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https://github.com/huggingface/lerobot.git
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pre-commit-ci[bot]
670 lines
24 KiB
JavaScript
670 lines
24 KiB
JavaScript
// === Hand Visualizer with Pre-Connect Sliders + Per-Joint Angle Limits ===
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// Assumes your HTML already has elements with the following IDs:
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// connectButton, disconnectButton, baudRate, statusIndicator, jointsContainer, logContainer,
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// canvas-container, frontView, sideView, topView, resetView
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// Requires Three.js + OrbitControls loaded on the page.
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// -------------------- Config --------------------
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const MAX_JOINTS = 16;
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const RAW_MIN = 0, RAW_MAX = 4096;
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const RAW_CENTER = (RAW_MIN + RAW_MAX) / 2;
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const DEG = Math.PI / 180;
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const UI_DEG_MIN = -90, UI_DEG_MAX = 90; // UI sliders for angle limits
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// -------------------- State --------------------
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let port;
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let reader;
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let keepReading = false;
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let isConnected = false;
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const decoder = new TextDecoder();
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let inputBuffer = '';
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let jointValues = new Array(MAX_JOINTS).fill(RAW_CENTER);
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// Auto-calibration: track observed min/max per joint
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let observedMin = new Array(MAX_JOINTS).fill(Infinity);
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let observedMax = new Array(MAX_JOINTS).fill(-Infinity);
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let calibrationEnabled = true;
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// Three.js
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let scene, camera, renderer, controls;
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let hand = { palm: null, fingers: [] };
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// DOM
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const connectButton = document.getElementById('connectButton');
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const disconnectButton = document.getElementById('disconnectButton');
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const baudRateSelect = document.getElementById('baudRate');
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const statusIndicator = document.getElementById('statusIndicator');
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const jointsContainer = document.getElementById('jointsContainer');
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const logContainer = document.getElementById('logContainer');
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const canvasContainer = document.getElementById('canvas-container');
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const frontViewBtn = document.getElementById('frontView');
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const sideViewBtn = document.getElementById('sideView');
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const topViewBtn = document.getElementById('topView');
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const resetViewBtn = document.getElementById('resetView');
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// Helpers
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const clamp = (x, a, b) => Math.max(a, Math.min(b, x));
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const invLerp = (a, b, x) => clamp((x - a) / (b - a), 0, 1);
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// -------------------- Joint Map with per-joint angle limits --------------------
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const fingerJointMap = [
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// Thumb (4)
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{ finger:0, joint:0, type:'CMC_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:0, joint:1, type:'CMC_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:0, joint:2, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
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{ finger:0, joint:3, type:'IP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
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// Index (3)
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{ finger:1, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:1, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
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{ finger:1, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
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// Middle (3)
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{ finger:2, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:2, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:2, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
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// Ring (3)
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{ finger:3, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:true },
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{ finger:3, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
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{ finger:3, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false }, // +45° only
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// Pinky (3)
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{ finger:4, joint:0, type:'MCP_ABDUCTION', min:RAW_MIN, max:RAW_MAX, inverted:false },
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{ finger:4, joint:1, type:'MCP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false },
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{ finger:4, joint:2, type:'PIP_FLEXION', min:RAW_MIN, max:RAW_MAX, inverted:false } // +45° only
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];
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// Assign angle limits (radians) per joint (default ±45°, exceptions: +45° only)
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for (const j of fingerJointMap) {
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const isThumb = j.finger === 0;
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const isPIP = j.type === 'PIP_FLEXION';
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let minA = -45 * DEG, maxA = +45 * DEG;
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if ((isThumb && (j.type === 'MCP_FLEXION' || j.type === 'IP_FLEXION')) || (!isThumb && isPIP)) {
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minA = 0;
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maxA = +45 * DEG;
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}
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j.angleMin = minA;
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j.angleMax = maxA;
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}
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// -------------------- UI: Joint Panel --------------------
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const uiRefs = []; // per joint: { valueLabel, bar, barWrap, slider, invertChk, minDeg, maxDeg }
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function initializeJointElements() {
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jointsContainer.innerHTML = '';
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uiRefs.length = 0;
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for (let i = 0; i < MAX_JOINTS; i++) {
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const wrap = document.createElement('div');
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wrap.className = 'joint-info';
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const fingerIndex = i < 4 ? 0 : Math.floor((i - 4) / 3) + 1;
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const jointInfo = fingerJointMap[i];
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const jointType = jointInfo?.type || 'Unknown';
