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Open-Source C# Unity/Sockets Interface for Dexter

zalo
Sat, 06 Jan 2018 21:33:53 GMT

Hey everyone, while working on my own projects, I wrote an interface for interacting with the Dexter. It includes support for visualizing its current pose and a simplified interface for for sending arbitrary commandlets (move to pose, change mode, change PID strength, etc.) The included example scene demonstrates using an IK solver to reposition the arm by dragging the end effector around. (Use the mouse to drag each side of the ghost-effector and press 'Space' to send a motion command to the arm.) You will need to ensure that the IP address on the "Dexter" object matches the IP of the Dexter on your network in order for it to connect (if it can't connect, the application will freeze for 20 seconds upon bootup while it times out). Here's a gif of one of the interactions possible with a Leap Motion hand tracking peripheral mounted to the top of the arm: https://imgur.com/NDUfEzk Here's a gif graphing how smooth the motion trajectories are for the last end-effector: https://imgur.com/E9hRJSi You can find and download the repo here: https://github.com/zalo/Dexter

zalo
Sat, 06 Jan 2018 22:04:02 GMT

And here's a quick gif of the main scene in operation (excuse the messy background): https://imgur.com/uR2YR2R