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6 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Martino Russi
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dfb47b91a5 | ||
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Steven Palma
|
7957d4e2dc | ||
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pre-commit-ci[bot]
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4c17a7be2b | ||
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nepyope
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c8c37bd339 | ||
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pre-commit-ci[bot]
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0ccc08e347 | ||
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nepyope
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7b207d44a0 |
@@ -87,7 +87,7 @@ Learn more about it in the [LeRobotDataset Documentation](https://huggingface.co
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|
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## SoTA Models
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|
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LeRobot implements state-of-the-art policies in pure PyTorch, covering Imitation Learning, Reinforcement Learning, and Vision-Language-Action (VLA) models, with more coming soon. It also provides you with the tools to instrument and inspect your training process.
|
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LeRobot implements state-of-the-art policies in pure PyTorch, covering Imitation Learning, Reinforcement Learning, Vision-Language-Action (VLA) models, World Models, and Reward Models, with more coming soon. It also provides you with the tools to instrument and inspect your training process.
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|
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<p align="center">
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<img alt="Gr00t Architecture" src="./media/readme/VLA_architecture.jpg" width="640px">
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@@ -101,13 +101,13 @@ lerobot-train \
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--dataset.repo_id=lerobot/aloha_mobile_cabinet
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```
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| Category | Models |
|
||||
| -------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| **Imitation Learning** | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md) |
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| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon) |
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| **VLAs Models** | [Pi0](./docs/source/pi0.mdx), [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.7](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx), [EO-1](./docs/source/eo1.mdx), [MolmoAct2](./docs/source/molmoact2.mdx), [WALL-OSS](./docs/source/walloss.mdx) |
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| **World Models** | [VLA-JEPA](./docs/source/vla_jepa.mdx) (more coming soon) |
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||||
| **Reward Models** | [SARM](./docs/source/sarm.mdx), [TOPReward](./docs/source/topreward.mdx), [Robometer](./docs/source/robometer.mdx) |
|
||||
| Category | Models |
|
||||
| -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| **Imitation Learning** | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md) |
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||||
| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon) |
|
||||
| **VLAs Models** | [Pi0](./docs/source/pi0.mdx), [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.7](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx), [EO-1](./docs/source/eo1.mdx), [MolmoAct2](./docs/source/molmoact2.mdx), [WALL-OSS](./docs/source/walloss.mdx), [EVO1](./docs/source/evo1.mdx) |
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| **World Models** | [VLA-JEPA](./docs/source/vla_jepa.mdx), [LingBot-VA](./docs/source/lingbot_va.mdx), [FastWAM](./docs/source/fastwam.mdx) |
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| **Reward Models** | [SARM](./docs/source/sarm.mdx), [TOPReward](./docs/source/topreward.mdx), [Robometer](./docs/source/robometer.mdx) |
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|
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Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
|
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|
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|
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@@ -295,11 +295,12 @@ The file names are load-bearing: the factory does lazy imports by name, and the
|
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|
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### Wiring
|
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|
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Three places need to know about your policy. All by name.
|
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Four places need to know about your policy. All by name.
|
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|
||||
1. **`policies/__init__.py`** — re-export `MyPolicyConfig` and add it to `__all__`. **Don't** re-export the modeling class; it loads lazily through the factory (so `import lerobot` stays fast).
|
||||
2. **`factory.py:get_policy_class`** — add a branch returning `MyPolicy` from a lazy import.
|
||||
3. **`factory.py:make_policy_config`** and **`factory.py:make_pre_post_processors`** — same idea, two more branches.
|
||||
4. **`templates/lerobot_modelcard_template.md` and the root `README.md`** — the template is what `push_model_to_hub` renders into the model card of every checkpoint trained with your policy: add a one-line description of your policy in the `model_name` branches, map it in `policy_docs` so cards link to your MDX guide, and optionally add an architecture image to `diagrams`. Then add your policy to the models table in the root `README.md`, under the right category, linking to your doc page.
|
||||
|
||||
Mirror an existing policy that's structurally similar to yours; the diff is small.
|
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|
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@@ -371,6 +372,8 @@ The general expectations are in [`CONTRIBUTING.md`](https://github.com/huggingfa
|
||||
- [ ] Optional deps live behind a `[project.optional-dependencies]` extra and the `TYPE_CHECKING + require_package` guard.
|
||||
- [ ] `tests/policies/` updated; backward-compat artifact committed & policy-specific tests.
|
||||
- [ ] `src/lerobot/policies/<name>/README.md` symlinked into `docs/source/policy_<name>_README.md`; user-facing `docs/source/<name>.mdx` written and added to `_toctree.yml`.
|
||||
- [ ] `templates/lerobot_modelcard_template.md` has a description entry and a `policy_docs` link for your policy.
|
||||
- [ ] The models table in the root `README.md` lists your policy in the right category, linking to your doc page.
|
||||
- [ ] At least one reproducible benchmark eval in the policy MDX with a published checkpoint (sim benchmark, or real-robot dataset + checkpoint).
|
||||
|
||||
The fastest way to get a clean PR is to copy the directory of the existing policy closest to yours, rename, and replace contents method by method. Don't wait until everything is polished — open a draft PR early and iterate with us; reviewers would much rather give feedback on a half-finished branch than a fully-merged one.
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|
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@@ -160,13 +160,13 @@ This will follow the recipe found [here](https://github.com/NVIDIA/Isaac-GR00T/b
|
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|
||||
Preliminary LeRobot integration results (GR00T-LeRobot, `eval.n_episodes >= 50` per suite):
|
||||
|
||||
| Suite | Success rate |
|
||||
| ---------------- | -----------: |
|
||||
| LIBERO Spatial | 94% |
|
||||
| LIBERO Object | 98% |
|
||||
| LIBERO Goal | 93% |
|
||||
| LIBERO 10 (Long) | 90% |
|
||||
| **Average** | **93.75%** |
|
||||
| Suite | Success rate | Checkpoint |
|
||||
| ---------------- | -----------: | ------------------------------------------------------------------------------------------------------------- |
|
||||
| LIBERO Spatial | 91% | [nvidia/gr00t17-lerobot-libero_spatial-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_spatial-640) |
|
||||
| LIBERO Object | 81% | [nvidia/gr00t17-lerobot-libero_object-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_object-640) |
|
||||
| LIBERO Goal | 97% | [nvidia/gr00t17-lerobot-libero_goal-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_goal-640) |
|
||||
| LIBERO 10 (Long) | 84% | [nvidia/gr00t17-lerobot-libero_10-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_10-640) |
|
||||
| **Average** | **88.25%** | |
|
||||
|
||||
```bash
|
||||
export MODEL_ID=your_trained_model_on_huggingface
|
||||
|
||||
@@ -117,6 +117,14 @@ middle_dip | 1484 | 1500 | 1547
|
||||
|
||||
Once calibration is complete, the system will save the calibration to `/Users/your_username/.cache/huggingface/lerobot/calibration/teleoperators/homunculus_glove/red.json`
|
||||
|
||||
#### Visualizing Teleoperator Glove
|
||||
|
||||
After calibration, you can visualize the glove movements in real-time. Open the visualizer by navigating to the visualizer directory and opening the HTML file in your browser:
|
||||
|
||||
```bash
|
||||
open examples/hopejr/visualizer/index.html
|
||||
```
|
||||
|
||||
### 1.3 Calibrate Robot Arm
|
||||
|
||||
```bash
|
||||
|
||||
@@ -0,0 +1,182 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>3D Hand Joint Visualizer</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: Arial, sans-serif;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
overflow: hidden;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
height: 100vh;
|
||||
}
|
||||
|
||||
.controls {
|
||||
padding: 15px;
|
||||
background-color: #f5f5f5;
|
||||
z-index: 100;
|
||||
}
|
||||
|
||||
.status {
|
||||
padding: 10px;
|
||||
border-radius: 5px;
|
||||
margin: 10px 0;
|
||||
}
|
||||
|
||||
.connected {
|
||||
background-color: #d4edda;
|
||||
color: #155724;
|
||||
}
|
||||
|
||||
.disconnected {
|
||||
background-color: #f8d7da;
|
||||
color: #721c24;
|
||||
}
|
||||
|
||||
button {
|
||||
padding: 8px 16px;
|
||||
background-color: #4CAF50;
|
||||
color: white;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
margin-right: 10px;
|
||||
}
|
||||
|
||||
button:hover {
|
||||
background-color: #45a049;
|
||||
}
|
||||
|
||||
button:disabled {
|
||||
background-color: #cccccc;
|
||||
cursor: not-allowed;
|
||||
}
|
||||
|
||||
.container {
|
||||
display: flex;
|
||||
flex: 1;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
#canvas-container {
|
||||
flex: 3;
|
||||
position: relative;
|
||||
}
|
||||
|
||||
#sidebar {
|
||||
flex: 1;
|
||||
padding: 15px;
|
||||
background-color: #f8f9fa;
|
||||
overflow-y: auto;
|
||||
max-width: 300px;
|
||||
border-left: 1px solid #ddd;
|
||||
}
|
||||
|
||||
.joint-info {
|
||||
margin-bottom: 10px;
|
||||
padding: 8px;
|
||||
border: 1px solid #ddd;
|
||||
border-radius: 4px;
|
||||
}
|
||||
|
||||
.joint-name {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.joint-value {
|
||||
font-family: monospace;
|
||||
}
|
||||
|
||||
.bar-container {
|
||||
width: 100%;
|
||||
background-color: #e0e0e0;
|
||||
height: 10px;
|
||||
border-radius: 5px;
|
||||
overflow: hidden;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.bar {
|
||||
height: 100%;
|
||||
background-color: #4CAF50;
|
||||
width: 0%;
|
||||
transition: width 0.2s ease-in-out;
|
||||
}
|
||||
|
||||
.log-container {
|
||||
margin-top: 20px;
|
||||
border: 1px solid #ddd;
|
||||
border-radius: 5px;
|
||||
padding: 10px;
|
||||
height: 150px;
|
||||
overflow-y: auto;
|
||||
font-family: monospace;
|
||||
background-color: #f8f9fa;
|
||||
}
|
||||
|
||||
.view-controls {
|
||||
position: absolute;
|
||||
bottom: 10px;
|
||||
left: 10px;
|
||||
z-index: 10;
|
||||
}
|
||||
|
||||
.view-button {
|
||||
background-color: rgba(0, 0, 0, 0.5);
|
||||
color: white;
|
||||
border: none;
|
||||
padding: 5px 10px;
|
||||
margin-right: 5px;
|
||||
border-radius: 3px;
|
||||
cursor: pointer;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<div class="controls">
|
||||
<button id="connectButton">Connect to Device</button>
|
||||
<button id="disconnectButton" disabled>Disconnect</button>
|
||||
<select id="baudRate">
|
||||
<option value="9600">9600</option>
|
||||
<option value="19200">19200</option>
|
||||
<option value="38400">38400</option>
|
||||
<option value="57600">57600</option>
|
||||
<option value="115200" selected>115200</option>
|
||||
</select>
|
||||
<span id="statusIndicator" class="status disconnected">Status: Disconnected</span>
|
||||
</div>
|
||||
|
||||
<div class="container">
|
||||
<div id="canvas-container">
|
||||
<!-- 3D canvas will be inserted here -->
|
||||
<div class="view-controls">
|
||||
<button class="view-button" id="frontView">Front</button>
|
||||
<button class="view-button" id="sideView">Side</button>
|
||||
<button class="view-button" id="topView">Top</button>
|
||||
<button class="view-button" id="resetView">Reset</button>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="sidebar">
|
||||
<h3>Joint Values</h3>
|
||||
<div id="jointsContainer">
|
||||
<!-- Joint info will be added here -->
|
||||
</div>
|
||||
|
||||
<div class="log-container" id="logContainer">
|
||||
<!-- Log messages will be added here -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Import Three.js -->
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.132.2/build/three.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.132.2/examples/js/controls/OrbitControls.js"></script>
|
||||
|
||||
<script src="script.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,669 @@
|
||||
// === Hand Visualizer with Pre-Connect Sliders + Per-Joint Angle Limits ===
|
||||
// Assumes your HTML already has elements with the following IDs:
|
||||
// connectButton, disconnectButton, baudRate, statusIndicator, jointsContainer, logContainer,
|
||||
// canvas-container, frontView, sideView, topView, resetView
|
||||
// Requires Three.js + OrbitControls loaded on the page.
