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BorisBogaerts / CoppeliaSim-VR-Toolbox

This repository contains the code to experience CoppeliaSim in VR
https://www.youtube.com/watch?v=yMydjviF7yg
BSD 3-Clause "New" or "Revised" License
35 stars 18 forks source link

We want to know which devices work #1

Open BorisBogaerts opened 5 years ago

BorisBogaerts commented 5 years ago

I tested the devices on: HTC-VIVE HTC-VIVE pro

and both the visualization and signals worked

philippbisi commented 5 years ago

Hello Boris,

did you ever tried to use the interface for Oculus rift? I write you from Fraunhofer Italia Research in Bolzano, a subsidiary of the Fraunhofer Institute of Germany. Currently we are trying to work on our robotic platforms in virtual reality. We are using an oculus rift. I have already implemented a model in Unity, but it seems very difficult to make e.g. a manipulator move. Therefore I moved to V-REP now and will try it out there.

I would be delighted if you have any suggestion how we could use your interface with our oculus rift.

Kind regards Philipp

Fraunhofer Italia Research s.c.a.r.l.

BorisBogaerts commented 5 years ago

Hi Philipp,

Normally oculus rift is openvr compatible. So, in theory, you could use it just the same as the HTC vive, without changing anything.

Did you already try this?

Kind regards, Boris

philippbisi commented 5 years ago

Hello Boris,

well yes I tried, but unfortunately I have another problem when i'm running the interface: The interface starts when I start the scene, it prints out information of the scene but then, suddenly it shuts down. A few seconds before it shuts down it prints out in the penultimate line: 'Unable to read VR path registry from C:\users\my_user\AppData\Local\openvr\openvrpaths.vrpath', in case see the alleged screenshot.

When the oculus is plugged in, there happens just nothing, no image is diplayed. Maybe it has to do with the problem that I described above.

Thank you very much!

Kind regards Philipp

From: Boris Bogaerts notifications@github.com Sent: 17 May 2019 15:59 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

Hi Philipp,

Normally oculus rift is openvr compatible. So, in theory, you could use it just the same as the HTC vive, without changing anything.

Did you already try this?

Kind regards, Boris

— You are receiving this because you commented. Reply to this email directly, view it on GitHubhttps://github.com/BorisBogaerts/V-REP-VR-Interface/issues/1?email_source=notifications&email_token=AMDEKFTNKYC5O4SCALC3WXLPV225JA5CNFSM4GJY6O22YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVU2TRY#issuecomment-493464007, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AMDEKFQ4HYCEUXFZXTQODZ3PV225JANCNFSM4GJY6O2Q.

BorisBogaerts commented 5 years ago

This is definitely a vtk error. Vtk should support oculus though openvr (see: https://gitlab.kitware.com/ken-martin/vtk-oculus).

Do you have steam installed, and can you run steamvr in the oculus?

philippbisi commented 5 years ago

No right now I have not installed StreamVR. Do you suggest to install SteamVR? Is openvr an extra software or do it comes with SteamVR?

From: Boris Bogaerts notifications@github.com Sent: 17 May 2019 16:26 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

This is definitely a vtk error. Vtk should support oculus though openvr (see: https://gitlab.kitware.com/ken-martin/vtk-oculus).

Do you have steam installed, and can you run steamvr in the oculus?

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BorisBogaerts commented 5 years ago

Yes, steamvr=openvr (cool move of valve). Vtk connects to the hardware using openvr, which might explain your errorcode.

If it works (let's hope it does), I'm also very curious to know which controller buttons map to which signals (see hello signals demo).

philippbisi commented 5 years ago

Ok I'll try it out know and let you know.

From: Boris Bogaerts notifications@github.com Sent: 17 May 2019 16:44 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

Yes, steamvr=openvr (cool move of valve). Vtk connects to the hardware using openvr, which might explain your errorcode.

If it works (let's hope it does), I'm also very curious to know which controller buttons map to which signals (see hello signals demo).

