │ ├── sample_44.jpg │ │ │ ├── sample_46.jpg │ │ │ ├── sample_48.jpg │ │ │ ├── sample_49.jpg │ │ │ ├── sample_5.jpg │ │ │ ├── sample_6.jpg │ │ │ ├── sample_7.jpg │ │ │ ├── sample_8.jpg │ │ │ ├── sample_9.jpg │ │ │ └── updated_calib.zip │ │ └── test_poisson.py │ └── README.md ├── README.txt └── Raspberry Pi │ └── README.txt ├── _layouts └── default.html ├── docs ├── extrinsic.mp4 ├── gelslim.mp4 ├── gelslim1.PNG ├── gelslim2.png ├── index.html ├── logo.png └── style.css └── src └── images ├── alcohol.JPG ├── body_1.JPG ├── calibration.png ├── cover_plate.JPG ├── electrical ├── camera.JPG ├── connectors_and_adapters.JPG ├── led_driver.JPG └── led_harness.JPG ├── flex_pcb.JPG ├── hot_plate.JPG ├── knife.JPG ├── mechanical ├── body.JPG ├── elastomer.JPG ├── fasteners.JPG └── shaping_lens.JPG ├── more_details ├── contributing.jpg ├── electronics.jpg ├── hot_plate.JPG ├── known_issues.jpg ├── known_issues.png ├── mechanical-01.jpg ├── mechanical.jpg └── screwdrivers.JPG ├── pop_primer.JPG ├── 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