|
||||
|
||||
// -------------------- Config --------------------
|
||||
const MAX_JOINTS = 16;
|
||||
const RAW_MIN = 0, RAW_MAX = 4096;
|
||||
const RAW_CENTER = (RAW_MIN + RAW_MAX) / 2;
|
||||
const DEG = Math.PI / 180;
|
||||
const UI_DEG_MIN = -90, UI_DEG_MAX = 90; // UI sliders for angle limits
|
||||
|
||||
// -------------------- State --------------------
|
||||
let port;
|
||||
let reader;
|
||||
let keepReading = false;
|
||||
let isConnected = false;
|
||||
const decoder = new TextDecoder();
|
||||
let inputBuffer = '';
|
||||
|
||||
let jointValues = new Array(MAX_JOINTS).fill(RAW_CENTER);
|
||||
|
||||
// Auto-calibration: track observed min/max per joint
|
||||
let observedMin = new Array(MAX_JOINTS).fill(Infinity);
|
||||
let observedMax = new Array(MAX_JOINTS).fill(-Infinity);
|
||||
let calibrationEnabled = true;
|
||||
|
||||
// Three.js
|
||||
let scene, camera, renderer, controls;
|
||||
let hand = { palm: null, fingers: [] };
|
||||
|
||||
// DOM
|
||||
const connectButton = document.getElementById('connectButton');
|
||||
const disconnectButton = document.getElementById('disconnectButton');
|
||||
const baudRateSelect = document.getElementById('baudRate');
|
||||
const statusIndicator = document.getElementById('statusIndicator');
|
||||
const jointsContainer = document.getElementById('jointsContainer');
|
||||
const logContainer = document.getElementById('logContainer');
|
||||
const canvasContainer = document.getElementById('canvas-container');
|
||||
const frontViewBtn = document.getElementById('frontView');
|
||||
const sideViewBtn = document.getElementById('sideView');
|
||||
const topViewBtn = document.getElementById('topView');
|
||||
const resetViewBtn = document.getElementById('resetView');
|
||||
|
||||
// Helpers
|
||||
const clamp = (x, a, b) => Math.max(a, Math.min(b, x));
|
||||
const invLerp = (a, b, x) => clamp((x - a) / (b - a), 0, 1);
|
||||
|
||||
// -------------------- Joint Map with per-joint angle limits --------------------
|
||||
const fingerJointMap = [
|
||||
// Thumb (4)
|
||||
{ finger:0, joint:0, type:'CMC_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:0, joint:1, type:'CMC_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:0, joint:2, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
{ finger:0, joint:3, type:'IP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Index (3)
|
||||
{ finger:1, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:1, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:1, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Middle (3)
|
||||
{ finger:2, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:2, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:2, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Ring (3)
|
||||
{ finger:3, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:3, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:3, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false }, // +45° only
|
||||
|
||||
// Pinky (3)
|
||||
{ finger:4, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:4, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:4, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false } // +45° only
|
||||
];
|
||||
|
||||
// Assign angle limits (radians) per joint (default ±45°, exceptions: +45° only)
|
||||
for (const j of fingerJointMap) {
|
||||
const isThumb = j.finger === 0;
|
||||
const isPIP = j.type === 'PIP_FLEXION';
|
||||
let minA = -45 * DEG, maxA = +45 * DEG;
|
||||
if ((isThumb && (j.type === 'MCP_FLEXION' || j.type === 'IP_FLEXION')) || (!isThumb && isPIP)) {
|
||||
minA = 0;
|
||||
maxA = +45 * DEG;
|
||||
}
|
||||
j.angleMin = minA;
|
||||
j.angleMax = maxA;
|
||||
}
|
||||
|
||||
// -------------------- UI: Joint Panel --------------------
|
||||
const uiRefs = []; // per joint: { valueLabel, bar, barWrap, slider, invertChk, minDeg, maxDeg }
|
||||
|
||||
function initializeJointElements() {
|
||||
jointsContainer.innerHTML = '';
|
||||
uiRefs.length = 0;
|
||||
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const wrap = document.createElement('div');
|
||||
wrap.className = 'joint-info';
|
||||
|
||||
const fingerIndex = i < 4 ? 0 : Math.floor((i - 4) / 3) + 1;
|
||||
const jointInfo = fingerJointMap[i];
|
||||
const jointType = jointInfo?.type || 'Unknown';
|
||||
const fingerName = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky'][fingerIndex];
|
||||
|
||||
// Header
|
||||
const nameEl = document.createElement('div');
|
||||
nameEl.className = 'joint-name';
|
||||
nameEl.textContent = `${fingerName} – ${jointType}`;
|
||||
|
||||
// Value + bar
|
||||
const valueEl = document.createElement('div');
|
||||
valueEl.className = 'joint-value';
|
||||
valueEl.textContent = `Value: ${jointValues[i]}`;
|
||||
|
||||
const barWrap = document.createElement('div');
|
||||
barWrap.className = 'bar-container';
|
||||
const barEl = document.createElement('div');
|
||||
barEl.className = 'bar';
|
||||
barWrap.appendChild(barEl);
|
||||
|
||||
// Slider for pre-connect manual control
|
||||
const slider = document.createElement('input');
|
||||
slider.type = 'range';
|
||||
slider.min = String(RAW_MIN);
|
||||
slider.max = String(RAW_MAX);
|
||||
slider.value = String(jointValues[i]);
|
||||
slider.step = '1';
|
||||
slider.className = 'joint-slider';
|
||||
|
||||
slider.addEventListener('input', () => {
|
||||
if (isConnected) return; // ignore while connected
|
||||
let v = parseInt(slider.value, 10);
|
||||
if (jointInfo?.inverted) v = (jointInfo.min + jointInfo.max) - v;
|
||||
jointValues[i] = clamp(jointInfo ? v : 0, RAW_MIN, RAW_MAX);
|
||||
updateJointDisplay(i, jointValues[i]);
|
||||
updateHandModel();
|
||||
});
|
||||
|
||||
// Invert checkbox
|
||||
const invertLbl = document.createElement('label');
|
||||
invertLbl.className = 'invert-toggle';
|
||||
const invertChk = document.createElement('input');
|
||||
invertChk.type = 'checkbox';
|
||||
invertChk.checked = !!jointInfo?.inverted;
|
||||
invertChk.addEventListener('change', () => {
|
||||
if (jointInfo) jointInfo.inverted = invertChk.checked;
|
||||
addLogMessage(`${fingerName} ${jointType} inversion ${invertChk.checked ? 'enabled' : 'disabled'}`);
|
||||
});
|
||||
invertLbl.appendChild(invertChk);
|
||||
invertLbl.appendChild(document.createTextNode('Invert Values'));
|
||||
|
||||
// Angle limits (deg) controls
|
||||
const limitsRow = document.createElement('div');
|
||||
limitsRow.className = 'limits-row';
|
||||
|
||||
const minDeg = document.createElement('input');
|
||||
minDeg.type = 'number';
|
||||
minDeg.min = String(UI_DEG_MIN);
|
||||
minDeg.max = String(UI_DEG_MAX);
|
||||
minDeg.step = '1';
|
||||
minDeg.value = String(Math.round((jointInfo.angleMin || 0) / DEG));
|
||||
minDeg.className = 'limit-num';
|
||||
|
||||
const maxDeg = document.createElement('input');
|
||||
maxDeg.type = 'number';
|
||||
maxDeg.min = String(UI_DEG_MIN);
|
||||
maxDeg.max = String(UI_DEG_MAX);
|
||||
maxDeg.step = '1';
|
||||
maxDeg.value = String(Math.round((jointInfo.angleMax || 0) / DEG));
|
||||
maxDeg.className = 'limit-num';
|
||||
|
||||
const minLbl = document.createElement('span'); minLbl.textContent = 'min°';
|
||||
const maxLbl = document.createElement('span'); maxLbl.textContent = 'max°';
|
||||
minLbl.className = 'limit-label'; maxLbl.className = 'limit-label';
|
||||
|
||||
function syncLimits() {
|
||||
let mn = parseFloat(minDeg.value);
|
||||
let mx = parseFloat(maxDeg.value);
|
||||
if (isNaN(mn)) mn = -45;
|
||||
if (isNaN(mx)) mx = +45;
|
||||
if (mn > mx) [mn, mx] = [mx, mn];
|
||||
jointInfo.angleMin = clamp(mn, UI_DEG_MIN, UI_DEG_MAX) * DEG;
|
||||
jointInfo.angleMax = clamp(mx, UI_DEG_MIN, UI_DEG_MAX) * DEG;
|
||||
minDeg.value = String(Math.round(jointInfo.angleMin / DEG));
|
||||
maxDeg.value = String(Math.round(jointInfo.angleMax / DEG));
|
||||
updateHandModel();
|
||||
}
|
||||
minDeg.addEventListener('change', syncLimits);
|
||||
maxDeg.addEventListener('change', syncLimits);
|
||||
|
||||
limitsRow.appendChild(minLbl);
|
||||
limitsRow.appendChild(minDeg);
|
||||
limitsRow.appendChild(maxLbl);
|
||||
limitsRow.appendChild(maxDeg);
|
||||
|
||||
// Calibration controls
|
||||
const calibRow = document.createElement('div');
|
||||
calibRow.className = 'calib-row';
|
||||
|
||||
const resetCalibBtn = document.createElement('button');
|
||||
resetCalibBtn.textContent = 'Reset Calib';
|
||||
resetCalibBtn.className = 'calib-btn';
|
||||
resetCalibBtn.addEventListener('click', () => {
|
||||
observedMin[i] = Infinity;
|
||||
observedMax[i] = -Infinity;
|
||||
addLogMessage(`Reset calibration for ${fingerName} ${jointType}`);
|
||||
});
|
||||
|
||||
const calibStatus = document.createElement('span');
|
||||
calibStatus.className = 'calib-status';
|
||||
calibStatus.textContent = `Range: --`;
|
||||
|
||||
calibRow.appendChild(resetCalibBtn);