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const fingerName = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky'][fingerIndex];
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// Header
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const nameEl = document.createElement('div');
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nameEl.className = 'joint-name';
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nameEl.textContent = `${fingerName} – ${jointType}`;
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// Value + bar
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const valueEl = document.createElement('div');
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valueEl.className = 'joint-value';
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valueEl.textContent = `Value: ${jointValues[i]}`;
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const barWrap = document.createElement('div');
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barWrap.className = 'bar-container';
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const barEl = document.createElement('div');
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barEl.className = 'bar';
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barWrap.appendChild(barEl);
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// Slider for pre-connect manual control
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const slider = document.createElement('input');
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slider.type = 'range';
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slider.min = String(RAW_MIN);
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slider.max = String(RAW_MAX);
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slider.value = String(jointValues[i]);
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slider.step = '1';
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slider.className = 'joint-slider';
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slider.addEventListener('input', () => {
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if (isConnected) return; // ignore while connected
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let v = parseInt(slider.value, 10);
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if (jointInfo?.inverted) v = (jointInfo.min + jointInfo.max) - v;
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jointValues[i] = clamp(jointInfo ? v : 0, RAW_MIN, RAW_MAX);
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updateJointDisplay(i, jointValues[i]);
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updateHandModel();
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});
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// Invert checkbox
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const invertLbl = document.createElement('label');
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invertLbl.className = 'invert-toggle';
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const invertChk = document.createElement('input');
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invertChk.type = 'checkbox';
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invertChk.checked = !!jointInfo?.inverted;
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invertChk.addEventListener('change', () => {
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if (jointInfo) jointInfo.inverted = invertChk.checked;
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addLogMessage(`${fingerName} ${jointType} inversion ${invertChk.checked ? 'enabled' : 'disabled'}`);
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});
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invertLbl.appendChild(invertChk);
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invertLbl.appendChild(document.createTextNode('Invert Values'));
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// Angle limits (deg) controls
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const limitsRow = document.createElement('div');
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limitsRow.className = 'limits-row';
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const minDeg = document.createElement('input');
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minDeg.type = 'number';
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minDeg.min = String(UI_DEG_MIN);
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minDeg.max = String(UI_DEG_MAX);
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minDeg.step = '1';
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minDeg.value = String(Math.round((jointInfo.angleMin || 0) / DEG));
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minDeg.className = 'limit-num';
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const maxDeg = document.createElement('input');
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maxDeg.type = 'number';
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maxDeg.min = String(UI_DEG_MIN);
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maxDeg.max = String(UI_DEG_MAX);
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maxDeg.step = '1';
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maxDeg.value = String(Math.round((jointInfo.angleMax || 0) / DEG));
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maxDeg.className = 'limit-num';
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const minLbl = document.createElement('span'); minLbl.textContent = 'min°';
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const maxLbl = document.createElement('span'); maxLbl.textContent = 'max°';
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minLbl.className = 'limit-label'; maxLbl.className = 'limit-label';
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function syncLimits() {
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let mn = parseFloat(minDeg.value);
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let mx = parseFloat(maxDeg.value);
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if (isNaN(mn)) mn = -45;
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if (isNaN(mx)) mx = +45;
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if (mn > mx) [mn, mx] = [mx, mn];
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jointInfo.angleMin = clamp(mn, UI_DEG_MIN, UI_DEG_MAX) * DEG;
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jointInfo.angleMax = clamp(mx, UI_DEG_MIN, UI_DEG_MAX) * DEG;
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minDeg.value = String(Math.round(jointInfo.angleMin / DEG));
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maxDeg.value = String(Math.round(jointInfo.angleMax / DEG));
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updateHandModel();
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}
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minDeg.addEventListener('change', syncLimits);
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maxDeg.addEventListener('change', syncLimits);
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limitsRow.appendChild(minLbl);
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limitsRow.appendChild(minDeg);
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limitsRow.appendChild(maxLbl);
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limitsRow.appendChild(maxDeg);
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// Calibration controls
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const calibRow = document.createElement('div');
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calibRow.className = 'calib-row';
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const resetCalibBtn = document.createElement('button');
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resetCalibBtn.textContent = 'Reset Calib';
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resetCalibBtn.className = 'calib-btn';
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resetCalibBtn.addEventListener('click', () => {
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observedMin[i] = Infinity;
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observedMax[i] = -Infinity;
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addLogMessage(`Reset calibration for ${fingerName} ${jointType}`);
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});
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const calibStatus = document.createElement('span');
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calibStatus.className = 'calib-status';
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calibStatus.textContent = `Range: --`;
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calibRow.appendChild(resetCalibBtn);
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calibRow.appendChild(calibStatus);
