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22 lines
447 B
Python
22 lines
447 B
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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BUTTONS=6
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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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p.changeConstraint(pr2_cid,e[POSITION],e[ORIENTATION], maxForce=50)
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#todo
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#p.setJointMotorControl2(pr2_gripper,0)
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