add option to calibrate individual fingers for the vr glove

examples/pybullet/examples/hand.py

@@ -22,8 +22,13 @@ hand=objects[0]
 #clamp in range 400-600
 #minV = 400
 #maxV = 600
-minV = 250
-maxV = 400
+minVarray = [275,280,350,290]
+maxVarray = [450,550,500,400]
+
+pinkId = 0
+middleId = 1
+indexId = 2
+thumbId = 3
 
 p.setRealTimeSimulation(1)
 
@@ -33,7 +38,10 @@ def getSerialOrNone(portname):
     except:
        return None
 
-def convertSensor(x):
+def convertSensor(x, fingerIndex):
+	minV = minVarray[fingerIndex]
+	maxV = maxVarray[fingerIndex]
+	
 	v = minV
 	try:
 		v = float(x)
@@ -70,10 +78,10 @@ if (ser is not None and ser.isOpen()):
 			line = str(ser.readline())
 			words = line.split(",")
 			if (len(words)==6):
-				pink = convertSensor(words[1])
-				middle = convertSensor(words[2])
-				index = convertSensor(words[3])
-				thumb = convertSensor(words[4])
+				pink = convertSensor(words[1],pinkId)
+				middle = convertSensor(words[2],middleId)
+				index = convertSensor(words[3],indexId)
+				thumb = convertSensor(words[4],thumbId)
 			
 				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)	
 				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)