Add the pybullet vrhand.py script used in this haptic video:

Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then
run vr_kuka_setup.py, to add some environment + objects.

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -21,7 +21,7 @@
 #include "LinearMath/btIDebugDraw.h"
 int gSharedMemoryKey = -1;
 int  gDebugDrawFlags = 0;
-bool gDisplayDistortion = true;
+bool gDisplayDistortion = false;
 bool gDisableDesktopGL = false;
 
 

examples/pybullet/vr_kuka_setup.py

@@ -22,6 +22,7 @@ kuka = objects[0]
 jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
 for jointIndex in range (p.getNumJoints(kuka)):
 	p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])
+	p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
 
 objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
 objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
@@ -35,6 +36,7 @@ p.resetBasePositionAndOrientation(kuka_gripper,[0.923103,-0.200000,1.250036],[-0
 jointPositions=[ 0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000 ]
 for jointIndex in range (p.getNumJoints(kuka_gripper)):
 	p.resetJointState(kuka_gripper,jointIndex,jointPositions[jointIndex])
+	p.setJointMotorControl2(kuka_gripper,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
 
 
 kuka_cid = p.createConstraint(kuka,   6,  kuka_gripper,0,p.JOINT_FIXED, [0,0,0], [0,0,0.05],[0,0,0])

examples/pybullet/vrhand.py

@@ -0,0 +1,96 @@
+#script to control a simulated robot hand using a VR glove
+#see https://twitter.com/erwincoumans/status/821953216271106048
+#and https://www.youtube.com/watch?v=I6s37aBXbV8
+#vr glove was custom build using Spectra Symbolflex sensors (4.5")
+#inside a Under Armour Batting Glove, using DFRobot Bluno BLE/Beetle
+#with BLE Link to receive serial (for wireless bluetooth serial)
+
+import serial
+import time
+import pybullet as p
+
+#first try to connect to shared memory (VR), if it fails use local GUI
+c = p.connect(p.SHARED_MEMORY)
+#p.resetSimulation()
+p.setGravity(0,0,-10)
+print(c)
+if (c<0):
+		p.connect(p.GUI)
+		
+#load the MuJoCo MJCF hand
+objects = p.loadMJCF("MPL/mpl2.xml")
+
+hand=objects[0]
+ho = p.getQuaternionFromEuler([0,3.14,0])
+hand_cid = p.createConstraint(hand,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.1,0,0],[0.500000,0.300006,0.700000],ho)
+print ("hand_cid")
+print (hand_cid)
+for i in range (p.getNumJoints(hand)):
+	p.setJointMotorControl2(hand,i,p.POSITION_CONTROL,0,0)
+
+#clamp in range 400-600
+minV = 400
+maxV = 600
+
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+p.setRealTimeSimulation(1)
+
+def convertSensor(x):
+	v = minV
+	try:
+		v = float(x)
+	except ValueError:
+		v = minV    
+	if (v<minV):
+		v=minV
+	if (v>maxV):
+		v=maxV
+	b = (v-minV)/float(maxV-minV)
+	return (1.0-b)
+	
+ser = serial.Serial(port='COM3',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
+if (ser.isOpen()):
+	while True:
+		events = p.getVREvents()
+		for e in (events):
+			if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN):
+				p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50)
+			
+		while ser.inWaiting() > 0:
+			line = str(ser.readline())
+			words = line.split(",")
+			if (len(words)==6):
+				middle = convertSensor(words[1])
+				pink = convertSensor(words[2])
+				index = convertSensor(words[3])
+				thumb = convertSensor(words[4])+0.2
+
+				p.setJointMotorControl2(hand,5,p.POSITION_CONTROL,1.3)
+				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,thumb)
+				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb)
+				p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
+				
+				p.setJointMotorControl2(hand,15,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,17,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,19,p.POSITION_CONTROL,index)
+
+				p.setJointMotorControl2(hand,22,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,24,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,26,p.POSITION_CONTROL,middle)
+				
+				p.setJointMotorControl2(hand,38,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,40,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,42,p.POSITION_CONTROL,pink)
+
+				ringpos = 0.5*(pink+middle)
+				p.setJointMotorControl2(hand,30,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,32,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,34,p.POSITION_CONTROL,ringpos)
+								
+				#print(middle)
+				#print(pink)
+				#print(index)
+				#print(thumb)