|
||||
calibRow.appendChild(calibStatus);
|
||||
|
||||
// Compose
|
||||
wrap.appendChild(nameEl);
|
||||
wrap.appendChild(valueEl);
|
||||
wrap.appendChild(barWrap);
|
||||
wrap.appendChild(slider);
|
||||
wrap.appendChild(invertLbl);
|
||||
wrap.appendChild(limitsRow);
|
||||
wrap.appendChild(calibRow);
|
||||
|
||||
jointsContainer.appendChild(wrap);
|
||||
|
||||
uiRefs[i] = { valueLabel: valueEl, bar: barEl, barWrap, slider, invertChk, minDeg, maxDeg, nameEl, calibStatus };
|
||||
}
|
||||
|
||||
setConnectedUI(false); // initial state: sliders active
|
||||
}
|
||||
|
||||
// Toggle UI between pre-connect SLIDERS vs post-connect BARS
|
||||
function setConnectedUI(connected) {
|
||||
isConnected = connected;
|
||||
for (let i = 0; i < uiRefs.length; i++) {
|
||||
const ui = uiRefs[i];
|
||||
if (!ui) continue;
|
||||
// Show bars when connected; sliders disabled/hidden
|
||||
ui.barWrap.style.display = connected ? '' : 'none';
|
||||
ui.slider.disabled = connected;
|
||||
ui.slider.style.display = connected ? 'none' : '';
|
||||
}
|
||||
|
||||
// Reset calibration when connecting
|
||||
if (connected) {
|
||||
observedMin.fill(Infinity);
|
||||
observedMax.fill(-Infinity);
|
||||
addLogMessage('Calibration reset - move joints through full range for best results');
|
||||
}
|
||||
}
|
||||
|
||||
// Update joint display (value text + bar color/width + slider position if needed)
|
||||
function updateJointDisplay(jointIndex, value) {
|
||||
const ui = uiRefs[jointIndex];
|
||||
const info = fingerJointMap[jointIndex];
|
||||
if (!ui || !info) return;
|
||||
|
||||
ui.valueLabel.textContent = `Value: ${value}`;
|
||||
|
||||
// bar
|
||||
const min = info.min, max = info.max;
|
||||
const pct = clamp((value - min) / (max - min), 0, 1) * 100;
|
||||
ui.bar.style.width = `${pct}%`;
|
||||
const hue = Math.floor(pct * 1.2); // 0..120
|
||||
ui.bar.style.backgroundColor = `hsl(${hue}, 80%, 50%)`;
|
||||
|
||||
// slider (only meaningful when not connected; keep in sync anyway)
|
||||
const rawForSlider = info.inverted ? (info.min + info.max) - value : value;
|
||||
if (!isConnected) ui.slider.value = String(clamp(Math.round(rawForSlider), RAW_MIN, RAW_MAX));
|
||||
}
|
||||
|
||||
// -------------------- Serial I/O --------------------
|
||||
async function readSerialData() {
|
||||
while (port?.readable && keepReading) {
|
||||
reader = port.readable.getReader();
|
||||
try {
|
||||
while (true) {
|
||||
const { value, done } = await reader.read();
|
||||
if (done) break;
|
||||
if (value) processData(decoder.decode(value));
|
||||
}
|
||||
} catch (err) {
|
||||
console.error('Error reading:', err);
|
||||
addLogMessage(`Error: ${err.message}`);
|
||||
break;
|
||||
} finally {
|
||||
reader.releaseLock();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function processData(chunk) {
|
||||
inputBuffer += chunk;
|
||||
let idx;
|
||||
while ((idx = inputBuffer.indexOf('\n')) !== -1) {
|
||||
const line = inputBuffer.slice(0, idx).trim();
|
||||
inputBuffer = inputBuffer.slice(idx + 1);
|
||||
|
||||
const vals = line.split(/\s+/).map(v => parseInt(v, 10));
|
||||
if (vals.length === MAX_JOINTS && vals.every(v => Number.isFinite(v))) {
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const info = fingerJointMap[i];
|
||||
if (!info) continue;
|
||||
|
||||
let rawValue = vals[i];
|
||||
|
||||
// Update calibration tracking
|
||||
if (calibrationEnabled) {
|
||||
observedMin[i] = Math.min(observedMin[i], rawValue);
|
||||
observedMax[i] = Math.max(observedMax[i], rawValue);
|
||||
|
||||
// Update calibration display
|
||||
const ui = uiRefs[i];
|
||||
if (ui && ui.calibStatus) {
|
||||
if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity) {
|
||||
ui.calibStatus.textContent = `Range: ${observedMin[i]}-${observedMax[i]}`;
|
||||
}
|
||||
}
|
||||
|
||||
// Remap observed range to target range
|
||||
if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity && observedMax[i] > observedMin[i]) {
|
||||
const observedRange = observedMax[i] - observedMin[i];
|
||||
const targetRange = info.max - info.min;
|
||||
const normalizedValue = (rawValue - observedMin[i]) / observedRange;
|
||||
rawValue = info.min + (normalizedValue * targetRange);
|
||||
}
|
||||
}
|
||||
|
||||
let v = clamp(rawValue, info.min, info.max);
|
||||
if (info.inverted) v = (info.min + info.max) - v;
|
||||
jointValues[i] = v;
|
||||
updateJointDisplay(i, v);
|
||||
}
|
||||
updateHandModel();
|
||||
} else {
|
||||
addLogMessage(`Received: ${line}`);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
async function connectToDevice() {
|
||||
try {
|
||||
port = await navigator.serial.requestPort();
|
||||
const baudRate = parseInt(baudRateSelect.value, 10) || 115200;
|
||||
await port.open({ baudRate });
|
||||
|
||||
keepReading = true;
|
||||
setConnectedUI(true);
|
||||
|
||||
statusIndicator.textContent = 'Status: Connected';
|
||||
statusIndicator.className = 'status connected';
|
||||
connectButton.disabled = true;
|
||||
disconnectButton.disabled = false;
|
||||
baudRateSelect.disabled = true;
|
||||
|
||||
addLogMessage(`Connected at ${baudRate} baud`);
|
||||
readSerialData();
|
||||
} catch (e) {
|
||||
console.error('Connect error:', e);
|
||||
addLogMessage(`Connection error: ${e.message}`);
|
||||
}
|
||||
}
|
||||
|
||||
async function disconnectFromDevice() {
|
||||
try {
|
||||
keepReading = false;
|
||||
if (reader) {
|
||||
try { reader.cancel(); } catch {}
|
||||
}
|
||||
if (port) {
|
||||
await port.close();
|
||||
port = null;
|
||||
}
|
||||
} catch (e) {
|
||||
console.error('Disconnect error:', e);
|
||||
addLogMessage(`Disconnection error: ${e.message}`);
|
||||
} finally {
|
||||
setConnectedUI(false);
|
||||
statusIndicator.textContent = 'Status: Disconnected';
|
||||
statusIndicator.className = 'status disconnected';
|
||||
connectButton.disabled = false;
|
||||
disconnectButton.disabled = true;
|
||||
baudRateSelect.disabled = false;
|
||||
addLogMessage('Disconnected');
|
||||
}
|
||||
}
|
||||
|
||||
// -------------------- Three.js Scene --------------------
|
||||
function initThreeJS() {
|
||||
scene = new THREE.Scene();
|
||||
scene.background = new THREE.Color(0xf0f0f0);
|
||||
|
||||
camera = new THREE.PerspectiveCamera(
|
||||
75,
|
||||
canvasContainer.clientWidth / canvasContainer.clientHeight,
|
||||
0.1, 1000
|
||||
);
|
||||
camera.position.set(0, 15, 15);
|
||||
camera.lookAt(0, 0, 0);
|
||||
|
||||
renderer = new THREE.WebGLRenderer({ antialias: true });
|
||||
renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
|
||||
renderer.setPixelRatio(window.devicePixelRatio);
|
||||
canvasContainer.appendChild(renderer.domElement);
|
||||
|
||||
controls = new THREE.OrbitControls(camera, renderer.domElement);
|
||||
controls.enableDamping = true;
|
||||
controls.dampingFactor = 0.25;
|
||||
|
||||
const ambientLight = new THREE.AmbientLight(0x404040);
|
||||
scene.add(ambientLight);
|
||||
const dir1 = new THREE.DirectionalLight(0xffffff, 0.5);
|
||||
dir1.position.set(1, 1, 1);
|
||||
scene.add(dir1);
|
||||
const dir2 = new THREE.DirectionalLight(0xffffff, 0.3);
|
||||
dir2.position.set(-1, 1, -1);
|
||||
scene.add(dir2);
|
||||
|
||||
const gridHelper = new THREE.GridHelper(20, 20);
|
||||
scene.add(gridHelper);
|
||||
|
||||
createHandModel();
|
||||
window.addEventListener('resize', onWindowResize);
|
||||
animate();
|
||||
}
|
||||
|
||||
function createHandModel() {
|
||||
const palmMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
|
||||
const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
|
||||
const jointMaterial = new THREE.MeshPhongMaterial({ color: 0xe3a977 });
|
||||
|
||||
const palmGeometry = new THREE.BoxGeometry(7, 1, 8);
|
||||
hand.palm = new THREE.Mesh(palmGeometry, palmMaterial);
|
||||
hand.palm.position.set(0, 0, 0);
|
||||
hand.palm.rotation.x = Math.PI / 2; // hand vertical, palm facing forward
|
||||
scene.add(hand.palm);
|
||||
|
||||
const fingerWidth = 1, fingerHeight = 0.8;
|
||||
const fingerSegmentLengths = [3, 2, 1.5];
|
||||
const thumbSegmentLengths = [2, 2, 1.5];
|
||||
|
||||
const fingerBasePositions = [
|
||||
[ 3, 0, -2], // Thumb
|
||||
[ 1.5,-0.5,-4], // Index
|
||||
[ 0, -0.5,-4], // Middle
|
||||
[-1.5,-0.5,-4], // Ring
|
||||
[-3, -0.5,-4], // Pinky
|
||||
];
|
||||
const fingerBaseRot = [
|
||||
{ x:0, y:-Math.PI/3, z: Math.PI/3 }, // Thumb
|
||||
{ x:0, y:-Math.PI/48, z: 0 },
|
||||
{ x:0, y: Math.PI/48, z: 0 },
|
||||
{ x:0, y: Math.PI/32, z: 0 },
|
||||
{ x:0, y: Math.PI/24, z: 0 }
|
||||
];
|
||||
|
||||
for (let fIdx = 0; fIdx < 5; fIdx++) {
|
||||
const finger = { name:['Thumb','Index','Middle','Ring','Pinky'][fIdx], segments:[], joints:[] };
|
||||
const isThumb = fIdx === 0;
|
||||
const segLens = isThumb ? thumbSegmentLengths : fingerSegmentLengths;
|
||||
|
||||
