Simulated glove

Creating a simulated glove

A left and right simulated glove can automatically be created if init is set to

Python

    device_ids = SG_main.init(1, SG_T.Com_type.SIMULATED_GLOVE) 

If SG_main.init(2, ...) is called, a left simulated glove will be created additionally automatically.

If a simulated glove is desired next to a real one, (or simulating a third glove), you can also create one manually with:

Python

    SG_main.init_rembrandt_sim(SG_T.Hand.RIGHT, SG_main.SG_sim.Simulation_Mode.FINGERS_OPEN_CLOSE)

After creation, more specialized simulated glove functions can be accessed by getting the simulator.

Text Only

    simulator = SG_main.SG_simulated_glove.get_sim(device_id)

Simulate Tracking

Default functions

Are adjustable with the parameter init or the SG_main.SG_sim.set_mode() function.

Creates a non moving exoskeleton.

Python

    device_ids = SG_main.init(1, SG_T.Com_type.SIMULATED_GLOVE, SG_main.SG_sim.Simulation_Mode.STEADY_MODE) 

Creates fingers that gradually open and close.

Python

    device_ids = SG_main.init(1, SG_T.Com_type.SIMULATED_GLOVE, SG_main.SG_sim.Simulation_Mode.FINGERS_OPEN_CLOSE) 

Creates fingers where the angles are set by a pure sine.

Python

    device_ids = SG_main.init(1, SG_T.Com_type.SIMULATED_GLOVE, SG_main.SG_sim.Simulation_Mode.SINE_MODE) 

or, after the init for any simulator:

Python

    SG_main.SG_sim.set_mode(hand_id, SG_main.SG_sim.Simulation_Mode.CUSTOM_FUNCTION)

Custom angles

To change the starting angles, you can use:

Python

         # sets splay to 1 degree, and 2nd and last flexion joint to 90 degrees for all fingers.

        angles_deg_single_finger = np.array([1, 0, 90, 0, 0, 0, 0, 90])
        angles = [angles_deg_single_finger.copy() for _ in range(5)] 
        SG_main.SG_sim.set_angles_deg(SG_main.get_device_info(hand_id), angles)

Or alternatively:

Python

   # sets the last flexion angle to 90, meaning the exoskeleton is completely straight with fingertips pointing forwards.

   angles_rad =                       [
            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5707963267948966],
            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5707963267948966],
            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5707963267948966],
            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5707963267948966],
            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5707963267948966]
        ]
        SG_main.SG_sim.set_angles_rad(SG_main.get_device_info(hand_id), angles_rad)

Play glove recording

See examples/play_recording.py for an example. We have pre existing recordings of opening and closing each finger and pinching. You can also record your own recording with examples/record_glove.py.

Python

    SG_main.init(0, SG_T.Com_type.SIMULATED_GLOVE)

    recording_filename = "close_each_finger.json"

    recording_device_info = SG_recorder.get_device_info(recording_filename)
    simulator = SG_main.init_rembrandt_sim(recording_device_info.hand, SG_main.SG_sim.Simulation_Mode.STEADY_MODE)

    hand_id = simulator.device_id


    exo_poss, rots = SG_main.get_exo_joints_poss_rots(hand_id)
    gui.create_hand_exo(exo_poss)


    SG_recorder.play_recording(simulator.device_info, recording_filename, loop=True)

The callback will now update the angles internally, and fingertips etc can be obtained in the loop or on_new_data as usual.

Custom function to adjust the angles

To move the exoskeleton in a way you like, you can set a custom function for it to execute to change the angles.

Python

_angles_deg_single_finger = np.array([0, -15, 45, -90, 120, -100, 90, 90]) 
_angles_rad_single_finger = np.radians(_angles_deg_single_finger)
_starting_angles_rad_hand = np.tile(_angles_rad_single_finger, (5, 1))

## allows you to set custom angles for the simulation
def test_custom_fn(time : float) -> SG_T.Sequence[Sequence[Union[int, float]]]:

   # your function to adjust the exo angles
   realT = time * 50
   MIN_ANGLE_RAD = math.radians(75)  # Set your minimum angle (e.g., 10°)
   MAX_ANGLE_RAD = math.radians(90)  # Set your maximum angle (e.g., 60°)
   t_normalized = 0.5 * (1 - math.cos(2 * math.pi * realT))  
   angle = MIN_ANGLE_RAD + SG_simulator.smoothstep(t_normalized) * (MAX_ANGLE_RAD - MIN_ANGLE_RAD)


   return _starting_angles_rad_hand + np.cos(angle)



try: 
    device_ids = SG_main.init(1, SG_T.Com_type.SIMULATED_GLOVE, SG_main.SG_sim.Simulation_Mode.STEADY_MODE) 
    hand_id = device_ids[0]

    SG_main.SG_sim.set_simulation_fn(hand_id,  test_custom_fn)
    SG_main.SG_sim.set_mode(hand_id, SG_main.SG_sim.Simulation_Mode.CUSTOM_FUNCTION)


# below go your default on_new_data or loops similar to main_example.py. 

You can find a working example in internal_dev_scripts/custom_simulation_example.py.