From 354ca757d967fbbd873c974479761c3752820a1d Mon Sep 17 00:00:00 2001 From: Claude Date: Mon, 12 Jan 2026 11:48:10 +0000 Subject: [PATCH 1/2] Add comprehensive MediaPipe hand tracking integration plan Documents the full architecture for adding webcam-based hand gesture control to the KUKA arm simulation: - Hand landmark detection (21 points) mapped to 7 robot joints - Built-in gesture recognition for discrete commands - Safety considerations including E-stop gestures - Performance optimization with Web Workers - Phased implementation timeline - Complete TypeScript interfaces and API contracts --- MEDIAPIPE_INTEGRATION.md | 1010 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 1010 insertions(+) create mode 100644 MEDIAPIPE_INTEGRATION.md diff --git a/MEDIAPIPE_INTEGRATION.md b/MEDIAPIPE_INTEGRATION.md new file mode 100644 index 0000000..83a42ee --- /dev/null +++ b/MEDIAPIPE_INTEGRATION.md @@ -0,0 +1,1010 @@ +# MediaPipe Hand Tracking Integration Plan + +## Executive Summary + +This document outlines the production-ready integration of MediaPipe hand tracking to control the KUKA arm simulation via webcam gesture input. The implementation adds a new input modality while preserving the existing architecture and WebSocket communication protocol. + +## 1. Current Architecture Overview + +``` +┌─────────────────────────────────────────────────────────────────────┐ +│ CURRENT ARCHITECTURE │ +├─────────────────────────────────────────────────────────────────────┤ +│ │ +│ ┌─────────────┐ WebSocket (9001) ┌─────────────────────────┐ │ +│ │ Backend │◄────────────────────────│ Frontend │ │ +│ │ (Zig) │ Binary/JSON │ (Next.js/React) │ │ +│ │ │────────────────────────►│ │ │ +│ │ • 1kHz │ │ • 3D Visualization │ │ +│ │ Control │ Joint States (1kHz) │ • Control Panel UI │ │ +│ │ • Physics │ System Status (10Hz) │ • ZigController │ │ +│ │ • Safety │ Collision Data │ • Spring Animation │ │ +│ └─────────────┘ └─────────────────────────┘ │ +│ │ +└─────────────────────────────────────────────────────────────────────┘ +``` + +## 2. Proposed Architecture with MediaPipe + +``` +┌──────────────────────────────────────────────────────────────────────────────┐ +│ ENHANCED ARCHITECTURE WITH MEDIAPIPE │ +├──────────────────────────────────────────────────────────────────────────────┤ +│ │ +│ ┌─────────────┐ ┌─────────────────────────────────┐ │ +│ │ Backend │ WebSocket (9001) │ Frontend │ │ +│ │ (Zig) │◄────────────────────────│ │ │ +│ │ │ Binary/JSON │ ┌───────────────────────────┐ │ │ +│ │ • 1kHz │────────────────────────►│ │ Input Sources │ │ │ +│ │ Control │ │ │ │ │ │ +│ │ • Physics │ Joint States (1kHz) │ │ ┌─────────────────────┐ │ │ │ +│ │ • Safety │ System Status (10Hz) │ │ │ MediaPipe Tracker │ │ │ │ +│ │ │ Collision Data │ │ │ • Webcam Input │ │ │ │ +│ │ │ │ │ │ • Hand Landmarks │ │ │ │ +│ │ │ │ │ │ • Gesture Detect │ │ │ │ +│ │ │ │ │ └──────────┬──────────┘ │ │ │ +│ │ │ │ │ │ │ │ │ +│ │ │ │ │ ┌──────────▼──────────┐ │ │ │ +│ │ │ │ │ │ Input Processor │ │ │ │ +│ │ │◄─ Joint Commands ───────│ │ │ • Gesture Mapping │ │ │ │ +│ │ │ │ │ │ • Smoothing/Filter │ │ │ │ +│ │ │ │ │ │ • Safety Checks │ │ │ │ +│ │ │ │ │ └──────────┬──────────┘ │ │ │ +│ │ │ │ │ │ │ │ │ +│ │ │ │ │ ┌──────────▼──────────┐ │ │ │ +│ │ │ │ │ │ Control Panel UI │ │ │ │ +│ │ │ │ │ │ (existing + new) │ │ │ │ +│ │ │ │ │ └─────────────────────┘ │ │ │ +│ │ │ │ └───────────────────────────┘ │ │ +│ │ │ │ │ │ +│ │ │ │ ┌───────────────────────────┐ │ │ +│ │ │ │ │ ZigController │ │ │ +│ │ │ │ │ (existing - unchanged) │ │ │ +│ │ │ │ └───────────────────────────┘ │ │ +│ │ │ │ │ │ +│ │ │ │ ┌───────────────────────────┐ │ │ +│ │ │ │ │ 3D Visualization │ │ │ +│ │ │ │ │ (existing - unchanged) │ │ │ +│ │ │ │ └───────────────────────────┘ │ │ +│ └─────────────┘ └─────────────────────────────────┘ │ +│ │ +└──────────────────────────────────────────────────────────────────────────────┘ +``` + +## 3. MediaPipe Technical Specifications + +### 3.1 Package & Installation + +```bash +npm install @mediapipe/tasks-vision +``` + +### 3.2 Hand Landmark Model (21 Points) + +``` + FINGERTIP (4,8,12,16,20) + │ + DIP (3,7,11,15,19) + │ + PIP (2,6,10,14,18) + │ + MCP (1,5,9,13,17) + │ + ┌────┴────┐ + │ WRIST │ (0) + └─────────┘ + +Landmark Index Map: +├── WRIST: 0 +├── THUMB: CMC(1), MCP(2), IP(3), TIP(4) +├── INDEX: MCP(5), PIP(6), DIP(7), TIP(8) +├── MIDDLE: MCP(9), PIP(10), DIP(11), TIP(12) +├── RING: MCP(13), PIP(14), DIP(15), TIP(16) +└── PINKY: MCP(17), PIP(18), DIP(19), TIP(20) +``` + +### 3.3 Built-in Gestures + +| Gesture | ID | Robot Action | +|---------|-----|--------------| +| `None` | 0 | No action | +| `Closed_Fist` | 1 | Close gripper | +| `Open_Palm` | 2 | Open gripper / Stop | +| `Pointing_Up` | 3 | Move up (Z+) | +| `Thumb_Down` | 4 | Move down (Z-) | +| `Thumb_Up` | 5 | Confirm / Execute | +| `Victory` | 6 | Toggle control mode | +| `ILoveYou` | 7 | Emergency stop | + +### 3.4 Performance Specs + +| Metric | Value | +|--------|-------| +| Frame Rate | 30+ FPS | +| Detection Time (GPU) | ~5-8ms | +| Detection Time (CPU) | ~15-30ms | +| Max Hands | 2 | +| Landmark Precision | Sub-pixel | + +## 4. Hand-to-Robot Mapping Strategy + +### 4.1 Coordinate Mapping + +```typescript +// MediaPipe coordinates (normalized 0-1) to Robot joint angles + +interface HandToRobotMapping { + // WRIST POSITION → Base rotation + Shoulder + wristX: number; // 0-1 → Base rotation (-180° to +180°) + wristY: number; // 0-1 → Shoulder rotation (-120° to +30°) + + // HAND DEPTH → Elbow extension + wristZ: number; // Depth → Elbow rotation (-120° to +120°) + + // HAND ROTATION → Wrist joints + handRoll: number; // Calculated from landmarks → Wrist bend + handPitch: number; // Calculated from landmarks → Wrist rotation + handYaw: number; // Calculated from landmarks → Tool rotation + + // FINGER PINCH → Gripper + pinchDistance: number; // Thumb-Index distance → Gripper (0-100%) +} +``` + +### 4.2 Mapping Functions + +```typescript +// Primary mapping: Hand position to robot position +function mapHandToRobot(landmarks: NormalizedLandmark[]): JointAngles { + const wrist = landmarks[0]; + const thumbTip = landmarks[4]; + const indexTip = landmarks[8]; + const middleMCP = landmarks[9]; + + // Calculate hand orientation from landmark geometry + const handVector = { + x: middleMCP.x - wrist.x, + y: middleMCP.y - wrist.y, + z: middleMCP.z - wrist.z + }; + + return { + baseRotation: mapRange(wrist.x, 0, 1, -180, 180), + shoulderRotation: mapRange(wrist.y, 0, 1, -120, 30), + elbowRotation: mapRange(wrist.z, -0.3, 0.3, -120, 120), + wristBendRotation: calculateHandPitch(landmarks) * 100, + wristRotation: calculateHandRoll(landmarks) * 180, + toolRotation: calculateHandYaw(landmarks) * 180, + gripperRotation: mapPinchToGripper(thumbTip, indexTip) + }; +} + +// Gesture-based discrete commands +function mapGestureToCommand(gesture: string): RobotCommand | null { + switch(gesture) { + case 'Closed_Fist': return { type: 'GRIPPER', value: 'CLOSE' }; + case 'Open_Palm': return { type: 'GRIPPER', value: 'OPEN' }; + case 'Pointing_Up': return { type: 'MOVE', axis: 'Z', direction: 1 }; + case 'Thumb_Down': return { type: 'MOVE', axis: 'Z', direction: -1 }; + case 'Thumb_Up': return { type: 'CONFIRM' }; + case 'Victory': return { type: 'MODE_TOGGLE' }; + case 'ILoveYou': return { type: 'E_STOP' }; + default: return null; + } +} +``` + +### 4.3 Control Modes + +| Mode | Hand Input | Description | +|------|-----------|-------------| +| **Direct Position** | Hand position → Joint angles | Real-time 1:1 mapping | +| **Incremental** | Gestures → Delta movements | Discrete step control | +| **Target** | Point & confirm | Set waypoint then execute | +| **Playback** | Record gesture