finger.group = new THREE.Group();
|
||||
finger.group.position.set(...fingerBasePositions[fIdx]);
|
||||
finger.group.rotation.x = fingerBaseRot[fIdx].x;
|
||||
finger.group.rotation.y = fingerBaseRot[fIdx].y;
|
||||
finger.group.rotation.z = fingerBaseRot[fIdx].z;
|
||||
finger.group.userData.baseRot = {
|
||||
x:finger.group.rotation.x,
|
||||
y:finger.group.rotation.y,
|
||||
z:finger.group.rotation.z
|
||||
};
|
||||
hand.palm.add(finger.group);
|
||||
|
||||
let parent = finger.group;
|
||||
for (let s = 0; s < segLens.length; s++) {
|
||||
const segGroup = new THREE.Group();
|
||||
|
||||
const jGeom = new THREE.SphereGeometry(fingerWidth * 0.6, 8, 8);
|
||||
const joint = new THREE.Mesh(jGeom, jointMaterial);
|
||||
segGroup.add(joint);
|
||||
|
||||
const segGeom = new THREE.BoxGeometry(fingerWidth, fingerHeight, segLens[s]);
|
||||
const seg = new THREE.Mesh(segGeom, fingerMaterial);
|
||||
seg.position.z = -segLens[s] / 2;
|
||||
segGroup.add(seg);
|
||||
|
||||
parent.add(segGroup);
|
||||
|
||||
finger.segments.push(segGroup);
|
||||
finger.joints.push(joint);
|
||||
|
||||
if (s < segLens.length - 1) {
|
||||
const connector = new THREE.Group();
|
||||
connector.position.z = -segLens[s];
|
||||
segGroup.add(connector);
|
||||
parent = connector;
|
||||
}
|
||||
}
|
||||
|
||||
hand.fingers.push(finger);
|
||||
}
|
||||
|
||||
addFingerLabels();
|
||||
addHandLabel();
|
||||
}
|
||||
|
||||
function addFingerLabels() {
|
||||
const names = ['Thumb','Index','Middle','Ring','Pinky'];
|
||||
for (let i = 0; i < hand.fingers.length; i++) {
|
||||
const finger = hand.fingers[i];
|
||||
const canvas = document.createElement('canvas');
|
||||
const ctx = canvas.getContext('2d');
|
||||
canvas.width = 128; canvas.height = 32;
|
||||
ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
|
||||
ctx.font = 'bold 16px Arial';
|
||||
ctx.fillStyle = '#000000';
|
||||
ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
|
||||
ctx.fillText(names[i], canvas.width/2, canvas.height/2);
|
||||
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
const geom = new THREE.PlaneGeometry(2, 0.5);
|
||||
const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
|
||||
const label = new THREE.Mesh(geom, mat);
|
||||
label.position.set(0, -1.5, -2);
|
||||
label.rotation.x = Math.PI / 2;
|
||||
finger.group.add(label);
|
||||
}
|
||||
}
|
||||
|
||||
function addHandLabel() {
|
||||
const canvas = document.createElement('canvas');
|
||||
const ctx = canvas.getContext('2d');
|
||||
canvas.width = 256; canvas.height = 64;
|
||||
ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
|
||||
ctx.font = 'bold 24px Arial';
|
||||
ctx.fillStyle = '#000000';
|
||||
ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
|
||||
ctx.fillText('RIGHT HAND (VERTICAL)', canvas.width/2, canvas.height/2);
|
||||
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
const geom = new THREE.PlaneGeometry(7, 1.75);
|
||||
const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
|
||||
const label = new THREE.Mesh(geom, mat);
|
||||
label.position.set(0, -2, 0);
|
||||
label.rotation.x = Math.PI / 2;
|
||||
scene.add(label);
|
||||
}
|
||||
|
||||
function updateHandModel() {
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const info = fingerJointMap[i];
|
||||
if (!info) continue;
|
||||
const { finger, joint, type, min, max, angleMin, angleMax } = info;
|
||||
const raw = jointValues[i];
|
||||
const f = hand.fingers[finger];
|
||||
if (!f) continue;
|
||||
|
||||
const center = (min + max) / 2;
|
||||
let angle = 0;
|
||||
|
||||
if (type.includes('ABDUCTION')) {
|
||||
// symmetric around neutral
|
||||
const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
|
||||
angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
|
||||
|
||||
const base = f.group.userData.baseRot || {x:0,y:0,z:0};
|
||||
if (finger === 0 && joint === 0) {
|
||||
// Thumb: abduction about Z (toward/away from palm)
|
||||
f.group.rotation.z = base.z + angle;
|
||||
} else {
|
||||
// Other fingers: side-to-side about Y
|
||||
f.group.rotation.y = base.y + angle;
|
||||
}
|
||||
} else if (type.includes('FLEXION')) {
|
||||
const isThumb = finger === 0;
|
||||
const isMCP = type === 'MCP_FLEXION';
|
||||
const isPIP = type === 'PIP_FLEXION';
|
||||
const positiveOnly = (isThumb && (type === 'MCP_FLEXION' || type === 'IP_FLEXION')) || (!isThumb && isPIP);
|
||||
|
||||
if (positiveOnly) {
|
||||
const t = raw <= center ? 0 : invLerp(center, max, raw); // 0..1
|
||||
angle = angleMin + t * (angleMax - angleMin); // 0..+limit
|
||||
} else {
|
||||
const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
|
||||
angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
|
||||
}
|
||||
|
||||
if (isMCP) {
|
||||
// MCP flexion applies to the finger base group (same as abduction)
|
||||
const base = f.group.userData.baseRot || {x:0,y:0,z:0};
|
||||
f.group.rotation.x = base.x + angle;
|
||||
} else if (f.segments[joint]) {
|
||||
// PIP/DIP/IP flexion applies to individual segments
|
||||
f.segments[joint].rotation.x = angle;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// -------------------- Render Loop --------------------
|
||||
function onWindowResize() {
|
||||
camera.aspect = canvasContainer.clientWidth / canvasContainer.clientHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
|
||||
}
|
||||
|
||||
function animate() {
|
||||
requestAnimationFrame(animate);
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
}
|
||||
|
||||
// -------------------- Misc UI --------------------
|
||||
function addLogMessage(msg) {
|
||||
const el = document.createElement('div');
|
||||
el.textContent = msg;
|
||||
logContainer.appendChild(el);
|
||||
logContainer.scrollTop = logContainer.scrollHeight;
|
||||
while (logContainer.children.length > 100) {
|
||||
logContainer.removeChild(logContainer.firstChild);
|
||||
}
|
||||
}
|
||||
|
||||
// Camera view controls
|
||||
frontViewBtn?.addEventListener('click', () => { camera.position.set(0, 0, 20); camera.lookAt(0,0,0); controls.update(); });
|
||||
sideViewBtn?.addEventListener('click', () => { camera.position.set(20, 0, 0); camera.lookAt(0,0,0); controls.update(); });
|
||||
topViewBtn?.addEventListener('click', () => { camera.position.set(0, 20, 0); camera.lookAt(0,0,0); controls.update(); });
|
||||
resetViewBtn?.addEventListener('click', () => { camera.position.set(10,10,10); camera.lookAt(0,0,0); controls.update(); });
|
||||
|
||||
// Serial connect buttons
|
||||
connectButton?.addEventListener('click', connectToDevice);
|
||||
disconnectButton?.addEventListener('click', disconnectFromDevice);
|
||||
|
||||
// Web Serial support check
|
||||
if (!navigator.serial) {
|
||||
statusIndicator.textContent = 'Status: Web Serial API not supported in this browser';
|
||||
connectButton.disabled = true;
|
||||
addLogMessage('ERROR: Web Serial API is not supported in this browser. Try Chrome or Edge.');
|
||||
}
|
||||
|
||||
// -------------------- Boot --------------------
|
||||
initThreeJS();
|
||||
initializeJointElements();
|
||||
|
||||
// -------------------- Styles (inline) --------------------
|
||||
const styleElement = document.createElement('style');
|
||||
styleElement.textContent = `
|
||||
.joint-info { border-bottom: 1px solid #eee; padding: 8px 0; }
|
||||
.joint-name { font-weight: 600; margin-bottom: 4px; }
|
||||
.joint-value { font-size: 12px; color: #333; margin-bottom: 4px; }
|
||||
.bar-container { width: 100%; height: 8px; background: #ddd; border-radius: 4px; overflow: hidden; }
|
||||
.bar { height: 100%; width: 0%; background: #4caf50; }
|
||||
.joint-slider { width: 100%; margin: 6px 0; }
|
||||
.invert-toggle { display: inline-flex; align-items: center; gap: 6px; margin-top: 4px; font-size: 12px; color: #555; }
|
||||
.limits-row { display: flex; align-items: center; gap: 6px; margin-top: 6px; flex-wrap: wrap; }
|
||||
.limit-label { font-size: 11px; color: #666; }
|
||||
.limit-num { width: 60px; }
|
||||
.calib-row { display: flex; align-items: center; gap: 8px; margin-top: 4px; }
|
||||
.calib-btn { padding: 2px 6px; font-size: 11px; background: #f44336; color: white; border: none; border-radius: 3px; cursor: pointer; }
|
||||
.calib-btn:hover { background: #d32f2f; }
|
||||
.calib-status { font-size: 11px; color: #666; }
|
||||
.status.connected { color: #0a0; }
|
||||
.status.disconnected { color: #a00; }
|
||||
`;
|
||||
document.head.appendChild(styleElement);
|
||||
@@ -30,13 +30,19 @@ This is a Gaussian Actor policy (Gaussian policy with a tanh squash) — the pol
|
||||
{% elif model_name == "eo1" %}
|
||||
[EO-1](https://huggingface.co/papers/2508.21112) is a Vision-Language-Action model for general robot control. It pairs a Qwen2.5-VL backbone for vision-language understanding with a continuous flow-matching action head that denoises action chunks.