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// Compose
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wrap.appendChild(nameEl);
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wrap.appendChild(valueEl);
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wrap.appendChild(barWrap);
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wrap.appendChild(slider);
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wrap.appendChild(invertLbl);
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wrap.appendChild(limitsRow);
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wrap.appendChild(calibRow);
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jointsContainer.appendChild(wrap);
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uiRefs[i] = { valueLabel: valueEl, bar: barEl, barWrap, slider, invertChk, minDeg, maxDeg, nameEl, calibStatus };
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}
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setConnectedUI(false); // initial state: sliders active
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}
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// Toggle UI between pre-connect SLIDERS vs post-connect BARS
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function setConnectedUI(connected) {
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isConnected = connected;
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for (let i = 0; i < uiRefs.length; i++) {
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const ui = uiRefs[i];
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if (!ui) continue;
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// Show bars when connected; sliders disabled/hidden
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ui.barWrap.style.display = connected ? '' : 'none';
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ui.slider.disabled = connected;
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ui.slider.style.display = connected ? 'none' : '';
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}
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// Reset calibration when connecting
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if (connected) {
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observedMin.fill(Infinity);
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observedMax.fill(-Infinity);
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addLogMessage('Calibration reset - move joints through full range for best results');
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}
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}
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// Update joint display (value text + bar color/width + slider position if needed)
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function updateJointDisplay(jointIndex, value) {
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const ui = uiRefs[jointIndex];
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const info = fingerJointMap[jointIndex];
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if (!ui || !info) return;
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ui.valueLabel.textContent = `Value: ${value}`;
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// bar
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const min = info.min, max = info.max;
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const pct = clamp((value - min) / (max - min), 0, 1) * 100;
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ui.bar.style.width = `${pct}%`;
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const hue = Math.floor(pct * 1.2); // 0..120
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ui.bar.style.backgroundColor = `hsl(${hue}, 80%, 50%)`;
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// slider (only meaningful when not connected; keep in sync anyway)
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const rawForSlider = info.inverted ? (info.min + info.max) - value : value;
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if (!isConnected) ui.slider.value = String(clamp(Math.round(rawForSlider), RAW_MIN, RAW_MAX));
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}
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// -------------------- Serial I/O --------------------
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async function readSerialData() {
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while (port?.readable && keepReading) {
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reader = port.readable.getReader();
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try {
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while (true) {
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const { value, done } = await reader.read();
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if (done) break;
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if (value) processData(decoder.decode(value));
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}
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} catch (err) {
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console.error('Error reading:', err);
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addLogMessage(`Error: ${err.message}`);
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break;
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} finally {
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reader.releaseLock();
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}
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}
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}
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function processData(chunk) {
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inputBuffer += chunk;
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let idx;
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while ((idx = inputBuffer.indexOf('\n')) !== -1) {
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const line = inputBuffer.slice(0, idx).trim();
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inputBuffer = inputBuffer.slice(idx + 1);
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const vals = line.split(/\s+/).map(v => parseInt(v, 10));
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if (vals.length === MAX_JOINTS && vals.every(v => Number.isFinite(v))) {
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for (let i = 0; i < MAX_JOINTS; i++) {
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const info = fingerJointMap[i];
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if (!info) continue;
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let rawValue = vals[i];
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// Update calibration tracking
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if (calibrationEnabled) {
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observedMin[i] = Math.min(observedMin[i], rawValue);
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observedMax[i] = Math.max(observedMax[i], rawValue);
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// Update calibration display
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const ui = uiRefs[i];
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if (ui && ui.calibStatus) {
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if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity) {
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ui.calibStatus.textContent = `Range: ${observedMin[i]}-${observedMax[i]}`;
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}
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}
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// Remap observed range to target range
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if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity && observedMax[i] > observedMin[i]) {
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const observedRange = observedMax[i] - observedMin[i];
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const targetRange = info.max - info.min;
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const normalizedValue = (rawValue - observedMin[i]) / observedRange;
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rawValue = info.min + (normalizedValue * targetRange);
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}
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}
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let v = clamp(rawValue, info.min, info.max);
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if (info.inverted) v = (info.min + info.max) - v;
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jointValues[i] = v;