sequence | Teach pendant mode | + +## 5. New Component Architecture + +### 5.1 Component Hierarchy + +``` +src/ +├── components/ +│ ├── mediapipe/ +│ │ ├── hand-tracker.tsx # MediaPipe initialization & webcam +│ │ ├── gesture-processor.tsx # Gesture recognition logic +│ │ ├── hand-visualizer.tsx # Debug overlay for hand landmarks +│ │ └── control-mapper.tsx # Hand → Robot command mapping +│ │ +│ ├── input/ +│ │ ├── input-source-manager.tsx # Switch between input modes +│ │ ├── input-smoothing.tsx # Kalman filter / low-pass +│ │ └── safety-guard.tsx # Pre-send safety validation +│ │ +│ ├── webcam/ +│ │ ├── webcam-provider.tsx # Camera access & stream +│ │ └── webcam-overlay.tsx # Camera preview in UI +│ │ +│ └── (existing components...) +│ +├── hooks/ +│ ├── useMediaPipe.ts # MediaPipe lifecycle hook +│ ├── useHandTracking.ts # Real-time hand data +│ ├── useGestureControl.ts # Gesture → command conversion +│ └── useInputSmoothing.ts # Signal smoothing utilities +│ +├── lib/ +│ ├── mediapipe/ +│ │ ├── config.ts # MediaPipe configuration +│ │ ├── landmarks.ts # Landmark utilities +│ │ ├── gestures.ts # Custom gesture definitions +│ │ └── mapping.ts # Hand-to-robot math +│ │ +│ └── filters/ +│ ├── kalman.ts # Kalman filter implementation +│ ├── low-pass.ts # Low-pass filter +│ └── velocity-limit.ts # Rate limiting +│ +└── types/ + └── mediapipe.ts # TypeScript interfaces +``` + +### 5.2 Core Components + +#### HandTracker Component + +```tsx +// src/components/mediapipe/hand-tracker.tsx + +interface HandTrackerProps { + enabled: boolean; + onLandmarksUpdate: (landmarks: HandLandmarks) => void; + onGestureDetected: (gesture: GestureResult) => void; + onError: (error: Error) => void; +} + +interface HandLandmarks { + landmarks: NormalizedLandmark[]; // 21 points per hand + worldLandmarks: Landmark[]; // 3D world coordinates + handedness: 'Left' | 'Right'; + confidence: number; +} + +interface GestureResult { + gesture: string; // One of 8 built-in gestures + confidence: number; + handedness: 'Left' | 'Right'; +} +``` + +#### ControlMapper Component + +```tsx +// src/components/mediapipe/control-mapper.tsx + +interface ControlMapperProps { + landmarks: HandLandmarks | null; + gesture: GestureResult | null; + mode: 'direct' | 'incremental' | 'target'; + sensitivity: number; // 0.1 - 2.0 + deadzone: number; // 0.01 - 0.1 + onJointCommand: (angles: JointAngles) => void; + onDiscreteCommand: (command: DiscreteCommand) => void; +} +``` + +#### InputSourceManager Component + +```tsx +// src/components/input/input-source-manager.tsx + +type InputSource = 'manual' | 'mediapipe' | 'preset' | 'recording'; + +interface InputSourceManagerProps { + activeSource: InputSource; + onSourceChange: (source: InputSource) => void; + children: React.ReactNode; +} +``` + +## 6. Implementation Phases + +### Phase 1: Core MediaPipe Integration (Week 1-2) + +**Goals:** Get hand tracking working with visual feedback + +| Task | Priority | Complexity | +|------|----------|------------| +| Install @mediapipe/tasks-vision | High | Low | +| Create useMediaPipe hook | High | Medium | +| Implement HandTracker component | High | Medium | +| Add webcam access with getUserMedia | High | Low | +| Create hand landmark visualizer (debug) | Medium | Low | +| Add webcam preview overlay | Medium | Low | +| Unit tests for MediaPipe initialization | Medium | Medium | + +**Deliverables:** +- Webcam feed displayed in UI +- Hand landmarks rendered as overlay +- Console logs showing landmark data + +### Phase 2: Gesture Recognition & Mapping (Week 2-3) + +**Goals:** Convert hand data to robot commands + +| Task | Priority | Complexity | +|------|----------|------------| +| Implement gesture detection pipeline | High | Medium | +| Create hand-to-robot coordinate mapping | High | High | +| Add Kalman filter for smoothing | High | Medium | +| Implement deadzone logic | Medium | Low | +| Create gesture-to-command mapping | High | Medium | +| Add control mode switching | Medium | Medium | +| Integration tests for mapping accuracy | High | Medium | + +**Deliverables:** +- Gestures detected and logged +- Hand position mapped to joint angles +- Smooth, filtered output signal + +### Phase 3: Robot Control Integration (Week 3-4) + +**Goals:** Send commands to backend, see robot move + +| Task | Priority | Complexity | +|------|----------|------------| +| Connect ControlMapper to ZigController | High | Medium | +| Implement rate limiting (max 100Hz commands) | High | Low | +| Add input source manager (switch modes) | High | Medium | +| Safety validation layer | High | Medium | +| E-stop gesture handling | Critical | Low | +| Visual feedback for active gesture | Medium | Low | +| End-to-end integration tests | High | High | + +**Deliverables:** +- Robot arm follows hand movements +- Gestures trigger discrete actions +- E-stop immediately halts robot + +### Phase 4: UI/UX & Polish (Week 4-5) + +**Goals:** Production-ready user experience + +| Task | Priority | Complexity | +|------|----------|------------| +| Design hand tracking UI panel | Medium | Medium | +| Add calibration flow | High | Medium | +| Implement sensitivity controls | Medium | Low | +| Add visual guides (workspace boundaries) | Medium | Medium | +| Create onboarding tutorial overlay | Low | Medium | +| Performance optimization (Web Workers) | High | High | +| Accessibility considerations | Medium | Medium | +| Final QA and bug fixes | High | Variable | + +**Deliverables:** +- Polished UI for hand tracking mode +- Calibration wizard +- Adjustable sensitivity/deadzone +- 60fps performance maintained + +### Phase 5: Advanced Features (Future) + +| Feature | Description | +|---------|-------------| +| Two-hand control | Dual arm or arm + gripper split | +| Custom gesture training | TensorFlow.js custom classifier | +| Gesture macros | Record → replay gesture sequences | +| Mobile companion | QR code → phone as input device | +| Voice + gesture | Multi-modal control | + +## 7. Data Flow Diagrams + +### 7.1 Real-Time Control Flow + +``` +┌──────────────────────────────────────────────────────────────────────┐ +│ REAL-TIME CONTROL FLOW │ +├──────────────────────────────────────────────────────────────────────┤ +│ │ +│ Webcam (30fps) │ +│ │ │ +│ ▼ │ +│ ┌─────────────────┐ │ +│ │ MediaPipe │ ~5-8ms GPU / ~15-30ms CPU │ +│ │ GestureRecognizer│ │ +│ └────────┬────────┘ │ +│ │ │ +│ ├──────────────┬──────────────┐ │ +│ ▼ ▼ ▼ │ +│ ┌──────────────┐ ┌────────────┐ ┌─────────────┐ │ +│ │ Landmarks │ │ Gesture │ │ Handedness │ │ +│ │ (21 points) │ │ (string) │ │ (L/R) │ │ +│ └──────┬───────┘ └─────┬──────┘ └──────┬──────┘ │ +│ │ │ │ │ +│ ▼ ▼ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ Gesture Processor │ │ +│ │ • Coordinate extraction │ │ +│ │ • Hand orientation calculation │ │ +│ │ • Pinch distance measurement │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ Input Smoothing │ │ +│ │ • Kalman filter (position) │ │ +│ │ • Low-pass filter (rotation) │ │ +│ │ • Deadzone application │ │ +│ │ • Rate limiting (100Hz max) │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ Control Mapper │ │ +│ │ • Hand position → Joint angles │ │ +│ │ • Gesture → Discrete command │ │ +│ │ • Safety boundary checks │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ Safety Guard │ │ +│ │ • Velocity limits │ │ +│ │ • Joint limit pre-check │ │ +│ │ • E-stop gesture detection │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ ZigController.sendJointCommand() │ (existing) │ +│ │ • JSON serialization │ │ +│ │ • WebSocket send │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ Zig Backend │ │ +│ │ • Command processing │ │ +│ │ • Physics simulation │ │ +│ │ • Joint state update │ │ +│ └──────────────────┬──────────────────────┘ │ +│ │ │ +│ ▼ │ +│ WebSocket response │ +│ (Joint states @ 1kHz) │ +│ │ │ +│ ▼ │ +│ ┌─────────────────────────────────────────┐ │ +│ │ 3D Visualization │ (existing) │ +│ │ • Spring animation │ │ +│ │ • 60fps rendering │ │ +│ └─────────────────────────────────────────┘ │ +│ │ +└──────────────────────────────────────────────────────────────────────┘ +``` + +### 7.2 State Management + +``` +┌────────────────────────────────────────────────────────────────┐ +│ STATE MANAGEMENT │ +├────────────────────────────────────────────────────────────────┤ +│ │ +│ ┌─────────────────────────────────────────────────────────┐ │ +│ │ Global App State │ │ +│ │ │ │ +│ │ inputSource: 'manual' | 'mediapipe' | 'preset' │ │ +│ │ mediapikeEnabled: boolean │ │ +│ │ calibrationComplete: boolean │ │ +│ │ │ │ +│ │ ┌─────────────────┐ ┌─────────────────┐ │ │ +│ │ │ MediaPipe State │ │ Robot State │ │ │ +│ │ │ │ │ (from backend) │ │ │ +│ │ │ landmarks: [] │ │ │ │ │ +│ │ │ gesture: string │ │ jointAngles: {} │ │ │ +│ │ │ handedness: L/R │ │ systemStatus:{} │ │ │ +│ │ │ confidence: num │ │ collision: {} │ │ │ +│ │ │ isTracking: bool│ │ connected: bool │ │ │ +│ │ └─────────────────┘ └─────────────────┘ │ │ +│ │ │ │ +│ │ ┌─────────────────────────────────────────────────────┐ │ │ +│ │ │ Settings │ │ │ +│ │ │ │ │ │ +│ │ │ handTrackingEnabled: boolean │ │ │ +│ │ │ controlMode: 'direct' | 'incremental' | 'target' │ │ │ +│ │ │ sensitivity: number (0.1 - 2.0) │ │ │ +│ │ │ deadzone: number (0.01 - 0.1) │ │ │ +│ │ │ smoothingFactor: number (0.0 - 1.0) │ │ │ +│ │ │ commandRate: number (10 - 100 Hz) │ │ │ +│ │ │ mirrorMode: boolean │ │ │ +│ │ │ dominantHand: 'left' | 'right' | 'both' │ │ │ +│ │ └─────────────────────────────────────────────────────┘ │ │ +│ └─────────────────────────────────────────────────────────┘ │ +│ │ +└────────────────────────────────────────────────────────────────┘ +``` + +## 8. API Contracts + +### 8.1 TypeScript Interfaces + +```typescript +// src/types/mediapipe.ts + +// ===== MediaPipe Raw Data ===== + +export interface NormalizedLandmark { + x: number; // 0.0 - 1.0 (normalized by image width) + y: number; // 0.0 - 1.0 (normalized by image height) + z: number; // Depth relative to wrist +} + +export interface WorldLandmark { + x: number; // meters + y: number; // meters + z: number; // meters +} + +export interface HandResult { + landmarks: NormalizedLandmark[]; // 21 points + worldLandmarks: WorldLandmark[]; // 21 points in 3D + handedness: 'Left' | 'Right'; + handednessScore: number; // 0.0 - 1.0 +} + +export interface GestureResult { + categoryName: string; // e.g., "Thumb_Up" + score: number; // 0.0 - 1.0 + index: number; // Gesture index +} + +// ===== Processed Hand Data ===== + +export interface ProcessedHandData { + // Position (normalized 0-1) + position: { + x: number; + y: number; + z: number; + }; + + // Orientation (radians) + orientation: { + roll: number; // Rotation around forward axis + pitch: number; // Rotation around side axis + yaw: number; // Rotation around up axis + }; + + // Finger states + fingers: { + thumb: FingerState; + index: FingerState; + middle: FingerState; + ring: FingerState; + pinky: FingerState; + }; + + // Derived values + pinchDistance: number; // 0.0 - 1.0 (thumb to index) + grabStrength: number; // 0.0 - 1.0 (all fingers curl) + + // Metadata + handedness: 'Left' | 'Right'; + confidence: number; + timestamp: number; +} + +export interface FingerState { + extended: boolean; + curl: number; // 0.0 (straight) - 1.0 (fully curled) + tipPosition: NormalizedLandmark; +} + +// ===== Control Commands ===== + +export interface JointCommand { + type: 'POSITION'; + values: [number, number, number, number, number, number, number]; + maxVelocity?: number[]; + source: 'mediapipe' | 'manual' | 'preset'; + timestamp: number; +} + +export interface DiscreteCommand { + type: 'GRIPPER' | 'MODE' | 'E_STOP' | 'CONFIRM' | 'CANCEL'; + value?: string | number; + source: 'mediapipe'; + gesture: string; + timestamp: number; +} + +// ===== Configuration ===== + +export interface MediaPipeConfig { + numHands: 1 | 2; + minDetectionConfidence: number; // 0.0 - 1.0 + minTrackingConfidence: number; // 0.0 - 1.0 + modelComplexity: 0 | 1; // 0 = lite, 1 = full + + // Custom settings + mirrorMode: boolean; + preferredHand: 'left' | 'right' | 'any'; +} + +export interface ControlMappingConfig { + mode: 'direct' | 'incremental' | 'target'; + + // Sensitivity per joint + sensitivity: { + base: number; + shoulder: number; + elbow: number; + wrist: number; + gripper: number; + }; + + // Dead zones + positionDeadzone: number; // Normalized units + rotationDeadzone: number; // Radians + + // Smoothing + smoothingEnabled: boolean; + smoothingFactor: number; // 0.0 - 1.0 + + // Rate limiting + maxCommandRate: number; // Hz + + // Gesture settings + gestureConfidenceThreshold: number; // 0.0 - 1.0 + gestureHoldTime: number; // ms before action +} + +// ===== Hooks Return Types ===== + +export interface UseMediaPipeReturn { + isInitialized: boolean; + isLoading: boolean; + error: Error | null; + gestureRecognizer: GestureRecognizer | null; +} + +export interface UseHandTrackingReturn { + isTracking: boolean; + handData: ProcessedHandData | null; + gesture: GestureResult | null; + fps: number; + startTracking: () => void; + stopTracking: () => void; +} + +export interface UseGestureControlReturn { + currentCommand: JointCommand | null; + discreteCommand: DiscreteCommand | null; + isControlling: boolean; + enable: () => void; + disable: () => void; + setMode: (mode: ControlMappingConfig['mode']) => void; + setSensitivity: (sensitivity: number) => void; +} +``` + +### 8.2 Hook Signatures + +```typescript +// src/hooks/useMediaPipe.ts +export function useMediaPipe(config?: Partial): UseMediaPipeReturn; + +// src/hooks/useHandTracking.ts +export function useHandTracking( + videoRef: RefObject, + options?: { + enabled?: boolean; + onLandmarksUpdate?: (data: ProcessedHandData) => void; + onGestureDetected?: (gesture: GestureResult) => void; + } +): UseHandTrackingReturn; + +// src/hooks/useGestureControl.ts +export function useGestureControl( + handData: ProcessedHandData | null, + gesture: GestureResult | null, + options?: Partial +): UseGestureControlReturn; + +// src/hooks/useInputSmoothing.ts +export function useInputSmoothing>( + input: T, + options?: { + method: 'kalman' | 'lowpass' | 'exponential'; + factor?: number; + } +): T; +``` + +## 9. Safety Considerations + +### 9.1 E-Stop Priority + +``` +┌────────────────────────────────────────────────────────────────┐ +│ SAFETY PRIORITY CHAIN │ +├────────────────────────────────────────────────────────────────┤ +│ │ +│ 1. [HIGHEST] Hardware E-Stop (Backend) │ +│ │ │ +│ 2. └─► "ILoveYou" Gesture (MediaPipe) │ +│ │ │ +│ 3. └─► UI E-Stop Button │ +│ │ │ +│ 4. └─► Keyboard Shortcut (Escape) │ +│ │ │ +│ 5. └─► Loss of hand tracking │ +│ (configurable timeout) │ +│ │ +└────────────────────────────────────────────────────────────────┘ +``` + +### 9.2 Safety Validation Layer + +```typescript +// Safety checks before sending any command + +interface SafetyValidation { + // Pre-command checks + checkJointLimits(angles: JointAngles): boolean; + checkVelocityLimits(current: JointAngles, target: JointAngles, dt: number): boolean; + checkAccelerationLimits(velocities: number[], dt: number): boolean; + + // Rate limiting + throttleCommands(command: JointCommand, lastCommandTime: number): boolean; + + // Gesture safety + validateGestureConfidence(gesture: GestureResult, threshold: number): boolean; + requireGestureHold(gesture: string, holdTime: number): boolean; + + // Tracking loss handling + handleTrackingLoss(lastTrackingTime: number, timeout: number): void; +} +``` + +### 9.3 Graceful Degradation + +| Scenario | Response | +|----------|----------| +| Hand tracking lost < 500ms | Hold last position | +| Hand tracking lost > 500ms | Gradual slow to stop | +| Hand tracking lost > 2s | Full stop, await recovery | +| Low confidence (< 0.5) | Reduce command rate | +| Very low confidence (< 0.3) | Pause commands | +| Gesture conflict | Prioritize safety gestures | +| WebSocket disconnect | Immediate local stop | + +## 10. Performance Optimization + +### 10.1 Web Worker Architecture + +``` +┌──────────────────────────────────────────────────────────────┐ +│ WEB WORKER ARCHITECTURE │ +├──────────────────────────────────────────────────────────────┤ +│ │ +│ Main Thread MediaPipe Worker │ +│ ┌─────────────────┐ ┌─────────────────┐ │ +│ │ │ │ │ │ +│ │ React App │ │ GestureRecognizer│ │ +│ │ 60fps render │◄──────────│ 30fps process │ │ +│ │ │ landmarks │ │ │ +│ │ 3D Scene │ gestures │ Heavy ML │ │ +│ │ UI Updates │ │ inference │ │ +│ │ │──────────►│ │ │ +│ │ │ video │ │ │ +│ │ │ frames │ │ │ +│ └─────────────────┘ └─────────────────┘ │ +│ │ +└──────────────────────────────────────────────────────────────┘ +``` + +### 10.2 Optimization Strategies + +| Strategy | Implementation | Impact | +|----------|---------------|--------| +| Web Workers | Offload MediaPipe to worker thread | Prevent UI jank | +| RequestAnimationFrame | Sync with display refresh | Smooth updates | +| Memoization | React.memo on visualizers | Reduce re-renders | +| Debounce gestures | 100ms gesture debounce | Prevent spam | +| Throttle commands | Max 100Hz command rate | Network efficiency | +| Canvas offscreen | OffscreenCanvas for video | GPU optimization | +| Model caching | Cache MediaPipe model | Faster load | + +### 10.3 Performance Targets + +| Metric | Target | Measurement | +|--------|--------|-------------| +| UI Frame Rate | 60 fps | requestAnimationFrame timing | +| Hand Tracking Latency | < 50ms | Video frame to landmark | +| Command Latency | < 20ms | Landmark to WebSocket send | +| Total Pipeline | < 100ms | Hand move to robot move | +| Memory Usage | < 200MB | Performance.memory | +| CPU Usage | < 30% | Performance observer | + +## 11. Testing Strategy + +### 11.1 Unit Tests + +```typescript +// __tests__/mediapipe/mapping.test.ts + +describe('Hand-to-Robot Mapping', () => { + test('maps center hand position to zero angles', () => { + const landmarks = createMockLandmarks({ x: 0.5, y: 0.5, z: 0 }); + const angles = mapHandToRobot(landmarks); + expect(angles.baseRotation).toBeCloseTo(0); + expect(angles.shoulderRotation).toBeCloseTo(-45); // midpoint + }); + + test('maps left edge to negative base rotation', () => { + const landmarks = createMockLandmarks({ x: 0, y: 0.5, z: 0 }); + const angles = mapHandToRobot(landmarks); + expect(angles.baseRotation).toBeCloseTo(-180); + }); + + test('maps pinch gesture to gripper close', () => { + const landmarks = createMockPinchLandmarks(0.02); // 2% distance + const angles = mapHandToRobot(landmarks); + expect(angles.gripperRotation).toBeCloseTo(0); // closed + }); +}); + +describe('Safety Validation', () => { + test('rejects out-of-range joint angles', () => { + const angles = { baseRotation: 200 }; // > 180 limit + expect(validateJointLimits(angles)).toBe(false); + }); + + test('E-stop gesture has immediate effect', () => { + const gesture = { categoryName: 'ILoveYou', score: 0.9 }; + const command = mapGestureToCommand(gesture); + expect(command.type).toBe('E_STOP'); + }); +}); +``` + +### 11.2 Integration Tests + +```typescript +// __tests__/integration/mediapipe-to-backend.test.ts + +describe('MediaPipe to Backend Integration', () => { + test('hand movement results in joint command sent', async () => { + const { sendJointCommand } = renderWithProviders(); + + // Simulate hand tracking data + act(() => { + simulateHandTracking({ x: 0.7, y: 0.3, z: 0.1 }); + }); + + await waitFor(() => { + expect(sendJointCommand).toHaveBeenCalledWith( + expect.objectContaining({ + type: 'POSITION', + source: 'mediapipe' + }) + ); + }); + }); +}); +``` + +### 11.3 E2E Tests + +```typescript +// e2e/hand-tracking.spec.ts + +test('full hand tracking control flow', async ({ page }) => { + await page.goto('/'); + + // Enable hand tracking + await page.click('[data-testid="enable-hand-tracking"]'); + + // Grant camera permission (mock) + await page.evaluate(() => mockCameraStream()); + + // Verify tracking started + await expect(page.locator('[data-testid="tracking-status"]')) + .toHaveText('Tracking'); + + // Simulate gesture + await page.evaluate(() => injectMockGesture('Thumb_Up')); + + // Verify command indicator + await expect(page.locator('[data-testid="last-gesture"]')) + .toHaveText('Thumb_Up'); +}); +``` + +## 12. File Structure Summary + +``` +src/ +├── components/ +│ ├── mediapipe/ +│ │ ├── hand-tracker.tsx # Core tracking component +│ │ ├── gesture-processor.tsx # Gesture logic +│ │ ├── hand-visualizer.tsx # Debug overlay +│ │ ├── control-mapper.tsx # Hand → commands +│ │ └── index.ts # Exports +│ │ +│ ├── input/ +│ │ ├── input-source-manager.tsx # Input mode switching +│ │ ├── input-smoothing.tsx # Signal filtering +│ │ ├── safety-guard.tsx # Pre-send validation +│ │ └── index.ts +│ │ +│ ├── webcam/ +│ │ ├── webcam-provider.tsx # Camera access +│ │ ├── webcam-overlay.tsx # Preview UI +│ │ └── index.ts +│ │ +│ └── ui/ +│ ├── hand-tracking-panel.tsx # Settings UI +│ ├── calibration-wizard.tsx # Setup flow +│ └── gesture-indicator.tsx # Current gesture display +│ +├── hooks/ +│ ├── useMediaPipe.ts # MediaPipe lifecycle +│ ├── useHandTracking.ts # Real-time tracking +│ ├── useGestureControl.ts # Command generation +│ ├── useInputSmoothing.ts # Filtering utilities +│ └── useWebcam.ts # Camera management +│ +├── lib/ +│ ├── mediapipe/ +│ │ ├── config.ts # Configuration +│ │ ├── landmarks.ts # Landmark utilities +│ │ ├── gestures.ts # Gesture definitions +│ │ ├── mapping.ts # Coordinate math +│ │ └── worker.ts # Web Worker code +│ │ +│ └── filters/ +│ ├── kalman.ts # Kalman filter +│ ├── low-pass.ts # Low-pass filter +│ └── velocity-limit.ts # Rate limiting +│ +├── types/ +│ ├── mediapipe.ts # MediaPipe types +│ └── input.ts # Input system types +│ +└── workers/ + └── mediapipe.worker.ts # Offloaded processing +``` + +## 13. Dependencies to Add + +```json +{ + "dependencies": { + "@mediapipe/tasks-vision": "^0.10.0" + }, + "devDependencies": { + "@types/dom-mediacapture-record": "^1.0.0" + } +} +``` + +## 14. Conclusion + +This integration plan provides a production-ready path to add MediaPipe hand tracking control to the KUKA arm simulation. Key principles: + +1. **Preserve existing architecture** - MediaPipe is an additional input source, not a replacement +2. **Backend remains authority** - All physics and state managed by Zig backend +3. **Safety first** - E-stop gestures, tracking loss handling, velocity limits +4. **Performance optimized** - Web Workers, throttling, efficient React patterns +5. **Extensible** - Easy to add custom gestures, two-hand control, mobile companion + +The phased approach allows incremental delivery with working features at each milestone. + +## Sources + +- [MediaPipe Gesture Recognizer for Web](https://ai.google.dev/edge/mediapipe/solutions/vision/gesture_recognizer/web_js) +- [MediaPipe Hand Landmarker](https://ai.google.dev/edge/mediapipe/solutions/vision/hand_landmarker/web_js) +- [MediaPipe Hands Documentation](https://mediapipe.readthedocs.io/en/latest/solutions/hands.html) From 860af058a491c0c799b115aaa801e627657f361c Mon Sep 17 00:00:00 2001 From: Claude Date: Mon, 12 Jan 2026 12:06:53 +0000 Subject: [PATCH 2/2] Implement