|
||||
{% elif model_name == "groot" %}
|
||||
[GR00T N1.5](https://github.com/NVIDIA/Isaac-GR00T) is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It takes language and images as input and uses a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception.
|
||||
[GR00T N1.7](https://github.com/NVIDIA/Isaac-GR00T) is an open, cross-embodiment foundation model from NVIDIA for generalized humanoid robot reasoning and skills. It uses a Cosmos-Reason2/Qwen3-VL backbone and a flow-matching action transformer to predict actions conditioned on vision, language, and proprioception.
|
||||
{% elif model_name == "multi_task_dit" %}
|
||||
[Multi-Task Diffusion Transformer (DiT)](https://huggingface.co/papers/2507.05331) extends Diffusion Policy with a large Diffusion Transformer and text + vision conditioning for multi-task robot learning. It supports both diffusion and flow-matching objectives and reaches high dexterity with only ~450M parameters.
|
||||
{% elif model_name == "wall_x" %}
|
||||
[WALL-OSS](https://huggingface.co/papers/2509.11766) is an open-source foundation model for embodied intelligence from XSquare Robot. Built on Qwen2.5-VL, it uses a tightly-coupled multimodal architecture with flow matching to unify semantic reasoning and high-frequency action generation for cross-embodiment control.
|
||||
{% elif model_name == "xvla" %}
|
||||
[X-VLA](https://huggingface.co/papers/2510.10274) is a soft-prompted, flow-matching Vision-Language-Action framework that treats each robot or hardware setup as a "task" encoded with a small set of learnable Soft Prompt embeddings, letting a single model reconcile diverse robot morphologies, sensors, and action spaces.
|
||||
{% elif model_name == "evo1" %}
|
||||
[EVO1](https://github.com/MINT-SJTU/Evo-1) is a Vision-Language-Action policy built around an InternVL3 backbone and a continuous flow-matching action head. It embeds camera images and the language instruction with InternVL3 and predicts future action chunks via flow matching.
|
||||
{% elif model_name == "fastwam" %}
|
||||
[FastWAM](https://arxiv.org/abs/2603.16666) is a World Action Model policy that keeps video world-modeling during training but predicts actions directly at inference time, initializing its visual world-model components from the Wan2.2 video-diffusion stack.
|
||||
{% elif model_name == "lingbot_va" %}
|
||||
[LingBot-VA](https://github.com/Robbyant/lingbot-va) is an autoregressive video-action world-model policy built on the Wan2.2 video-diffusion stack. It interleaves the prediction of future video latents and robot actions in a single autoregressive sequence, feeding observed keyframes back into its KV cache for closed-loop world modeling.
|
||||
{% else %}
|
||||
This is a **{{ model_name }}** policy trained with [LeRobot](https://github.com/huggingface/lerobot).
|
||||
{% endif %}
|
||||
@@ -75,7 +81,10 @@ This policy has been trained and pushed to the Hub using [LeRobot](https://githu
|
||||
"groot": "groot",
|
||||
"xvla": "xvla",
|
||||
"multi_task_dit": "multi_task_dit",
|
||||
"wall_x": "walloss"
|
||||
"wall_x": "walloss",
|
||||
"evo1": "evo1",
|
||||
"fastwam": "fastwam",
|
||||
"lingbot_va": "lingbot_va"
|
||||
} %}
|
||||
{% if policy_docs.get(model_name) %}Learn how to train and run it in the [LeRobot {{ model_name }} guide](https://huggingface.co/docs/lerobot/main/en/{{ policy_docs[model_name] }}), or browse the [full documentation](https://huggingface.co/docs/lerobot/index).
|
||||
{% else %}See the [full LeRobot documentation](https://huggingface.co/docs/lerobot/index).
|
||||
|
||||
@@ -0,0 +1,182 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>3D Hand Joint Visualizer</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: Arial, sans-serif;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
overflow: hidden;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
height: 100vh;
|
||||
}
|
||||
|
||||
.controls {
|
||||
padding: 15px;
|
||||
background-color: #f5f5f5;
|
||||
z-index: 100;
|
||||
}
|
||||
|
||||
.status {
|
||||
padding: 10px;
|
||||
border-radius: 5px;
|
||||
margin: 10px 0;
|
||||
}
|
||||
|
||||
.connected {
|
||||
background-color: #d4edda;
|
||||
color: #155724;
|
||||
}
|
||||
|
||||
.disconnected {
|
||||
background-color: #f8d7da;
|
||||
color: #721c24;
|
||||
}
|
||||
|
||||
button {
|
||||
padding: 8px 16px;
|
||||
background-color: #4CAF50;
|
||||
color: white;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
margin-right: 10px;
|
||||
}
|
||||
|
||||
button:hover {
|
||||
background-color: #45a049;
|
||||
}
|
||||
|
||||
button:disabled {
|
||||
background-color: #cccccc;
|
||||
cursor: not-allowed;
|
||||
}
|
||||
|
||||
.container {
|
||||
display: flex;
|
||||
flex: 1;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
#canvas-container {
|
||||
flex: 3;
|
||||
position: relative;
|
||||
}
|
||||
|
||||
#sidebar {
|
||||
flex: 1;
|
||||
padding: 15px;
|
||||
background-color: #f8f9fa;
|
||||
overflow-y: auto;
|
||||
max-width: 300px;
|
||||
border-left: 1px solid #ddd;
|
||||
}
|
||||
|
||||
.joint-info {
|
||||
margin-bottom: 10px;
|
||||
padding: 8px;
|
||||
border: 1px solid #ddd;
|
||||
border-radius: 4px;
|
||||
}
|
||||
|
||||
.joint-name {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.joint-value {
|
||||
font-family: monospace;
|
||||
}
|
||||
|
||||
.bar-container {
|
||||
width: 100%;
|
||||
background-color: #e0e0e0;
|
||||
height: 10px;
|
||||
border-radius: 5px;
|
||||
overflow: hidden;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.bar {
|
||||
height: 100%;
|
||||
background-color: #4CAF50;
|
||||
width: 0%;
|
||||
transition: width 0.2s ease-in-out;
|
||||
}
|
||||
|
||||
.log-container {
|
||||
margin-top: 20px;
|
||||
border: 1px solid #ddd;
|
||||
border-radius: 5px;
|
||||
padding: 10px;
|
||||
height: 150px;
|
||||
overflow-y: auto;
|
||||
font-family: monospace;
|
||||
background-color: #f8f9fa;
|
||||
}
|
||||
|
||||
.view-controls {
|
||||
position: absolute;
|
||||
bottom: 10px;
|
||||
left: 10px;
|
||||
z-index: 10;
|
||||
}
|
||||
|
||||
.view-button {
|
||||
background-color: rgba(0, 0, 0, 0.5);
|
||||
color: white;
|
||||
border: none;
|
||||
padding: 5px 10px;
|
||||
margin-right: 5px;
|
||||
border-radius: 3px;
|
||||
cursor: pointer;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<div class="controls">
|
||||
<button id="connectButton">Connect to Device</button>
|
||||
<button id="disconnectButton" disabled>Disconnect</button>
|
||||
<select id="baudRate">
|
||||
<option value="9600">9600</option>
|
||||
<option value="19200">19200</option>
|
||||
<option value="38400">38400</option>
|
||||
<option value="57600">57600</option>
|
||||
<option value="115200" selected>115200</option>
|
||||
</select>
|
||||
<span id="statusIndicator" class="status disconnected">Status: Disconnected</span>
|
||||
</div>
|
||||
|
||||
<div class="container">
|
||||
<div id="canvas-container">
|
||||
<!-- 3D canvas will be inserted here -->
|
||||
<div class="view-controls">
|
||||
<button class="view-button" id="frontView">Front</button>
|
||||
<button class="view-button" id="sideView">Side</button>
|
||||
<button class="view-button" id="topView">Top</button>
|
||||
<button class="view-button" id="resetView">Reset</button>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="sidebar">
|
||||
<h3>Joint Values</h3>
|
||||
<div id="jointsContainer">
|
||||
<!-- Joint info will be added here -->
|
||||
</div>
|
||||
|
||||
<div class="log-container" id="logContainer">
|
||||
<!-- Log messages will be added here -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Import Three.js -->
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.132.2/build/three.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.132.2/examples/js/controls/OrbitControls.js"></script>
|
||||
|
||||
<script src="script.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,669 @@
|
||||
// === Hand Visualizer with Pre-Connect Sliders + Per-Joint Angle Limits ===
|
||||
// Assumes your HTML already has elements with the following IDs:
|
||||
// connectButton, disconnectButton, baudRate, statusIndicator, jointsContainer, logContainer,
|
||||
// canvas-container, frontView, sideView, topView, resetView
|
||||
// Requires Three.js + OrbitControls loaded on the page.
