mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-12 15:19:43 +00:00
Compare commits
7 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 AdilZouitine
|
8b4dcb1496 | ||
|
Pepijn
|
882c80d446 | ||
|
Pepijn
|
61b0eeae4b | ||
|
mgiac-hexagon
|
577cd10974 | ||
|
lxk
|
b0923ab74b | ||
|
Jack Vial
|
7f70b78f32 | ||
|
Steven Palma
|
55198de096 |
@@ -86,11 +86,11 @@ repos:
|
||||
|
||||
# TODO(Steven): Uncomment when ready to use
|
||||
##### Static Analysis & Typing #####
|
||||
# - repo: https://github.com/pre-commit/mirrors-mypy
|
||||
# rev: v1.16.0
|
||||
# hooks:
|
||||
# - id: mypy
|
||||
# args: [--python-version=3.10]
|
||||
- repo: https://github.com/pre-commit/mirrors-mypy
|
||||
rev: v1.16.0
|
||||
hooks:
|
||||
- id: mypy
|
||||
args: [--python-version=3.10]
|
||||
|
||||
##### Docstring Checks #####
|
||||
# - repo: https://github.com/akaihola/darglint2
|
||||
|
||||
@@ -29,7 +29,7 @@ ENV DEBIAN_FRONTEND=noninteractive \
|
||||
|
||||
# Install system dependencies and uv (as root)
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \
|
||||
build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
|
||||
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
|
||||
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
|
||||
&& mv /root/.local/bin/uv /usr/local/bin/uv \
|
||||
|
||||
@@ -39,6 +39,8 @@
|
||||
- sections:
|
||||
- local: notebooks
|
||||
title: Notebooks
|
||||
- local: feetech
|
||||
title: Updating Feetech Firmware
|
||||
title: "Resources"
|
||||
- sections:
|
||||
- local: contributing
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
# Feetech Motor Firmware Update
|
||||
|
||||
This tutorial guides you through updating the firmware of Feetech motors using the official Feetech software.
|
||||
|
||||
## Prerequisites
|
||||
|
||||
- Windows computer (Feetech software is only available for Windows)
|
||||
- Feetech motor control board
|
||||
- USB cable to connect the control board to your computer
|
||||
- Feetech motors connected to the control board
|
||||
|
||||
## Step 1: Download Feetech Software
|
||||
|
||||
1. Visit the official Feetech software download page: [https://www.feetechrc.com/software.html](https://www.feetechrc.com/software.html)
|
||||
2. Download the latest version of the Feetech debugging software (FD)
|
||||
3. Install the software on your Windows computer
|
||||
|
||||
## Step 2: Hardware Setup
|
||||
|
||||
1. Connect your Feetech motors to the motor control board
|
||||
2. Connect the motor control board to your Windows computer via USB cable
|
||||
3. Ensure power is supplied to the motors
|
||||
|
||||
## Step 3: Configure Connection
|
||||
|
||||
1. Launch the Feetech debugging software
|
||||
2. Select the correct COM port from the port dropdown menu
|
||||
- If unsure which port to use, check Windows Device Manager under "Ports (COM & LPT)"
|
||||
3. Set the appropriate baud rate (typically 1000000 for most Feetech motors)
|
||||
4. Click "Open" to establish communication with the control board
|
||||
|
||||
## Step 4: Scan for Motors
|
||||
|
||||
1. Once connected, click the "Search" button to detect all connected motors
|
||||
2. The software will automatically discover and list all motors on the bus
|
||||
3. Each motor will appear with its ID number
|
||||
|
||||
## Step 5: Update Firmware
|
||||
|
||||
For each motor you want to update:
|
||||
|
||||
1. **Select the motor** from the list by clicking on it
|
||||
2. **Click on Upgrade tab**:
|
||||
3. **Click on Online button**:
|
||||
- If an potential firmware update is found, it will be displayed in the box
|
||||
4. **Click on Upgrade button**:
|
||||
- The update progress will be displayed
|
||||
|
||||
## Step 6: Verify Update
|
||||
|
||||
1. After the update completes, the software should automatically refresh the motor information
|
||||
2. Verify that the firmware version has been updated to the expected version
|
||||
|
||||
## Important Notes
|
||||
|
||||
⚠️ **Warning**: Do not disconnect power or USB during firmware updates, it will potentially brick the motor.
