Robotkar-Leap-Controller

Preconditions

• Unity version: 2021.3.21f1
• Leap SDK: Gemini 5.7.2
• Tutorial
  • Unity leap plugin
  • Hand tracking data

Robotic Arm Simulator

• Unity project

Unity - Arm communication

• Cartesian to Cylindrical coordinates
  • (x, y, z) → (r, fi, z)
    • r = $\sqrt{x^2 + y^2}$
    • fi = $\tan^{-1}$($\frac{y}{x}$)
    • z = z
• Endpoint: GET /action/coord/cyl?r=0&f=0&z=0 HTTP/1.1

Retreiving hand data

LeapServiceProvider leapServiceProvider;
void Awake(){
    leapServiceProvider = GetComponent<LeapServiceProvider>();
    leapServiceProvider.enabled = true;
}

// Update is called once per frame
void Update()
{
    Frame frame = leapServiceProvider.CurrentFrame;
    if (frame.Hands.Count <= 0) return;
    Hand hand = frame.Hands[0];
    Vector3 handPosition = hand.PalmPosition;
}

Sending data

var request = WebRequest.Create(requestUrl);
request.Method = "GET";
using var webResponse = request.GetResponse();
using var webStream = webResponse.GetResponseStream();

using var reader = new StreamReader(webStream);
var data = reader.ReadToEnd();