add vrhand for vive tracker
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
This commit is contained in:
Erwin Coumans
149
examples/pybullet/examples/vrhand_vive_tracker.py
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149
examples/pybullet/examples/vrhand_vive_tracker.py
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#script to control a simulated robot hand using a VR glove
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#see https://twitter.com/erwincoumans/status/821953216271106048
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#and https://www.youtube.com/watch?v=I6s37aBXbV8
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#vr glove was custom build using Spectra Symbolflex sensors (4.5")
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#inside a Under Armour Batting Glove, using DFRobot Bluno BLE/Beetle
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#with BLE Link to receive serial (for wireless bluetooth serial)
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import serial
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import time
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import pybullet as p
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#first try to connect to shared memory (VR), if it fails use local GUI
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c = p.connect(p.SHARED_MEMORY)
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if (c<0):
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c = p.connect(p.GUI)
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p.setInternalSimFlags(0)#don't load default robot assets etc
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p.resetSimulation()
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#p.resetSimulation()
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p.setGravity(0,0,-10)
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objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.300000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.200000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.100000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 1.000000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 0.900000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("jenga/jenga.urdf", 0.800000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
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objects = [p.loadURDF("table/table.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("cube_small.urdf", 0.950000,-0.100000,0.700000,0.000000,0.000000,0.707107,0.707107)]
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objects = [p.loadURDF("sphere_small.urdf", 0.850000,-0.400000,0.700000,0.000000,0.000000,0.707107,0.707107)]
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#load the MuJoCo MJCF hand
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objects = p.loadMJCF("MPL/mpl2.xml")
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hand=objects[0]
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ho = p.getQuaternionFromEuler([3.14,-3.14/2,0])
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hand_cid = p.createConstraint(hand,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[-0.05,0,0.02],[0.500000,0.300006,0.700000],ho)
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print ("hand_cid")
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print (hand_cid)
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for i in range (p.getNumJoints(hand)):
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p.setJointMotorControl2(hand,i,p.POSITION_CONTROL,0,0)
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#clamp in range 400-600
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#minV = 400
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#maxV = 600
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minV = 250
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maxV = 450
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POSITION=1
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ORIENTATION=2
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BUTTONS=6
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p.setRealTimeSimulation(1)
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def convertSensor(x):
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v = minV
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try:
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v = float(x)
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except ValueError:
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v = minV
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if (v<minV):
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v=minV
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if (v>maxV):
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v=maxV
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b = (v-minV)/float(maxV-minV)
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return (b)
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controllerId = -1
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serialSteps = 0
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serialStepsUntilCheckVREvents = 3
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def getSerialOrNone(portname):
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try:
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return serial.Serial(port=portname,baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
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except:
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return None
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ser = None
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portindex = 10
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while (ser is None and portindex < 30):
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portname = 'COM'+str(portindex)
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print(portname)
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ser = getSerialOrNone(portname)
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if (ser is None):
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portname = "/dev/cu.usbmodem14"+str(portindex)
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print(portname)
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ser = getSerialOrNone(portname)
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if (ser is not None):
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print("COnnected!")
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portindex = portindex+1
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p.saveWorld("setupTrackerWorld.py")
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if (ser.isOpen()):
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while True:
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events = p.getVREvents(deviceTypeFilter=p.VR_DEVICE_GENERIC_TRACKER)
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for e in (events):
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p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50)
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serialSteps = 0
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while ser.inWaiting() > 0:
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serialSteps=serialSteps+1
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if (serialSteps>serialStepsUntilCheckVREvents):
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ser.flushInput()
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break
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line = str(ser.readline())
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words = line.split(",")
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if (len(words)==6):
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pink = convertSensor(words[1])
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middle = convertSensor(words[2])
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index = convertSensor(words[3])
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thumb = convertSensor(words[4])+0.2
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p.setJointMotorControl2(hand,5,p.POSITION_CONTROL,1.3)
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p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,thumb)
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p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb)
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p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
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p.setJointMotorControl2(hand,15,p.POSITION_CONTROL,index)
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p.setJointMotorControl2(hand,17,p.POSITION_CONTROL,index)
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p.setJointMotorControl2(hand,19,p.POSITION_CONTROL,index)
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p.setJointMotorControl2(hand,22,p.POSITION_CONTROL,middle)
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p.setJointMotorControl2(hand,24,p.POSITION_CONTROL,middle)
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p.setJointMotorControl2(hand,26,p.POSITION_CONTROL,middle)
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p.setJointMotorControl2(hand,38,p.POSITION_CONTROL,pink)
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p.setJointMotorControl2(hand,40,p.POSITION_CONTROL,pink)
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p.setJointMotorControl2(hand,42,p.POSITION_CONTROL,pink)
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ringpos = 0.5*(pink+middle)
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p.setJointMotorControl2(hand,30,p.POSITION_CONTROL,ringpos)
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p.setJointMotorControl2(hand,32,p.POSITION_CONTROL,ringpos)
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p.setJointMotorControl2(hand,34,p.POSITION_CONTROL,ringpos)
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#print(middle)
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#print(pink)
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#print(index)
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#print(thumb)
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