|
||||
|
||||
## Bonus: Motor Debugging on Linux/macOS
|
||||
|
||||
For debugging purposes only, you can use the open-source Feetech Debug Tool:
|
||||
|
||||
- **Repository**: [FT_SCServo_Debug_Qt](https://github.com/CarolinePascal/FT_SCServo_Debug_Qt/tree/fix/port-search-timer)
|
||||
|
||||
### Installation Instructions
|
||||
|
||||
Follow the instructions in the repository to install the tool, for Ubuntu you can directly install it, for MacOS you need to build it from source.
|
||||
|
||||
**Limitations:**
|
||||
|
||||
- This tool is for debugging and parameter adjustment only
|
||||
- Firmware updates must still be done on Windows with official Feetech software
|
||||
@@ -117,14 +117,6 @@ 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
|
||||
|
||||
@@ -1,182 +0,0 @@
|
||||
<!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>
|
||||
@@ -1,669 +0,0 @@
|
||||
// === 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);
|
||||
+5
-5
@@ -257,8 +257,8 @@ default.extend-ignore-identifiers-re = [
|
||||
# color = true
|
||||
# paths = ["src/lerobot"]
|
||||
|
||||
# [tool.mypy]
|
||||
# python_version = "3.10"
|
||||
# warn_return_any = true
|
||||
# warn_unused_configs = true
|
||||
# ignore_missing_imports = false
|
||||
[tool.mypy]
|
||||
python_version = "3.10"
|
||||
warn_return_any = true
|
||||
warn_unused_configs = true
|
||||
ignore_missing_imports = false
|
||||
|
||||
@@ -825,6 +825,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
|
||||
"""
|
||||
if not episode_data:
|
||||
episode_buffer = self.episode_buffer
|
||||
else:
|
||||
episode_buffer = episode_data
|
||||
|
||||
validate_episode_buffer(episode_buffer, self.meta.total_episodes, self.features)
|
||||
|
||||
|
||||
@@ -107,6 +107,8 @@ X_SERIES_ENCODINGS_TABLE = {
|
||||
"Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1],
|
||||
"Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1],
|
||||
"Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1],
|
||||
"Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1],
|
||||
"Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1],
|
||||
"Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1],
|
||||
"Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1],
|
||||
"Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1],
|
||||
|
||||
@@ -161,6 +161,11 @@ class SO100Follower(Robot):
|
||||
self.bus.write("I_Coefficient", motor, 0)
|
||||
self.bus.write("D_Coefficient", motor, 32)
|
||||
|
||||
if motor == "gripper":
|
||||
self.bus.write("Max_Torque_Limit", motor, 500) # 50% of max torque to avoid burnout
|
||||
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
|
||||
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
|
||||
|
||||
def setup_motors(self) -> None:
|
||||
for motor in reversed(self.bus.motors):
|
||||
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
|
||||
|
||||
@@ -157,6 +157,13 @@ class SO101Follower(Robot):
|
||||
self.bus.write("I_Coefficient", motor, 0)
|
||||
self.bus.write("D_Coefficient", motor, 32)
|
||||
|
||||
if motor == "gripper":
|
||||
self.bus.write(
|
||||
"Max_Torque_Limit", motor, 500
|
||||
) # 50% of the max torque limit to avoid burnout
|
||||
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
|
||||
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
|
||||
|
||||
def setup_motors(self) -> None:
|
||||
for motor in reversed(self.bus.motors):
|
||||
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
|
||||
|
||||
@@ -302,11 +302,6 @@ class RobotClient:
|
||||
|
||||
self.logger.debug(f"Current latest action: {latest_action}")
|
||||
|
||||
# Get queue state before changes
|
||||
old_size, old_timesteps = self._inspect_action_queue()
|
||||
if not old_timesteps:
|
||||
old_timesteps = [latest_action] # queue was empty
|
||||
|
||||
# Get queue state before changes
|
||||
old_size, old_timesteps = self._inspect_action_queue()
|
||||
if not old_timesteps:
|
||||
|
||||
@@ -1,182 +0,0 @@
|
||||
<!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>
|
||||
@@ -1,669 +0,0 @@
|
||||
// === 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