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add option to calibrate individual fingers for the vr glove

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This commit is contained in:
Erwin Coumans
2017-04-25 09:40:18 -07:00
parent 5ba6e11454
commit 771b197131
1 changed files with 15 additions and 7 deletions
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22
examples/pybullet/examples/hand.py
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@@ -22,8 +22,13 @@ hand=objects[0]
#clamp in range 400-600 #clamp in range 400-600
#minV = 400 #minV = 400
#maxV = 600 #maxV = 600
minV = 250 minVarray = [275,280,350,290]
maxV = 400 maxVarray = [450,550,500,400]
pinkId = 0
middleId = 1
indexId = 2
thumbId = 3
p.setRealTimeSimulation(1) p.setRealTimeSimulation(1)
@@ -33,7 +38,10 @@ def getSerialOrNone(portname):
except: except:
return None return None
def convertSensor(x): def convertSensor(x, fingerIndex):
minV = minVarray[fingerIndex]
maxV = maxVarray[fingerIndex]
v = minV v = minV
try: try:
v = float(x) v = float(x)
@@ -70,10 +78,10 @@ if (ser is not None and ser.isOpen()):
line = str(ser.readline()) line = str(ser.readline())
words = line.split(",") words = line.split(",")
if (len(words)==6): if (len(words)==6):
pink = convertSensor(words[1]) pink = convertSensor(words[1],pinkId)
middle = convertSensor(words[2]) middle = convertSensor(words[2],middleId)
index = convertSensor(words[3]) index = convertSensor(words[3],indexId)
thumb = convertSensor(words[4]) thumb = convertSensor(words[4],thumbId)
p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.) p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)
p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10) p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)