MediaPipe hand tracking for KUKA arm control MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Full production implementation of webcam-based hand gesture control: Components: - HandTracker: Core MediaPipe GestureRecognizer integration with webcam - HandVisualizer: Canvas overlay showing 21-point hand landmarks - HandTrackingPanel: Control panel UI with settings and status display Hooks: - useMediaPipe: MediaPipe initialization and lifecycle management - useWebcam: Camera stream access and management - useHandTracking: Real-time hand detection at 30fps - useGestureControl: Hand-to-robot coordinate mapping Features: - Direct position control via hand position (x,y,z → joint angles) - Pinch-to-close gripper control - 8 built-in gesture recognition (fist, palm, thumbs, victory, ILY) - E-Stop via ILoveYou gesture with immediate halt - Kalman/low-pass filtering for smooth control - Configurable sensitivity and smoothing - Input source indicator (Manual/Preset/Hand Tracking) Safety: - E-Stop blocks all commands until reset - Gesture confidence threshold validation - Gesture hold time before action - Rate limiting at 60Hz max Technical: - TypeScript interfaces for all MediaPipe data structures - Joint limit enforcement matching backend constraints - Seamless integration with existing ZigController WebSocket --- package-lock.json | 13634 ++++++++++++++++ package.json | 5 +- src/components/mediapipe/hand-tracker.tsx | 176 + .../mediapipe/hand-tracking-panel.tsx | 205 + src/components/mediapipe/hand-visualizer.tsx | 167 + src/components/mediapipe/index.ts | 3 + src/components/robot-arm-simulation.tsx | 161 +- src/hooks/index.ts | 4 + src/hooks/useGestureControl.ts | 196 + src/hooks/useHandTracking.ts | 161 + src/hooks/useMediaPipe.ts | 80 + src/hooks/useWebcam.ts | 84 + src/lib/filters/index.ts | 5 + src/lib/filters/kalman.ts | 95 + src/lib/filters/low-pass.ts | 77 + src/lib/filters/velocity-limiter.ts | 118 + src/lib/mediapipe/config.ts | 40 + src/lib/mediapipe/index.ts | 2 + src/lib/mediapipe/mapping.ts | 332 + src/types/mediapipe.ts | 217 + 20 files changed, 15728 insertions(+), 34 deletions(-) create mode 100644 package-lock.json create mode 100644 src/components/mediapipe/hand-tracker.tsx create mode 100644 src/components/mediapipe/hand-tracking-panel.tsx create mode 100644 src/components/mediapipe/hand-visualizer.tsx create mode 100644 src/components/mediapipe/index.ts create mode 100644 src/hooks/index.ts create mode 100644 src/hooks/useGestureControl.ts create mode 100644 src/hooks/useHandTracking.ts create mode 100644 src/hooks/useMediaPipe.ts create mode 100644 src/hooks/useWebcam.ts create mode 100644 src/lib/filters/index.ts create mode 100644 src/lib/filters/kalman.ts create mode 100644 src/lib/filters/low-pass.ts create mode 100644 src/lib/filters/velocity-limiter.ts create mode 100644 src/lib/mediapipe/config.ts create mode 100644 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">=12.20.0" + }, + "peerDependencies": { + "@types/react": ">=18.0.0", + "immer": ">=9.0.6", + "react": ">=18.0.0", + "use-sync-external-store": ">=1.2.0" + }, + "peerDependenciesMeta": { + "@types/react": { + "optional": true + }, + "immer": { + "optional": true + }, + "react": { + "optional": true + }, + "use-sync-external-store": { + "optional": true + } + } + } + } +} diff --git a/package.json b/package.json index 9e7e17b..7e1b34d 100644 --- a/package.json +++ b/package.json @@ -11,6 +11,7 @@ }, "dependencies": { "@hookform/resolvers": "^3.9.1", + "@mediapipe/tasks-vision": "^0.10.22-rc.20250304", "@radix-ui/react-accordion": "^1.2.2", "@radix-ui/react-alert-dialog": "^1.1.4", "@radix-ui/react-aspect-ratio": "^1.1.1", @@ -75,9 +76,9 @@ "@types/react": "^19", "@types/react-dom": "^19", "@types/three": "^0.169.0", - "@vitejs/plugin-react": "^4.3.4", "@typescript-eslint/eslint-plugin": "^6.21.0", "@typescript-eslint/parser": "^6.21.0", + "@vitejs/plugin-react": "^4.3.4", "eslint": "^8.57.0", "eslint-plugin-react-hooks": "^4.6.2", "eslint-plugin-react-refresh": "^0.4.12", @@ -86,4 +87,4 @@ "typescript": "^5", "vite": "^5.4.10" } -} \ No newline at end of file +} diff --git a/src/components/mediapipe/hand-tracker.tsx b/src/components/mediapipe/hand-tracker.tsx new file mode 100644 index 0000000..80413bb --- /dev/null +++ b/src/components/mediapipe/hand-tracker.tsx @@ -0,0 +1,176 @@ +// Main hand tracking component combining webcam, MediaPipe, and visualization + +import { useState, useCallback, useEffect } from 'react' +import { useMediaPipe } from '@/hooks/useMediaPipe' +import { useWebcam } from '@/hooks/useWebcam' +import { useHandTracking } from '@/hooks/useHandTracking' +import { useGestureControl } from '@/hooks/useGestureControl' +import { HandVisualizer } from './hand-visualizer' +import type { + ProcessedHandData, + GestureResult, + JointAngles, + DiscreteCommand, + MediaPipeConfig, + ControlMappingConfig, +} from '@/types/mediapipe' + +interface HandTrackerProps { + enabled?: boolean + showVideo?: boolean + showVisualization?: boolean + mediaConfig?: Partial + controlConfig?: Partial + onJointAnglesChange?: (angles: JointAngles) => void + onDiscreteCommand?: (command: DiscreteCommand) => void + onEStop?: () => void + onTrackingStateChange?: (isTracking: boolean) => void + onHandDataChange?: (data: ProcessedHandData | null) => void + onGestureChange?: (gesture: GestureResult | null) => void + className?: string + videoWidth?: number + videoHeight?: number +} + +export function HandTracker({ + enabled = false, + showVideo = true, + showVisualization = true, + mediaConfig, + controlConfig, + onJointAnglesChange, + onDiscreteCommand, + onEStop, + onTrackingStateChange, + onHandDataChange, + onGestureChange, + className = '', + videoWidth = 320, + videoHeight = 240, +}: HandTrackerProps) { + const [isInitialized, setIsInitialized] = useState(false) + + // Initialize MediaPipe + const { + isInitialized: mediaPipeReady, + isLoading: mediaPipeLoading, + error: mediaPipeError, + gestureRecognizer, + } = useMediaPipe(mediaConfig) + + // Initialize webcam + const { + videoRef, + isStreaming, + error: webcamError, + startStream, + stopStream, + } = useWebcam({ width: videoWidth, height: videoHeight }) + + // Initialize hand tracking + const { + isTracking, + handData, + gesture, + fps, + startTracking, + stopTracking, + } = useHandTracking(videoRef, gestureRecognizer, { + enabled, + mirrorMode: mediaConfig?.mirrorMode ?? true, + onLandmarksUpdate: onHandDataChange, + onGestureDetected: onGestureChange, + }) + + // Initialize gesture control + const { + jointAngles, + discreteCommand, + isControlling, + enable: enableControl, + disable: disableControl, + } = useGestureControl(handData, gesture, { + config: controlConfig, + onJointAnglesChange, + onDiscreteCommand, + onEStop, + }) + + // Handle enable/disable + useEffect(() => { + if (enabled && mediaPipeReady && !isStreaming) { + startStream().catch(console.error) + } else if (!enabled && isStreaming) { + stopTracking() + disableControl() + stopStream() + } + }, [enabled, mediaPipeReady, isStreaming, startStream, stopStream, stopTracking, disableControl]) + + // Start tracking when stream is ready + useEffect(() => { + if (enabled && isStreaming && mediaPipeReady && !isTracking) { + startTracking() + enableControl() + setIsInitialized(true) + } + }, [enabled, isStreaming, mediaPipeReady, isTracking, startTracking, enableControl]) + + // Notify parent of tracking state changes + useEffect(() => { + onTrackingStateChange?.(isTracking) + }, [isTracking, onTrackingStateChange]) + + const error = mediaPipeError || webcamError + + return ( +
+ {/* Status overlay */} + {!isInitialized && ( +
+
+ {mediaPipeLoading &&

Loading MediaPipe...