|
||||
|
||||
// -------------------- Config --------------------
|
||||
const MAX_JOINTS = 16;
|
||||
const RAW_MIN = 0, RAW_MAX = 4096;
|
||||
const RAW_CENTER = (RAW_MIN + RAW_MAX) / 2;
|
||||
const DEG = Math.PI / 180;
|
||||
const UI_DEG_MIN = -90, UI_DEG_MAX = 90; // UI sliders for angle limits
|
||||
|
||||
// -------------------- State --------------------
|
||||
let port;
|
||||
let reader;
|
||||
let keepReading = false;
|
||||
let isConnected = false;
|
||||
const decoder = new TextDecoder();
|
||||
let inputBuffer = '';
|
||||
|
||||
let jointValues = new Array(MAX_JOINTS).fill(RAW_CENTER);
|
||||
|
||||
// Auto-calibration: track observed min/max per joint
|
||||
let observedMin = new Array(MAX_JOINTS).fill(Infinity);
|
||||
let observedMax = new Array(MAX_JOINTS).fill(-Infinity);
|
||||
let calibrationEnabled = true;
|
||||
|
||||
// Three.js
|
||||
let scene, camera, renderer, controls;
|
||||
let hand = { palm: null, fingers: [] };
|
||||
|
||||
// DOM
|
||||
const connectButton = document.getElementById('connectButton');
|
||||
const disconnectButton = document.getElementById('disconnectButton');
|
||||
const baudRateSelect = document.getElementById('baudRate');
|
||||
const statusIndicator = document.getElementById('statusIndicator');
|
||||
const jointsContainer = document.getElementById('jointsContainer');
|
||||
const logContainer = document.getElementById('logContainer');
|
||||
const canvasContainer = document.getElementById('canvas-container');
|
||||
const frontViewBtn = document.getElementById('frontView');
|
||||
const sideViewBtn = document.getElementById('sideView');
|
||||
const topViewBtn = document.getElementById('topView');
|
||||
const resetViewBtn = document.getElementById('resetView');
|
||||
|
||||
// Helpers
|
||||
const clamp = (x, a, b) => Math.max(a, Math.min(b, x));
|
||||
const invLerp = (a, b, x) => clamp((x - a) / (b - a), 0, 1);
|
||||
|
||||
// -------------------- Joint Map with per-joint angle limits --------------------
|
||||
const fingerJointMap = [
|
||||
// Thumb (4)
|
||||
{ finger:0, joint:0, type:'CMC_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:0, joint:1, type:'CMC_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:0, joint:2, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
{ finger:0, joint:3, type:'IP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Index (3)
|
||||
{ finger:1, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:1, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:1, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Middle (3)
|
||||
{ finger:2, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:2, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:2, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
|
||||
|
||||
// Ring (3)
|
||||
{ finger:3, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
|
||||
{ finger:3, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:3, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false }, // +45° only
|
||||
|
||||
// Pinky (3)
|
||||
{ finger:4, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:4, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
|
||||
{ finger:4, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false } // +45° only
|
||||
];
|
||||
|
||||
// Assign angle limits (radians) per joint (default ±45°, exceptions: +45° only)
|
||||
for (const j of fingerJointMap) {
|
||||
const isThumb = j.finger === 0;
|
||||
const isPIP = j.type === 'PIP_FLEXION';
|
||||
let minA = -45 * DEG, maxA = +45 * DEG;
|
||||
if ((isThumb && (j.type === 'MCP_FLEXION' || j.type === 'IP_FLEXION')) || (!isThumb && isPIP)) {
|
||||
minA = 0;
|
||||
maxA = +45 * DEG;
|
||||
}
|
||||
j.angleMin = minA;
|
||||
j.angleMax = maxA;
|
||||
}
|
||||
|
||||
// -------------------- UI: Joint Panel --------------------
|
||||
const uiRefs = []; // per joint: { valueLabel, bar, barWrap, slider, invertChk, minDeg, maxDeg }
|
||||
|
||||
function initializeJointElements() {
|
||||
jointsContainer.innerHTML = '';
|
||||
uiRefs.length = 0;
|
||||
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const wrap = document.createElement('div');
|
||||
wrap.className = 'joint-info';
|
||||
|
||||
const fingerIndex = i < 4 ? 0 : Math.floor((i - 4) / 3) + 1;
|
||||
const jointInfo = fingerJointMap[i];
|
||||
const jointType = jointInfo?.type || 'Unknown';
|
||||
const fingerName = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky'][fingerIndex];
|
||||
|
||||
// Header
|
||||
const nameEl = document.createElement('div');
|
||||
nameEl.className = 'joint-name';
|
||||
nameEl.textContent = `${fingerName} – ${jointType}`;
|
||||
|
||||
// Value + bar
|
||||
const valueEl = document.createElement('div');
|
||||
valueEl.className = 'joint-value';
|
||||
valueEl.textContent = `Value: ${jointValues[i]}`;
|
||||
|
||||
const barWrap = document.createElement('div');
|
||||
barWrap.className = 'bar-container';
|
||||
const barEl = document.createElement('div');
|
||||
barEl.className = 'bar';
|
||||
barWrap.appendChild(barEl);
|
||||
|
||||
// Slider for pre-connect manual control
|
||||
const slider = document.createElement('input');
|
||||
slider.type = 'range';
|
||||
slider.min = String(RAW_MIN);
|
||||
slider.max = String(RAW_MAX);
|
||||
slider.value = String(jointValues[i]);
|
||||
slider.step = '1';
|
||||
slider.className = 'joint-slider';
|
||||
|
||||
slider.addEventListener('input', () => {
|
||||
if (isConnected) return; // ignore while connected
|
||||
let v = parseInt(slider.value, 10);
|
||||
if (jointInfo?.inverted) v = (jointInfo.min + jointInfo.max) - v;
|
||||
jointValues[i] = clamp(jointInfo ? v : 0, RAW_MIN, RAW_MAX);
|
||||
updateJointDisplay(i, jointValues[i]);
|
||||
updateHandModel();
|
||||
});
|
||||
|
||||
// Invert checkbox
|
||||
const invertLbl = document.createElement('label');
|
||||
invertLbl.className = 'invert-toggle';
|
||||
const invertChk = document.createElement('input');
|
||||
invertChk.type = 'checkbox';
|
||||
invertChk.checked = !!jointInfo?.inverted;
|
||||
invertChk.addEventListener('change', () => {
|
||||
if (jointInfo) jointInfo.inverted = invertChk.checked;
|
||||
addLogMessage(`${fingerName} ${jointType} inversion ${invertChk.checked ? 'enabled' : 'disabled'}`);
|
||||
});
|
||||
invertLbl.appendChild(invertChk);
|
||||
invertLbl.appendChild(document.createTextNode('Invert Values'));
|
||||
|
||||
// Angle limits (deg) controls
|
||||
const limitsRow = document.createElement('div');
|
||||
limitsRow.className = 'limits-row';
|
||||
|
||||
const minDeg = document.createElement('input');
|
||||
minDeg.type = 'number';
|
||||
minDeg.min = String(UI_DEG_MIN);
|
||||
minDeg.max = String(UI_DEG_MAX);
|
||||
minDeg.step = '1';
|
||||
minDeg.value = String(Math.round((jointInfo.angleMin || 0) / DEG));
|
||||
minDeg.className = 'limit-num';
|
||||
|
||||
const maxDeg = document.createElement('input');
|
||||
maxDeg.type = 'number';
|
||||
maxDeg.min = String(UI_DEG_MIN);
|
||||
maxDeg.max = String(UI_DEG_MAX);
|
||||
maxDeg.step = '1';
|
||||
maxDeg.value = String(Math.round((jointInfo.angleMax || 0) / DEG));
|
||||
maxDeg.className = 'limit-num';
|
||||
|
||||
const minLbl = document.createElement('span'); minLbl.textContent = 'min°';
|
||||
const maxLbl = document.createElement('span'); maxLbl.textContent = 'max°';
|
||||
minLbl.className = 'limit-label'; maxLbl.className = 'limit-label';
|
||||
|
||||
function syncLimits() {
|
||||
let mn = parseFloat(minDeg.value);
|
||||
let mx = parseFloat(maxDeg.value);
|
||||
if (isNaN(mn)) mn = -45;
|
||||
if (isNaN(mx)) mx = +45;
|
||||
if (mn > mx) [mn, mx] = [mx, mn];
|
||||
jointInfo.angleMin = clamp(mn, UI_DEG_MIN, UI_DEG_MAX) * DEG;
|
||||
jointInfo.angleMax = clamp(mx, UI_DEG_MIN, UI_DEG_MAX) * DEG;
|
||||
minDeg.value = String(Math.round(jointInfo.angleMin / DEG));
|
||||
maxDeg.value = String(Math.round(jointInfo.angleMax / DEG));
|
||||
updateHandModel();
|
||||
}
|
||||
minDeg.addEventListener('change', syncLimits);
|
||||
maxDeg.addEventListener('change', syncLimits);
|
||||
|
||||
limitsRow.appendChild(minLbl);
|
||||
limitsRow.appendChild(minDeg);
|
||||
limitsRow.appendChild(maxLbl);
|
||||
limitsRow.appendChild(maxDeg);
|
||||
|
||||
// Calibration controls
|
||||
const calibRow = document.createElement('div');
|
||||
calibRow.className = 'calib-row';
|
||||
|
||||
const resetCalibBtn = document.createElement('button');
|
||||
resetCalibBtn.textContent = 'Reset Calib';
|
||||
resetCalibBtn.className = 'calib-btn';
|
||||
resetCalibBtn.addEventListener('click', () => {
|
||||
observedMin[i] = Infinity;
|
||||
observedMax[i] = -Infinity;
|
||||
addLogMessage(`Reset calibration for ${fingerName} ${jointType}`);
|
||||
});
|
||||
|
||||
const calibStatus = document.createElement('span');