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updateJointDisplay(i, v);
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}
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updateHandModel();
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} else {
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addLogMessage(`Received: ${line}`);
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}
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}
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}
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async function connectToDevice() {
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try {
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port = await navigator.serial.requestPort();
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const baudRate = parseInt(baudRateSelect.value, 10) || 115200;
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await port.open({ baudRate });
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keepReading = true;
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setConnectedUI(true);
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statusIndicator.textContent = 'Status: Connected';
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statusIndicator.className = 'status connected';
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connectButton.disabled = true;
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disconnectButton.disabled = false;
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baudRateSelect.disabled = true;
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addLogMessage(`Connected at ${baudRate} baud`);
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readSerialData();
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} catch (e) {
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console.error('Connect error:', e);
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addLogMessage(`Connection error: ${e.message}`);
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}
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}
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async function disconnectFromDevice() {
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try {
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keepReading = false;
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if (reader) {
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try { reader.cancel(); } catch {}
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}
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if (port) {
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await port.close();
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port = null;
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}
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} catch (e) {
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console.error('Disconnect error:', e);
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addLogMessage(`Disconnection error: ${e.message}`);
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} finally {
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setConnectedUI(false);
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statusIndicator.textContent = 'Status: Disconnected';
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statusIndicator.className = 'status disconnected';
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connectButton.disabled = false;
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disconnectButton.disabled = true;
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baudRateSelect.disabled = false;
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addLogMessage('Disconnected');
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}
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}
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// -------------------- Three.js Scene --------------------
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function initThreeJS() {
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scene = new THREE.Scene();
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scene.background = new THREE.Color(0xf0f0f0);
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camera = new THREE.PerspectiveCamera(
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75,
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canvasContainer.clientWidth / canvasContainer.clientHeight,
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0.1, 1000
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);
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camera.position.set(0, 15, 15);
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camera.lookAt(0, 0, 0);
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renderer = new THREE.WebGLRenderer({ antialias: true });
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renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
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renderer.setPixelRatio(window.devicePixelRatio);
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canvasContainer.appendChild(renderer.domElement);
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controls = new THREE.OrbitControls(camera, renderer.domElement);
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controls.enableDamping = true;
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controls.dampingFactor = 0.25;
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const ambientLight = new THREE.AmbientLight(0x404040);
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scene.add(ambientLight);
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const dir1 = new THREE.DirectionalLight(0xffffff, 0.5);
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dir1.position.set(1, 1, 1);
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scene.add(dir1);
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const dir2 = new THREE.DirectionalLight(0xffffff, 0.3);
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dir2.position.set(-1, 1, -1);
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scene.add(dir2);
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const gridHelper = new THREE.GridHelper(20, 20);
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scene.add(gridHelper);
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createHandModel();
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window.addEventListener('resize', onWindowResize);
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animate();
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}
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function createHandModel() {
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const palmMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
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const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
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const jointMaterial = new THREE.MeshPhongMaterial({ color: 0xe3a977 });
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const palmGeometry = new THREE.BoxGeometry(7, 1, 8);
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hand.palm = new THREE.Mesh(palmGeometry, palmMaterial);
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hand.palm.position.set(0, 0, 0);
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hand.palm.rotation.x = Math.PI / 2; // hand vertical, palm facing forward
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scene.add(hand.palm);
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const fingerWidth = 1, fingerHeight = 0.8;
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const fingerSegmentLengths = [3, 2, 1.5];
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const thumbSegmentLengths = [2, 2, 1.5];
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const fingerBasePositions = [
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[ 3, 0, -2], // Thumb
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[ 1.5,-0.5,-4], // Index
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[ 0, -0.5,-4], // Middle
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[-1.5,-0.5,-4], // Ring
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[-3, -0.5,-4], // Pinky
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];
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const fingerBaseRot = [
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{ x:0, y:-Math.PI/3, z: Math.PI/3 }, // Thumb
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{ x:0, y:-Math.PI/48, z: 0 },
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{ 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);
|