— You are receiving this because you commented. Reply to this email directly, view it on GitHubhttps://github.com/BorisBogaerts/V-REP-VR-Interface/issues/1?email_source=notifications&email_token=AMDEKFUEQI6P2NZBHNEY7K3PV3AE5A5CNFSM4GJY6O22YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVU6PZI#issuecomment-493479909, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AMDEKFRKI5UFUDXWA75FFMLPV3AE5ANCNFSM4GJY6O2Q.

philippbisi commented 5 years ago

I installed Steam and I'm able now to run SteamVR. Where should I integrate the vtk? Have a nice weekend!

Philipp

From: Boris Bogaerts notifications@github.com Sent: 17 May 2019 16:44 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

Yes, steamvr=openvr (cool move of valve). Vtk connects to the hardware using openvr, which might explain your errorcode.

If it works (let's hope it does), I'm also very curious to know which controller buttons map to which signals (see hello signals demo).

— You are receiving this because you commented. Reply to this email directly, view it on GitHubhttps://github.com/BorisBogaerts/V-REP-VR-Interface/issues/1?email_source=notifications&email_token=AMDEKFUEQI6P2NZBHNEY7K3PV3AE5A5CNFSM4GJY6O22YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVU6PZI#issuecomment-493479909, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AMDEKFRKI5UFUDXWA75FFMLPV3AE5ANCNFSM4GJY6O2Q.

BorisBogaerts commented 5 years ago

You don't have to do anything anymore. Just make shure steamvr is running before you launch the interface. I included all necessary precompiled vtk dll's in the .msi file.

philippbisi commented 5 years ago

Hello Boris,

The VR Interface is now running appropriately, but I'm still encountering an error with the vtk. I'm sure that the problem is because of my v-rep version. My installation path of v-rep is C:...\VREP3\V-REP_PRO. But you always dealed in your programs with C:...\VREP3\V-REP_PRO_EDU. Therefore the vtk doesn't encounters the files.

I already changed the .batch-file in the beginning of the setup, in order to copy to my path C:...\VREP3\V-REP_PRO.

Do you have any idea about how I could fix this problem?

Thank you!

Best regards Philipp

From: Boris Bogaerts notifications@github.com Sent: 18 May 2019 17:30 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

You don't have to do anything anymore. Just make shure steamvr is running before you launch the interface. I included all necessary precompiled vtk dll's in the .msi file.

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BorisBogaerts commented 5 years ago

Ok, that's already good.

For the error try to change the line : return {}, a.texture.coordinates, {"C:/Program Files/V-REP3/V-REP_PRO_EDU/textureTransfer.png"}, '' to the apropriate folder name. You can find this line in lua function 'getTextureInformation' in HTC_VIVE.lua. Do not forget to re-copy the script if you change this script.

philippbisi commented 5 years ago

I changed HTC_VIVE.lua and resolved the previous error. Thank you very much.

Now the interface is running regularly and no error pops up. But in VR the scene doesn't open.. When I start a scene the loading window pops up in VR but no scene appears; see alleged screenshot. Doesn't matter how long I'm runnging the scene. What do you think about it?

Cheers

From: Boris Bogaerts notifications@github.com Sent: 20 May 2019 14:14 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

Ok, that's already good.

For the error try to change the line : return {}, a.texture.coordinates, {"C:/Program Files/V-REP3/V-REP_PRO_EDU/textureTransfer.png"}, '' to the apropriate folder name. You can find this line in lua function 'getTextureInformation' in HTC_VIVE.lua. Do not forget to re-copy the script if you change this script.

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BorisBogaerts commented 5 years ago

Could it be that you forgot to include a screenshot?

philippbisi commented 5 years ago

Could be. I'll send it again.

