31 lines
1.0 KiB
Python
31 lines
1.0 KiB
Python
#python script with hardcoded values, assumes that you run the vr_kuka_setup.py first
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import pybullet as p
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p.connect(p.SHARED_MEMORY)
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pr2_gripper = 2
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pr2_cid = 1
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CONTROLLER_ID = 0
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POSITION = 1
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ORIENTATION = 2
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ANALOG = 3
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BUTTONS = 6
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gripper_max_joint = 0.550569
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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[CONTROLLER_ID] == 3: # To make sure we only get the value for one of the remotes
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p.changeConstraint(pr2_cid, e[POSITION], e[ORIENTATION], maxForce=500)
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p.setJointMotorControl2(pr2_gripper,
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0,
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controlMode=p.POSITION_CONTROL,
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targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,
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force=1.0)
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p.setJointMotorControl2(pr2_gripper,
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2,
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controlMode=p.POSITION_CONTROL,
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targetPosition=gripper_max_joint - e[ANALOG] * gripper_max_joint,
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force=1.1)
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