|
||||
calibStatus.className = 'calib-status';
|
||||
calibStatus.textContent = `Range: --`;
|
||||
|
||||
calibRow.appendChild(resetCalibBtn);
|
||||
calibRow.appendChild(calibStatus);
|
||||
|
||||
// Compose
|
||||
wrap.appendChild(nameEl);
|
||||
wrap.appendChild(valueEl);
|
||||
wrap.appendChild(barWrap);
|
||||
wrap.appendChild(slider);
|
||||
wrap.appendChild(invertLbl);
|
||||
wrap.appendChild(limitsRow);
|
||||
wrap.appendChild(calibRow);
|
||||
|
||||
jointsContainer.appendChild(wrap);
|
||||
|
||||
uiRefs[i] = { valueLabel: valueEl, bar: barEl, barWrap, slider, invertChk, minDeg, maxDeg, nameEl, calibStatus };
|
||||
}
|
||||
|
||||
setConnectedUI(false); // initial state: sliders active
|
||||
}
|
||||
|
||||
// Toggle UI between pre-connect SLIDERS vs post-connect BARS
|
||||
function setConnectedUI(connected) {
|
||||
isConnected = connected;
|
||||
for (let i = 0; i < uiRefs.length; i++) {
|
||||
const ui = uiRefs[i];
|
||||
if (!ui) continue;
|
||||
// Show bars when connected; sliders disabled/hidden
|
||||
ui.barWrap.style.display = connected ? '' : 'none';
|
||||
ui.slider.disabled = connected;
|
||||
ui.slider.style.display = connected ? 'none' : '';
|
||||
}
|
||||
|
||||
// Reset calibration when connecting
|
||||
if (connected) {
|
||||
observedMin.fill(Infinity);
|
||||
observedMax.fill(-Infinity);
|
||||
addLogMessage('Calibration reset - move joints through full range for best results');
|
||||
}
|
||||
}
|
||||
|
||||
// Update joint display (value text + bar color/width + slider position if needed)
|
||||
function updateJointDisplay(jointIndex, value) {
|
||||
const ui = uiRefs[jointIndex];
|
||||
const info = fingerJointMap[jointIndex];
|
||||
if (!ui || !info) return;
|
||||
|
||||
ui.valueLabel.textContent = `Value: ${value}`;
|
||||
|
||||
// bar
|
||||
const min = info.min, max = info.max;
|
||||
const pct = clamp((value - min) / (max - min), 0, 1) * 100;
|
||||
ui.bar.style.width = `${pct}%`;
|
||||
const hue = Math.floor(pct * 1.2); // 0..120
|
||||
ui.bar.style.backgroundColor = `hsl(${hue}, 80%, 50%)`;
|
||||
|
||||
// slider (only meaningful when not connected; keep in sync anyway)
|
||||
const rawForSlider = info.inverted ? (info.min + info.max) - value : value;
|
||||
if (!isConnected) ui.slider.value = String(clamp(Math.round(rawForSlider), RAW_MIN, RAW_MAX));
|
||||
}
|
||||
|
||||
// -------------------- Serial I/O --------------------
|
||||
async function readSerialData() {
|
||||
while (port?.readable && keepReading) {
|
||||
reader = port.readable.getReader();
|
||||
try {
|
||||
while (true) {
|
||||
const { value, done } = await reader.read();
|
||||
if (done) break;
|
||||
if (value) processData(decoder.decode(value));
|
||||
}
|
||||
} catch (err) {
|
||||
console.error('Error reading:', err);
|
||||
addLogMessage(`Error: ${err.message}`);
|
||||
break;
|
||||
} finally {
|
||||
reader.releaseLock();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function processData(chunk) {
|
||||
inputBuffer += chunk;
|
||||
let idx;
|
||||
while ((idx = inputBuffer.indexOf('\n')) !== -1) {
|
||||
const line = inputBuffer.slice(0, idx).trim();
|
||||
inputBuffer = inputBuffer.slice(idx + 1);
|
||||
|
||||
const vals = line.split(/\s+/).map(v => parseInt(v, 10));
|
||||
if (vals.length === MAX_JOINTS && vals.every(v => Number.isFinite(v))) {
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const info = fingerJointMap[i];
|
||||
if (!info) continue;
|
||||
|
||||
let rawValue = vals[i];
|
||||
|
||||
// Update calibration tracking
|
||||
if (calibrationEnabled) {
|
||||
observedMin[i] = Math.min(observedMin[i], rawValue);
|
||||
observedMax[i] = Math.max(observedMax[i], rawValue);
|
||||
|
||||
// Update calibration display
|
||||
const ui = uiRefs[i];
|
||||
if (ui && ui.calibStatus) {
|
||||
if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity) {
|
||||
ui.calibStatus.textContent = `Range: ${observedMin[i]}-${observedMax[i]}`;
|
||||
}
|
||||
}
|
||||
|
||||
// Remap observed range to target range
|
||||
if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity && observedMax[i] > observedMin[i]) {
|
||||
const observedRange = observedMax[i] - observedMin[i];
|
||||
const targetRange = info.max - info.min;
|
||||
const normalizedValue = (rawValue - observedMin[i]) / observedRange;
|
||||
rawValue = info.min + (normalizedValue * targetRange);
|
||||
}
|
||||
}
|
||||
|
||||
let v = clamp(rawValue, info.min, info.max);
|
||||
if (info.inverted) v = (info.min + info.max) - v;
|
||||
jointValues[i] = v;
|
||||
updateJointDisplay(i, v);
|
||||
}
|
||||
updateHandModel();
|
||||
} else {
|
||||
addLogMessage(`Received: ${line}`);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
async function connectToDevice() {
|
||||
try {
|
||||
port = await navigator.serial.requestPort();
|
||||
const baudRate = parseInt(baudRateSelect.value, 10) || 115200;
|
||||
await port.open({ baudRate });
|
||||
|
||||
keepReading = true;
|
||||
setConnectedUI(true);
|
||||
|
||||
statusIndicator.textContent = 'Status: Connected';
|
||||
statusIndicator.className = 'status connected';
|
||||
connectButton.disabled = true;
|
||||
disconnectButton.disabled = false;
|
||||
baudRateSelect.disabled = true;
|
||||
|
||||
addLogMessage(`Connected at ${baudRate} baud`);
|
||||
readSerialData();
|
||||
} catch (e) {
|
||||
console.error('Connect error:', e);
|
||||
addLogMessage(`Connection error: ${e.message}`);
|
||||
}
|
||||
}
|
||||
|
||||
async function disconnectFromDevice() {
|
||||
try {
|
||||
keepReading = false;
|
||||
if (reader) {
|
||||
try { reader.cancel(); } catch {}
|
||||
}
|
||||
if (port) {
|
||||
await port.close();
|
||||
port = null;
|
||||
}
|
||||
} catch (e) {
|
||||
console.error('Disconnect error:', e);
|
||||
addLogMessage(`Disconnection error: ${e.message}`);
|
||||
} finally {
|
||||
setConnectedUI(false);
|
||||
statusIndicator.textContent = 'Status: Disconnected';
|
||||
statusIndicator.className = 'status disconnected';
|
||||
connectButton.disabled = false;
|
||||
disconnectButton.disabled = true;
|
||||
baudRateSelect.disabled = false;
|
||||
addLogMessage('Disconnected');
|
||||
}
|
||||
}
|
||||
|
||||
// -------------------- Three.js Scene --------------------
|
||||
function initThreeJS() {
|
||||
scene = new THREE.Scene();
|
||||
scene.background = new THREE.Color(0xf0f0f0);
|
||||
|
||||
camera = new THREE.PerspectiveCamera(
|
||||
75,
|
||||
canvasContainer.clientWidth / canvasContainer.clientHeight,
|
||||
0.1, 1000
|
||||
);
|
||||
camera.position.set(0, 15, 15);
|
||||
camera.lookAt(0, 0, 0);
|
||||
|
||||
renderer = new THREE.WebGLRenderer({ antialias: true });
|
||||
renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
|
||||
renderer.setPixelRatio(window.devicePixelRatio);
|
||||
canvasContainer.appendChild(renderer.domElement);
|
||||
|
||||
controls = new THREE.OrbitControls(camera, renderer.domElement);
|
||||
controls.enableDamping = true;
|
||||
controls.dampingFactor = 0.25;
|
||||
|
||||
const ambientLight = new THREE.AmbientLight(0x404040);
|
||||
scene.add(ambientLight);
|
||||
const dir1 = new THREE.DirectionalLight(0xffffff, 0.5);
|
||||
dir1.position.set(1, 1, 1);
|
||||
scene.add(dir1);
|
||||
const dir2 = new THREE.DirectionalLight(0xffffff, 0.3);
|
||||
dir2.position.set(-1, 1, -1);
|
||||
scene.add(dir2);
|
||||
|
||||
const gridHelper = new THREE.GridHelper(20, 20);
|
||||
scene.add(gridHelper);
|
||||
|
||||
createHandModel();
|
||||
window.addEventListener('resize', onWindowResize);
|
||||
animate();
|
||||
}
|
||||
|
||||
function createHandModel() {
|
||||
const palmMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
|
||||
const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
|
||||
const jointMaterial = new THREE.MeshPhongMaterial({ color: 0xe3a977 });
|
||||
|
||||
const palmGeometry = new THREE.BoxGeometry(7, 1, 8);
|
||||
hand.palm = new THREE.Mesh(palmGeometry, palmMaterial);
|
||||
hand.palm.position.set(0, 0, 0);
|
||||
hand.palm.rotation.x = Math.PI / 2; // hand vertical, palm facing forward
|
||||
scene.add(hand.palm);
|
||||
|
||||
const fingerWidth = 1, fingerHeight = 0.8;
|
||||
const fingerSegmentLengths = [3, 2, 1.5];
|
||||
const thumbSegmentLengths = [2, 2, 1.5];
|
||||
|
||||
const fingerBasePositions = [
|
||||
[ 3, 0, -2], // Thumb
|
||||
[ 1.5,-0.5,-4], // Index
|
||||
[ 0, -0.5,-4], // Middle
|
||||
[-1.5,-0.5,-4], // Ring
|
||||
[-3, -0.5,-4], // Pinky
|
||||
];
|
||||
const fingerBaseRot = [
|
||||
{ x:0, y:-Math.PI/3, z: Math.PI/3 }, // Thumb
|
||||
{ x:0, y:-Math.PI/48, z: 0 },
|
||||
{ x:0, y: Math.PI/48, z: 0 },
|
||||
{ x:0, y: Math.PI/32, z: 0 },
|
||||
{ x:0, y: Math.PI/24, z: 0 }
|
||||
];
|
||||
|
||||
for (let fIdx = 0; fIdx < 5; fIdx++) {
