Add vr controller

[LouisFoucard]

Adds a VR controller.
Works with any OpenVR compatible controller, tested with Valve Index knuckles. Quite low latency, I estimate it at under <50ms. This is possible in particular thanks to OpenVR's future position estimation, which here is set to 50ms. The 6d pose of the controller is obtained through OpenVR API, and the roll angle is used to control the wrist angle. The 3 joint angles of the base, shoulder and elbow are calculated through inverse kinematics. The main trigger of the Index controller is mapped to the gripper opening.

Pretty flexible, and cheaper than building the leader arm if you already own such controller.
Right now I set it up as separate scripts, but we could make the main script take in a flag for leader arm or vr control.
Really awesome project btw :)

vr_controller.mov

[MichaelRazum]

The video looks great. Would be interesting to know, which controller this is! Would try to test it as well 👍

[LouisFoucard]

It's the valve index controller https://a.co/d/48Ga91D + valve lighthouse stations https://a.co/d/d3rA14l

[LouisFoucard]

But should work with any OpenVR compatible controller

[MichaelrMentele]

This is really cool. I was just thinking about this! Excited to check it out once I can actually scan my servos :P