From: Boris Bogaerts notifications@github.com Sent: 20 May 2019 17:17 To: BorisBogaerts/V-REP-VR-Interface Cc: philippbisi; Comment Subject: Re: [BorisBogaerts/V-REP-VR-Interface] We want to know which devices work (#1)

Could it be that you forgot to include a screenshot?

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BorisBogaerts commented 5 years ago

Ok, I still can't see the image. Maybe it's easier to just do this by mail (you can reach me at boris.bogaerts@uantwerpen.be).

lyl1999923 commented 4 years ago

Hello Boris,

I'm using the phone with Trinus(an app let mobile phone become VR headset) to simulate the HTC VIVE. Everything works well until I run the example scene 'hello vr world' Steam VR is stuck in running vrepVIVE and V-REP prints out Error: [string -unknown location]:?: Call failed. (simCallScriptFunctionEx on isRunning@HTC_VIVE) What can I do to fix it? Thank you!

Kind regards Lily

Problem
BorisBogaerts commented 4 years ago

Hi Lily,

I moved your message to a new issue. This issue is not really intended to solve problems with every new device. So let's continue there.

Kind regards, Boris

lshachar commented 4 years ago

I have a WMR device (lenovo explorer), the simulation works fine on it, also the controllers are working. (I did post 1 2 issues, but they are unrelated to the WMR device)

palwanishan commented 3 years ago

Hello Boris,

First of all, Thank you very much for brilliant tool, It leveraged my research a lot. Currently I'm working on mobile robot (with manipulator) teleoperation inspired by Boston dynamics Spot.

I got Oculus Quest 2 (128GB) and desktop pc (i5-8gen, 1050Ti) and it's working seamlessly. I don't even need to connect them wired. They both connected to Wifi router (ipTIMEA200AMU) through 5GHz channel.

Here, I will describe the apps run sequence and button commands mapping. First I downloaded and installed the Oculus app, CopellaSim Edu, Steam, SteamVR and "CoppeliaSim VR Toolbox 2.2". I installed the last app as you described in youtube video, thank you very much. I didn't need to change anything since I installed all of them as default. Then I run the application in sequence (1.Oculus, 2.Steam, 3.SteamVR, 4.CopellaSim Edu, 5.CoppeliaSim VR Toolbox 2.2).

Most of the job done by right hand controller and it's very comfortable even I'm left handed.

  1. "Right hand Trigger" -> "Gripped actuation".
  2. "Right Hand Thumbstick" -> "First person view camera translation".
  3. "Right hand B" -> "Activation/Deactivation of camera translation".
  4. "Right hand Grip Button (Long press) -> "Activate/Deactivate manipulation transformation relative to Right hand controller transformation"
  5. "Both controller Gripped together pressed" -> "Zoom in/Zoom out"
  6. "Left hand Y" -> "Show/Hide button command names"

Very intuitive and useful application, I wish we had the same application for Gazebo Sim on Linux.

Best Regards, Palwan from Seoultech university in Seoul, South Korea.

BorisBogaerts commented 3 years ago

Hi Palwan,

Nice to hear that the tool works well for you. Thanks for confirming that it works with your setup!

Kind regards, Boris

rocpares commented 2 years ago

Hello Boris,

Thank you for your fantastic work. I am trying to make it work with my Oculus Quest 2, but have not been as lucky as Palwan .

The headset and the two controllers are tracked and activity registered, but I get a completely black environment (blue circle on the floor) instead of your VR_Interface sample scenes.

I've tried different setting changes both in the Oculus and in the SteamVR applications which I run on a VRready MSI Laptop. My Oculus Quest 2 is connected via AirLink to laptop with a 5G enabled router which works perfectly in all other Steam Applications and games.

The error that can be read before I run your CoppeliaSim VR interface is: [CoppeliaSim:error] External call to simCallScriptFunction failed (isRunning@HTC_VIVE): Failed calling script function.

When i run the simulation of your Hello_vr_world scene, then I get this messages:

Do you have any advice for me? Thank you very much in advance.

Best, Roc Parés