} + {error &&

Error: {error.message}

} + {!enabled && !error &&

Hand tracking disabled

} +
+
+ )} + + {/* Video element */} +
+ ) +} diff --git a/src/components/mediapipe/hand-tracking-panel.tsx b/src/components/mediapipe/hand-tracking-panel.tsx new file mode 100644 index 0000000..0be09e8 --- /dev/null +++ b/src/components/mediapipe/hand-tracking-panel.tsx @@ -0,0 +1,205 @@ +// Hand tracking control panel UI + +import { useState, useCallback } from 'react' +import { Card, CardContent, CardHeader, CardTitle } from '@/components/ui/card' +import { Button } from '@/components/ui/button' +import { Badge } from '@/components/ui/badge' +import { Slider } from '@/components/ui/slider' +import { Switch } from '@/components/ui/switch' +import { Label } from '@/components/ui/label' +import { HandTracker } from './hand-tracker' +import { Hand, Camera, CameraOff, AlertTriangle, Settings, Activity } from 'lucide-react' +import type { + JointAngles, + DiscreteCommand, + GestureResult, + ProcessedHandData, +} from '@/types/mediapipe' + +interface HandTrackingPanelProps { + onJointAnglesChange: (angles: JointAngles) => void + onDiscreteCommand?: (command: DiscreteCommand) => void + onEStop?: () => void + className?: string +} + +export function HandTrackingPanel({ + onJointAnglesChange, + onDiscreteCommand, + onEStop, + className = '', +}: HandTrackingPanelProps) { + const [enabled, setEnabled] = useState(false) + const [isTracking, setIsTracking] = useState(false) + const [showSettings, setShowSettings] = useState(false) + const [sensitivity, setSensitivity] = useState(1.0) + const [smoothing, setSmoothing] = useState(0.3) + const [showVideo, setShowVideo] = useState(true) + const [currentGesture, setCurrentGesture] = useState(null) + const [currentHandData, setCurrentHandData] = useState(null) + const [lastCommand, setLastCommand] = useState(null) + + const handleToggle = useCallback(() => { + setEnabled(prev => !prev) + }, []) + + const handleDiscreteCommand = useCallback((command: DiscreteCommand) => { + setLastCommand(command) + onDiscreteCommand?.(command) + + // Clear command indicator after 1 second + setTimeout(() => setLastCommand(null), 1000) + }, [onDiscreteCommand]) + + const handleEStop = useCallback(() => { + setEnabled(false) + onEStop?.() + }, [onEStop]) + + return ( + + +
+
+ + Hand Control + {isTracking && ( + + Active + + )} + {lastCommand && ( + + {lastCommand.type} + + )} +
+
+ + +
+
+ + + + {/* Hand Tracker Video */} +
+ + + {!enabled && ( +
+
+ +

Click Start to enable hand tracking

+
+
+ )} +
+ + {/* Settings Panel */} + {showSettings && ( +
+
+
+ + {sensitivity.toFixed(1)}x +
+ setSensitivity(v)} + min={0.1} + max={2.0} + step={0.1} + className="w-full" + /> +
+ +
+
+ + {(smoothing * 100).toFixed(0)}% +
+ setSmoothing(v)} + min={0} + max={0.9} + step={0.05} + className="w-full" + /> +
+ +
+ + +
+
+ )} + + {/* Status Info */} + {isTracking && currentHandData && ( +
+
+ + Hand: {currentHandData.handedness} +
+
Confidence: {(currentHandData.confidence * 100).toFixed(0)}%
+
Pinch: {(currentHandData.pinchDistance * 100).toFixed(0)}%
+
Grab: {(currentHandData.grabStrength * 100).toFixed(0)}%
+
+ )} + + {/* Gesture Reference */} +
+
Gesture Commands:
+
+ Fist: Close gripper + Palm: Open gripper + Thumb up: Confirm + Victory: Mode toggle + + + ILY Sign: Emergency Stop + +
+
+ + + ) +} diff --git a/src/components/mediapipe/hand-visualizer.tsx b/src/components/mediapipe/hand-visualizer.tsx new file mode 100644 index 0000000..43c635b --- /dev/null +++ b/src/components/mediapipe/hand-visualizer.tsx @@ -0,0 +1,167 @@ +// Hand landmark visualization overlay + +import { useRef, useEffect, memo } from 'react' +import type { ProcessedHandData, NormalizedLandmark } from '@/types/mediapipe' +import { LANDMARK } from '@/types/mediapipe' + +interface HandVisualizerProps { + handData: ProcessedHandData | null + width: number + height: number + showConnections?: boolean + showLandmarks?: boolean + landmarkColor?: string + connectionColor?: string + className?: string +} + +// Finger connections for drawing +const FINGER_CONNECTIONS: [number, number][] = [ + // Thumb + [LANDMARK.WRIST, LANDMARK.THUMB_CMC], + [LANDMARK.THUMB_CMC, LANDMARK.THUMB_MCP], + [LANDMARK.THUMB_MCP, LANDMARK.THUMB_IP], + [LANDMARK.THUMB_IP, LANDMARK.THUMB_TIP], + // Index + [LANDMARK.WRIST, LANDMARK.INDEX_MCP], + [LANDMARK.INDEX_MCP, LANDMARK.INDEX_PIP], + [LANDMARK.INDEX_PIP, LANDMARK.INDEX_DIP], + [LANDMARK.INDEX_DIP, LANDMARK.INDEX_TIP], + // Middle + [LANDMARK.WRIST, LANDMARK.MIDDLE_MCP], + [LANDMARK.MIDDLE_MCP, LANDMARK.MIDDLE_PIP], + [LANDMARK.MIDDLE_PIP, LANDMARK.MIDDLE_DIP], + [LANDMARK.MIDDLE_DIP, LANDMARK.MIDDLE_TIP], + // Ring + [LANDMARK.WRIST, LANDMARK.RING_MCP], + [LANDMARK.RING_MCP, LANDMARK.RING_PIP], + [LANDMARK.RING_PIP, LANDMARK.RING_DIP], + [LANDMARK.RING_DIP, LANDMARK.RING_TIP], + // Pinky + [LANDMARK.WRIST, LANDMARK.PINKY_MCP], + [LANDMARK.PINKY_MCP, LANDMARK.PINKY_PIP], + [LANDMARK.PINKY_PIP, LANDMARK.PINKY_DIP], + [LANDMARK.PINKY_DIP, LANDMARK.PINKY_TIP], + // Palm + [LANDMARK.INDEX_MCP, LANDMARK.MIDDLE_MCP], + [LANDMARK.MIDDLE_MCP, LANDMARK.RING_MCP], + [LANDMARK.RING_MCP, LANDMARK.PINKY_MCP], +] + +export const HandVisualizer = memo(function HandVisualizer({ + handData, + width, + height, + showConnections = true, + showLandmarks = true, + landmarkColor = '#FF5F00', + connectionColor = '#00FF00', + className = '', +}: HandVisualizerProps) { + const canvasRef = useRef(null) + + useEffect(() => { + const canvas = canvasRef.current + if (!canvas) return + + const ctx = canvas.getContext('2d') + if (!ctx) return + + // Clear canvas + ctx.clearRect(0, 0, width, height) + + if (!handData || !handData.landmarks || handData.landmarks.length === 0) { + return + } + + const landmarks = handData.landmarks + + // Draw connections + if (showConnections) { + ctx.strokeStyle = connectionColor + ctx.lineWidth = 2 + ctx.lineCap = 'round' + + for (const [start, end] of FINGER_CONNECTIONS) { + const startLandmark = landmarks[start] + const endLandmark = landmarks[end] + + if (startLandmark && endLandmark) { + ctx.beginPath() + ctx.moveTo(startLandmark.x * width, startLandmark.y * height) + ctx.lineTo(endLandmark.x * width, endLandmark.y * height) + ctx.stroke() + } + } + } + + // Draw landmarks + if (showLandmarks) { + for (let i = 0; i < landmarks.length; i++) { + const landmark = landmarks[i] + const x = landmark.x * width + const y = landmark.y * height + + // Draw outer circle + ctx.beginPath() + ctx.arc(x, y, 6, 0, 2 * Math.PI) + ctx.fillStyle = landmarkColor + ctx.fill() + + // Draw inner circle + ctx.beginPath() + ctx.arc(x, y, 3, 0, 2 * Math.PI) + ctx.fillStyle = '#FFFFFF' + ctx.fill() + } + + // Highlight fingertips with larger circles + const fingertips = [ + LANDMARK.THUMB_TIP, + LANDMARK.INDEX_TIP, + LANDMARK.MIDDLE_TIP, + LANDMARK.RING_TIP, + LANDMARK.PINKY_TIP, + ] + + for (const tip of fingertips) { + const landmark = landmarks[tip] + if (landmark) { + ctx.beginPath() + ctx.arc(landmark.x * width, landmark.y * height, 8, 0, 2 * Math.PI) + ctx.strokeStyle = '#FFFFFF' + ctx.lineWidth = 2 + ctx.stroke() + } + } + } + + // Draw pinch indicator + if (handData.pinchDistance < 0.3) { + const thumbTip = landmarks[LANDMARK.THUMB_TIP] + const indexTip = landmarks[LANDMARK.INDEX_TIP] + + if (thumbTip && indexTip) { + const midX = (thumbTip.x + indexTip.x) / 2 * width + const midY = (thumbTip.y + indexTip.y) / 2 * height + const radius = 15 + (1 - handData.pinchDistance) * 10 + + ctx.beginPath() + ctx.arc(midX, midY, radius, 0, 2 * Math.PI) + ctx.strokeStyle = handData.pinchDistance < 0.1 ? '#FF0000' : '#FFFF00' + ctx.lineWidth = 3 + ctx.stroke() + } + } + }, [handData, width, height, showConnections, showLandmarks, landmarkColor, connectionColor]) + + return ( + + ) +}) diff --git a/src/components/mediapipe/index.ts