add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)

https://www.youtube.com/watch?v=VMJyZtHQL50 added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting Avoid overriding the py.setVRCameraState setting in VR
2017-01-20 18:13:24 -08:00
parent d81d62a70b
commit 64957ece9f
40 changed files with 837 additions and 74 deletions
--- a/examples/pybullet/hand.py
+++ b/examples/pybullet/hand.py
@@ -0,0 +1,78 @@
+#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)
+print(c)
+if (c<0):
+		p.connect(p.GUI)
+		
+#load the MuJoCo MJCF hand
+objects = p.loadMJCF("MPL/mpl.xml")
+
+hand=objects[0]
+#clamp in range 400-600
+minV = 400
+maxV = 600
+
+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='COM13',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
+if (ser.isOpen()):
+	while True:
+		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])
+
+				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,13,p.POSITION_CONTROL,thumb)
+				
+				p.setJointMotorControl2(hand,17,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,19,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,21,p.POSITION_CONTROL,index)
+
+				p.setJointMotorControl2(hand,24,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,26,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,28,p.POSITION_CONTROL,middle)
+				
+				p.setJointMotorControl2(hand,40,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,42,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,44,p.POSITION_CONTROL,pink)
+
+				ringpos = 0.5*(pink+middle)
+				p.setJointMotorControl2(hand,32,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,34,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,36,p.POSITION_CONTROL,ringpos)
+								
+				#print(middle)
+				#print(pink)
+				#print(index)
+				#print(thumb)