114 lines
3.2 KiB
Python
114 lines
3.2 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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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/MPL.xml")
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hand=objects[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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minVarray = [275,280,350,290]
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maxVarray = [450,550,500,400]
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pinkId = 0
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middleId = 1
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indexId = 2
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thumbId = 3
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p.setRealTimeSimulation(1)
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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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def convertSensor(x, fingerIndex):
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minV = minVarray[fingerIndex]
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maxV = maxVarray[fingerIndex]
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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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ser = None
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portindex = 0
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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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if (ser is None):
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ser = serial.Serial(port = "/dev/cu.usbmodem1421",baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
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pi=3.141592
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if (ser is not None and ser.isOpen()):
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while True:
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while ser.inWaiting() > 0:
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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],pinkId)
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middle = convertSensor(words[2],middleId)
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index = convertSensor(words[3],indexId)
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thumb = convertSensor(words[4],thumbId)
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p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)
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p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)
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p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
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p.setJointMotorControl2(hand,13,p.POSITION_CONTROL,thumb)
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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,21,p.POSITION_CONTROL,index)
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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,28,p.POSITION_CONTROL,middle)
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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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p.setJointMotorControl2(hand,44,p.POSITION_CONTROL,pink)
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ringpos = 0.5*(pink+middle)
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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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p.setJointMotorControl2(hand,36,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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else:
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print("Cannot find port")
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