|
||||
const finger = { name:['Thumb','Index','Middle','Ring','Pinky'][fIdx], segments:[], joints:[] };
|
||||
const isThumb = fIdx === 0;
|
||||
const segLens = isThumb ? thumbSegmentLengths : fingerSegmentLengths;
|
||||
|
||||
finger.group = new THREE.Group();
|
||||
finger.group.position.set(...fingerBasePositions[fIdx]);
|
||||
finger.group.rotation.x = fingerBaseRot[fIdx].x;
|
||||
finger.group.rotation.y = fingerBaseRot[fIdx].y;
|
||||
finger.group.rotation.z = fingerBaseRot[fIdx].z;
|
||||
finger.group.userData.baseRot = {
|
||||
x:finger.group.rotation.x,
|
||||
y:finger.group.rotation.y,
|
||||
z:finger.group.rotation.z
|
||||
};
|
||||
hand.palm.add(finger.group);
|
||||
|
||||
let parent = finger.group;
|
||||
for (let s = 0; s < segLens.length; s++) {
|
||||
const segGroup = new THREE.Group();
|
||||
|
||||
const jGeom = new THREE.SphereGeometry(fingerWidth * 0.6, 8, 8);
|
||||
const joint = new THREE.Mesh(jGeom, jointMaterial);
|
||||
segGroup.add(joint);
|
||||
|
||||
const segGeom = new THREE.BoxGeometry(fingerWidth, fingerHeight, segLens[s]);
|
||||
const seg = new THREE.Mesh(segGeom, fingerMaterial);
|
||||
seg.position.z = -segLens[s] / 2;
|
||||
segGroup.add(seg);
|
||||
|
||||
parent.add(segGroup);
|
||||
|
||||
finger.segments.push(segGroup);
|
||||
finger.joints.push(joint);
|
||||
|
||||
if (s < segLens.length - 1) {
|
||||
const connector = new THREE.Group();
|
||||
connector.position.z = -segLens[s];
|
||||
segGroup.add(connector);
|
||||
parent = connector;
|
||||
}
|
||||
}
|
||||
|
||||
hand.fingers.push(finger);
|
||||
}
|
||||
|
||||
addFingerLabels();
|
||||
addHandLabel();
|
||||
}
|
||||
|
||||
function addFingerLabels() {
|
||||
const names = ['Thumb','Index','Middle','Ring','Pinky'];
|
||||
for (let i = 0; i < hand.fingers.length; i++) {
|
||||
const finger = hand.fingers[i];
|
||||
const canvas = document.createElement('canvas');
|
||||
const ctx = canvas.getContext('2d');
|
||||
canvas.width = 128; canvas.height = 32;
|
||||
ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
|
||||
ctx.font = 'bold 16px Arial';
|
||||
ctx.fillStyle = '#000000';
|
||||
ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
|
||||
ctx.fillText(names[i], canvas.width/2, canvas.height/2);
|
||||
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
const geom = new THREE.PlaneGeometry(2, 0.5);
|
||||
const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
|
||||
const label = new THREE.Mesh(geom, mat);
|
||||
label.position.set(0, -1.5, -2);
|
||||
label.rotation.x = Math.PI / 2;
|
||||
finger.group.add(label);
|
||||
}
|
||||
}
|
||||
|
||||
function addHandLabel() {
|
||||
const canvas = document.createElement('canvas');
|
||||
const ctx = canvas.getContext('2d');
|
||||
canvas.width = 256; canvas.height = 64;
|
||||
ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
|
||||
ctx.font = 'bold 24px Arial';
|
||||
ctx.fillStyle = '#000000';
|
||||
ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
|
||||
ctx.fillText('RIGHT HAND (VERTICAL)', canvas.width/2, canvas.height/2);
|
||||
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
const geom = new THREE.PlaneGeometry(7, 1.75);
|
||||
const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
|
||||
const label = new THREE.Mesh(geom, mat);
|
||||
label.position.set(0, -2, 0);
|
||||
label.rotation.x = Math.PI / 2;
|
||||
scene.add(label);
|
||||
}
|
||||
|
||||
function updateHandModel() {
|
||||
for (let i = 0; i < MAX_JOINTS; i++) {
|
||||
const info = fingerJointMap[i];
|
||||
if (!info) continue;
|
||||
const { finger, joint, type, min, max, angleMin, angleMax } = info;
|
||||
const raw = jointValues[i];
|
||||
const f = hand.fingers[finger];
|
||||
if (!f) continue;
|
||||
|
||||
const center = (min + max) / 2;
|
||||
let angle = 0;
|
||||
|
||||
if (type.includes('ABDUCTION')) {
|
||||
// symmetric around neutral
|
||||
const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
|
||||
angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
|
||||
|
||||
const base = f.group.userData.baseRot || {x:0,y:0,z:0};
|
||||
if (finger === 0 && joint === 0) {
|
||||
// Thumb: abduction about Z (toward/away from palm)
|
||||
f.group.rotation.z = base.z + angle;
|
||||
} else {
|
||||
// Other fingers: side-to-side about Y
|
||||
f.group.rotation.y = base.y + angle;
|
||||
}
|
||||
} else if (type.includes('FLEXION')) {
|
||||
const isThumb = finger === 0;
|
||||
const isMCP = type === 'MCP_FLEXION';
|
||||
const isPIP = type === 'PIP_FLEXION';
|
||||
const positiveOnly = (isThumb && (type === 'MCP_FLEXION' || type === 'IP_FLEXION')) || (!isThumb && isPIP);
|
||||
|
||||
if (positiveOnly) {
|
||||
const t = raw <= center ? 0 : invLerp(center, max, raw); // 0..1
|
||||
angle = angleMin + t * (angleMax - angleMin); // 0..+limit
|
||||
} else {
|
||||
const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
|
||||
angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
|
||||
}
|
||||
|
||||
if (isMCP) {
|
||||
// MCP flexion applies to the finger base group (same as abduction)
|
||||
const base = f.group.userData.baseRot || {x:0,y:0,z:0};
|
||||
f.group.rotation.x = base.x + angle;
|
||||
} else if (f.segments[joint]) {
|
||||
// PIP/DIP/IP flexion applies to individual segments
|
||||
f.segments[joint].rotation.x = angle;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// -------------------- Render Loop --------------------
|
||||
function onWindowResize() {
|
||||
camera.aspect = canvasContainer.clientWidth / canvasContainer.clientHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
|
||||
}
|
||||
|
||||
function animate() {
|
||||
requestAnimationFrame(animate);
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
}
|
||||
|
||||
// -------------------- Misc UI --------------------
|
||||
function addLogMessage(msg) {
|
||||
const el = document.createElement('div');
|
||||
el.textContent = msg;
|
||||
logContainer.appendChild(el);
|
||||
logContainer.scrollTop = logContainer.scrollHeight;
|
||||
while (logContainer.children.length > 100) {
|
||||
logContainer.removeChild(logContainer.firstChild);
|
||||
}
|
||||
}
|
||||
|
||||
// Camera view controls
|
||||
frontViewBtn?.addEventListener('click', () => { camera.position.set(0, 0, 20); camera.lookAt(0,0,0); controls.update(); });
|
||||
sideViewBtn?.addEventListener('click', () => { camera.position.set(20, 0, 0); camera.lookAt(0,0,0); controls.update(); });
|
||||
topViewBtn?.addEventListener('click', () => { camera.position.set(0, 20, 0); camera.lookAt(0,0,0); controls.update(); });
|
||||
resetViewBtn?.addEventListener('click', () => { camera.position.set(10,10,10); camera.lookAt(0,0,0); controls.update(); });
|
||||
|
||||
// Serial connect buttons
|
||||
connectButton?.addEventListener('click', connectToDevice);
|
||||
disconnectButton?.addEventListener('click', disconnectFromDevice);
|
||||
|
||||
// Web Serial support check
|
||||
if (!navigator.serial) {
|
||||
statusIndicator.textContent = 'Status: Web Serial API not supported in this browser';
|
||||
connectButton.disabled = true;
|
||||
addLogMessage('ERROR: Web Serial API is not supported in this browser. Try Chrome or Edge.');
|
||||
}
|
||||
|
||||
// -------------------- Boot --------------------
|
||||
initThreeJS();
|
||||
initializeJointElements();
|
||||
|
||||
// -------------------- Styles (inline) --------------------
|
||||
const styleElement = document.createElement('style');
|
||||
styleElement.textContent = `
|
||||
.joint-info { border-bottom: 1px solid #eee; padding: 8px 0; }
|
||||
.joint-name { font-weight: 600; margin-bottom: 4px; }
|
||||
.joint-value { font-size: 12px; color: #333; margin-bottom: 4px; }
|
||||
.bar-container { width: 100%; height: 8px; background: #ddd; border-radius: 4px; overflow: hidden; }
|
||||
.bar { height: 100%; width: 0%; background: #4caf50; }
|
||||
.joint-slider { width: 100%; margin: 6px 0; }
|
||||
.invert-toggle { display: inline-flex; align-items: center; gap: 6px; margin-top: 4px; font-size: 12px; color: #555; }
|
||||
.limits-row { display: flex; align-items: center; gap: 6px; margin-top: 6px; flex-wrap: wrap; }
|
||||
.limit-label { font-size: 11px; color: #666; }
|
||||
.limit-num { width: 60px; }
|
||||
.calib-row { display: flex; align-items: center; gap: 8px; margin-top: 4px; }
|
||||
.calib-btn { padding: 2px 6px; font-size: 11px; background: #f44336; color: white; border: none; border-radius: 3px; cursor: pointer; }
|
||||
.calib-btn:hover { background: #d32f2f; }
|
||||
.calib-status { font-size: 11px; color: #666; }
|
||||
.status.connected { color: #0a0; }
|
||||
.status.disconnected { color: #a00; }
|
||||
`;
|
||||
document.head.appendChild(styleElement);
|
||||
Reference in New Issue
Block a user