118 lines
3.5 KiB
Python
118 lines
3.5 KiB
Python
#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.resetSimulation()
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p.setGravity(0, 0, -10)
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print(c)
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if (c < 0):
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p.connect(p.GUI)
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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([0, 3.14, 0])
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hand_cid = p.createConstraint(hand, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0.1, 0, 0],
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[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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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 (1.0 - b)
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controllerId = -1
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serialSteps = 0
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serialStepsUntilCheckVREvents = 3
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ser = serial.Serial(port='COM9',
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baudrate=115200,
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parity=serial.PARITY_ODD,
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stopbits=serial.STOPBITS_TWO,
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bytesize=serial.SEVENBITS)
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if (ser.isOpen()):
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while True:
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events = p.getVREvents()
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for e in (events):
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if (e[BUTTONS][33] & p.VR_BUTTON_IS_DOWN):
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controllerId = e[0]
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if (e[0] == controllerId):
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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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middle = convertSensor(words[1])
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pink = 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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