mirror of
https://github.com/bulletphysics/bullet3
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111 lines
3.2 KiB
Python
111 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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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],[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',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,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) |