b/src/components/mediapipe/index.ts new file mode 100644 index 0000000..b1ca4b0 --- /dev/null +++ b/src/components/mediapipe/index.ts @@ -0,0 +1,3 @@ +export { HandTracker } from './hand-tracker' +export { HandVisualizer } from './hand-visualizer' +export { HandTrackingPanel } from './hand-tracking-panel' diff --git a/src/components/robot-arm-simulation.tsx b/src/components/robot-arm-simulation.tsx index b2e3ad3..da4d5f7 100644 --- a/src/components/robot-arm-simulation.tsx +++ b/src/components/robot-arm-simulation.tsx @@ -1,4 +1,4 @@ -import { useState, useEffect, Suspense } from "react" +import { useState, useEffect, useCallback, Suspense } from "react" import { Canvas } from "@react-three/fiber" import { OrbitControls, Environment, PerspectiveCamera, ContactShadows, Text } from "@react-three/drei" import { RobotArm } from "./robot-arm" @@ -6,6 +6,9 @@ import { ControlPanel } from "./control-panel" import { Physics, useBox, usePlane, useSphere } from "@react-three/cannon" import { InfoPanel } from "./info-panel" import { ZigController } from "./zig-controller" +import { HandTrackingPanel } from "./mediapipe/hand-tracking-panel" +import type { JointAngles, DiscreteCommand, InputSource } from "@/types/mediapipe" +import { jointAnglesToArray } from "@/lib/mediapipe/mapping" export default function RobotArmSimulation() { const [armAngles, setArmAngles] = useState({ @@ -23,8 +26,12 @@ export default function RobotArmSimulation() { sensorReadings: [0, 0, 0, 0, 0, 0, 0], systemStatus: "READY", errorCode: null, + sendJointCommand: null as ((positions: number[], maxVelocity?: number[]) => void) | null, }) + const [inputSource, setInputSource] = useState('manual') + const [eStopActive, setEStopActive] = useState(false) + // Predefined movements const movements = { rest: { @@ -74,35 +81,98 @@ export default function RobotArmSimulation() { }, } - // Simulate Zig controller communication - useEffect(() => { - const interval = setInterval(() => { - // Simulate motor current based on joint movement - const newMotorCurrents = Object.values(armAngles).map((angle) => Math.abs(angle) * 0.1 + Math.random() * 0.5) - - // Simulate sensor readings - const newSensorReadings = newMotorCurrents.map((current) => current + (Math.random() - 0.5) * 0.2) + // Handle manual angle changes + const handleAngleChange = useCallback((joint: string, value: number) => { + if (eStopActive) return - setControlSignals({ - motorCurrents: newMotorCurrents, - sensorReadings: newSensorReadings, - systemStatus: Math.random() > 0.98 ? "WARNING" : "READY", - errorCode: Math.random() > 0.98 ? "TEMP_HIGH" : null, - }) - }, 500) + setArmAngles((prev) => ({ ...prev, [joint]: value })) + setInputSource('manual') + + // Send to backend if available + if (controlSignals.sendJointCommand) { + const newAngles = { ...armAngles, [joint]: value } + const positionArray = [ + newAngles.baseRotation, + newAngles.shoulderRotation, + newAngles.elbowRotation, + newAngles.wristBendRotation, + newAngles.wristRotation, + newAngles.toolRotation, + newAngles.gripperRotation, + ] + controlSignals.sendJointCommand(positionArray) + } + }, [armAngles, controlSignals.sendJointCommand, eStopActive]) + + // Handle preset movement execution + const executeMovement = useCallback((movementName: string) => { + if (eStopActive) return + + const movement = movements[movementName as keyof typeof movements] + if (movement) { + setArmAngles(movement) + setInputSource('preset') + + // Send to backend + if (controlSignals.sendJointCommand) { + const positionArray = jointAnglesToArray(movement as JointAngles) + controlSignals.sendJointCommand(positionArray) + } + } + }, [controlSignals.sendJointCommand, eStopActive]) - return () => clearInterval(interval) - }, [armAngles]) + // Handle hand tracking joint angles + const handleHandTrackingAngles = useCallback((angles: JointAngles) => { + if (eStopActive) return - const handleAngleChange = (joint, value) => { - setArmAngles((prev) => ({ ...prev, [joint]: value })) - } + setArmAngles(angles) + setInputSource('mediapipe') - const executeMovement = (movementName) => { - if (movements[movementName]) { - setArmAngles(movements[movementName]) + // Send to backend + if (controlSignals.sendJointCommand) { + const positionArray = jointAnglesToArray(angles) + controlSignals.sendJointCommand(positionArray) } - } + }, [controlSignals.sendJointCommand, eStopActive]) + + // Handle discrete commands from gestures + const handleDiscreteCommand = useCallback((command: DiscreteCommand) => { + console.log('Discrete command received:', command) + + switch (command.type) { + case 'GRIPPER': + const gripperValue = command.value === 'close' ? -90 : 0 + setArmAngles(prev => ({ ...prev, gripperRotation: gripperValue })) + if (controlSignals.sendJointCommand) { + const positionArray = jointAnglesToArray({ ...armAngles, gripperRotation: gripperValue }) + controlSignals.sendJointCommand(positionArray) + } + break + + case 'E_STOP': + handleEStop() + break + + case 'MODE': + // Toggle between manual and mediapipe + setInputSource(prev => prev === 'mediapipe' ? 'manual' : 'mediapipe') + break + } + }, [armAngles, controlSignals.sendJointCommand]) + + // Handle emergency stop + const handleEStop = useCallback(() => { + console.log('EMERGENCY STOP ACTIVATED') + setEStopActive(true) + setControlSignals(prev => ({ ...prev, systemStatus: 'E_STOP' })) + + // Reset E-stop after 3 seconds (in production this would require manual reset) + setTimeout(() => { + setEStopActive(false) + setControlSignals(prev => ({ ...prev, systemStatus: 'READY' })) + console.log('E-STOP reset') + }, 3000) + }, []) return (
@@ -174,6 +244,7 @@ export default function RobotArmSimulation() { + {/* Control Panel - Manual controls */} + {/* Info Panel */} + {/* Backend Connection */} + + {/* Hand Tracking Panel */} + + + {/* Input Source Indicator */} +
+ Input: + + {inputSource === 'mediapipe' ? 'Hand Tracking' : + inputSource === 'preset' ? 'Preset' : + 'Manual'} + + {eStopActive && ( + E-STOP + )} +
) } @@ -245,8 +343,8 @@ function InteractiveObjects() { ) } -function Box({ position, color, size = [0.5, 0.5, 0.5] }) { - const [ref, api] = useBox(() => ({ +function Box({ position, color, size = [0.5, 0.5, 0.5] }: { position: [number, number, number], color: string, size?: [number, number, number] }) { + const [ref] = useBox(() => ({ mass: 1, position, args: size, @@ -260,8 +358,8 @@ function Box({ position, color, size = [0.5, 0.5, 0.5] }) { ) } -function Sphere({ position, color, radius = 0.5 }) { - const [ref, api] = useSphere(() => ({ +function Sphere({ position, color, radius = 0.5 }: { position: [number, number, number], color: string, radius?: number }) { + const [ref] = useSphere(() => ({ mass: 1, position, args: [radius], @@ -275,8 +373,8 @@ function Sphere({ position, color, radius = 0.5 }) { ) } -function Cylinder({ position, color }) { - const [ref, api] = useBox(() => ({ +function Cylinder({ position, color }: { position: [number, number, number], color: string }) { + const [ref] = useBox(() => ({ mass: 1, position, args: [0.2, 0.3, 0.2], @@ -289,4 +387,3 @@ function Cylinder({ position, color }) { ) } - diff --git a/src/hooks/index.ts b/src/hooks/index.ts new file mode 100644 index 0000000..41746a0 --- /dev/null +++ b/src/hooks/index.ts @@ -0,0 +1,4 @@ +export { useMediaPipe } from './useMediaPipe' +export { useWebcam } from './useWebcam' +export { useHandTracking } from './useHandTracking' +export { useGestureControl } from './useGestureControl' diff --git a/src/hooks/useGestureControl.ts b/src/hooks/useGestureControl.ts new file mode 100644 index 0000000..4ebd02c --- /dev/null +++ b/src/hooks/useGestureControl.ts @@ -0,0 +1,196 @@ +// Gesture control hook - converts hand data to robot commands + +import { useState, useRef, useCallback, useEffect } from 'react' +import type { + ProcessedHandData, + GestureResult, + JointAngles, + DiscreteCommand, + ControlMappingConfig, + UseGestureControlReturn, +} from '@/types/mediapipe' +import { GESTURES } from '@/types/mediapipe' +import { mapHandToJointAngles, mapGestureToCommand } from '@/lib/mediapipe/mapping' +import { DEFAULT_CONTROL_CONFIG } from '@/lib/mediapipe/config' +import { MultiLowPassFilter } from '@/lib/filters' + +interface UseGestureControlOptions { + config?: Partial + onJointAnglesChange?: (angles: JointAngles) => void + onDiscreteCommand?: (command: DiscreteCommand) => void + onEStop?: () => void +} + +export function useGestureControl( + handData: ProcessedHandData | null, + gesture: GestureResult | null, + options: UseGestureControlOptions = {} +): UseGestureControlReturn { + const { + config: initialConfig, + onJointAnglesChange, + onDiscreteCommand, + onEStop, + } = options + + const [jointAngles, setJointAngles] = useState(null) + const [discreteCommand, setDiscreteCommand] = useState(null) + const [isControlling, setIsControlling] = useState(false) + const [config, setConfig] = useState({ + ...DEFAULT_CONTROL_CONFIG, + ...initialConfig, + }) + + const filterRef = useRef(new MultiLowPassFilter(config.smoothingFactor)) + const lastCommandTimeRef = useRef(0) + const lastGestureRef = useRef(null) + const gestureStartTimeRef = useRef(0) + + // Update filter when smoothing factor changes + useEffect(() => { + filterRef.current.setAlpha(config.smoothingFactor) + }, [config.smoothingFactor]) + + // Process hand data into joint angles + useEffect(() => { + if (!isControlling || !handData) { + return + } + + const now = Date.now() + const minInterval = 1000 / config.maxCommandRate + + // Rate limiting + if (now - lastCommandTimeRef.current < minInterval) { + return + } + + // Map hand to raw joint angles + const rawAngles = mapHandToJointAngles( + handData, + config.sensitivity, + config.positionDeadzone + ) + + // Apply smoothing if enabled + let smoothedAngles: JointAngles + if (config.smoothingEnabled) { + const filtered = filterRef.current.updateAll({ + baseRotation: rawAngles.baseRotation, + shoulderRotation: rawAngles.shoulderRotation, + elbowRotation: rawAngles.elbowRotation, + wristBendRotation: rawAngles.wristBendRotation, + wristRotation: rawAngles.wristRotation, + toolRotation: rawAngles.toolRotation, + gripperRotation: rawAngles.gripperRotation, + }) + + smoothedAngles = { + baseRotation: filtered.baseRotation, + shoulderRotation: filtered.shoulderRotation, + elbowRotation: filtered.elbowRotation, + wristBendRotation: filtered.wristBendRotation, + wristRotation: filtered.wristRotation, + toolRotation: filtered.toolRotation, + gripperRotation: filtered.gripperRotation, + } + } else { + smoothedAngles = rawAngles + } + + setJointAngles(smoothedAngles) + onJointAnglesChange?.(smoothedAngles) + lastCommandTimeRef.current = now + }, [handData, isControlling, config, onJointAnglesChange]) + + // Process gestures into discrete commands + useEffect(() => { + if (!isControlling || !gesture) { + lastGestureRef.current = null + setDiscreteCommand(null) + return + } + + // Check confidence threshold + if (gesture.score < config.gestureConfidenceThreshold) { + lastGestureRef.current = null + return + } + + // Skip "None" gestures + if (gesture.categoryName === GESTURES.NONE) { + lastGestureRef.current = null + return + } + + const now = Date.now() + + // Handle gesture hold time + if (gesture.categoryName !== lastGestureRef.current) { + lastGestureRef.current = gesture.categoryName + gestureStartTimeRef.current = now + return + } + + // Check if gesture has been held long enough + if (now - gestureStartTimeRef.current < config.gestureHoldTime) { + return + } + + // E-Stop has highest priority and is immediate + if (gesture.categoryName === GESTURES.I_LOVE_YOU) { + const command: DiscreteCommand = { + type: 'E_STOP', + source: 'mediapipe', + gesture: gesture.categoryName, + timestamp: now, + } + setDiscreteCommand(command) + onDiscreteCommand?.(command) + onEStop?.() + // Reset to prevent repeated E-stops + lastGestureRef.current = null + return + } + + // Map other gestures to commands + const command = mapGestureToCommand(gesture) + if (command) { + setDiscreteCommand(command) + onDiscreteCommand?.(command) + // Reset gesture to require re-gesture for next command + lastGestureRef.current = null + } + }, [gesture, isControlling, config, onDiscreteCommand, onEStop]) + + const enable = useCallback(() => { + setIsControlling(true) + filterRef.current.reset() + console.log('Gesture control enabled') + }, []) + + const disable = useCallback(() => { + setIsControlling(false) + setJointAngles(null) + setDiscreteCommand(null) + console.log('Gesture control disabled') + }, []) + + const setMode = useCallback((mode: ControlMappingConfig['mode']) => { + setConfig(prev => ({ ...prev, mode })) + }, []) + + const setSensitivity = useCallback((sensitivity: number) => { + setConfig(prev => ({ ...prev, sensitivity: Math.max(0.1, Math.min(2.0, sensitivity)) })) + }, []) + + return { + jointAngles, + discreteCommand, + isControlling, + enable, + disable, + setMode, + setSensitivity, + } +} diff --git a/src/hooks/useHandTracking.ts b/src/hooks/useHandTracking.ts new file mode 100644 index 0000000..ffe93dd --- /dev/null +++ b/src/hooks/useHandTracking.ts @@ -0,0 +1,161 @@ +// Real-time hand tracking hook using MediaPipe + +import { useState, useRef, useCallback, useEffect } from 'react' +import type { GestureRecognizer, GestureRecognizerResult } from '@mediapipe/tasks-vision' +import type { + ProcessedHandData, + GestureResult, + UseHandTrackingReturn, + NormalizedLandmark, +} from '@/types/mediapipe' +import { processLandmarks } from '@/lib/mediapipe/mapping' + +interface UseHandTrackingOptions { + enabled?: boolean + mirrorMode?: boolean + onLandmarksUpdate?: (data: ProcessedHandData) => void + onGestureDetected?: (gesture: GestureResult) => void +} + +export function useHandTracking( + videoRef: React.RefObject, + gestureRecognizer: GestureRecognizer | null, + options: UseHandTrackingOptions = {} +): UseHandTrackingReturn { + const { + enabled = true, + mirrorMode = true, + onLandmarksUpdate, + onGestureDetected, + } = options + + const [isTracking, setIsTracking] = useState(false) + const [handData, setHandData] = useState(null) + const [gesture, setGesture] = useState(null) + const [fps, setFps] = useState(0) + + const animationFrameRef = useRef(null) + const lastVideoTimeRef = useRef(-1) + const frameCountRef = useRef(0) + const lastFpsUpdateRef = useRef(Date.now()) + const trackingRef = useRef(false) + + const processFrame = useCallback(() => { + if (!trackingRef.current || !videoRef.current || !gestureRecognizer) { + animationFrameRef.current = requestAnimationFrame(processFrame) + return + } + + const video = videoRef.current + + // Only process if video time has changed (new frame) + if (video.currentTime === lastVideoTimeRef.current) { + animationFrameRef.current = requestAnimationFrame(processFrame) + return + } + + lastVideoTimeRef.current = video.currentTime + + try { + const nowMs = performance.now() + const result: GestureRecognizerResult = gestureRecognizer.recognizeForVideo(video, nowMs) + + // Update FPS counter + frameCountRef.current++ + const now = Date.now() + if (now - lastFpsUpdateRef.current >= 1000) { + setFps(frameCountRef.current) + frameCountRef.current = 0 + lastFpsUpdateRef.current = now + } + + // Process results + if (result.landmarks && result.landmarks.length > 0) { + const landmarks = result.landmarks[0] as NormalizedLandmark[] + const handedness = result.handednesses?.[0]?.[0]?.categoryName as 'Left' | 'Right' ?? 'Right' + const confidence = result.handednesses?.[0]?.[0]?.score ?? 0.5 + + // Process landmarks into structured data + const processed = processLandmarks(landmarks, handedness, confidence, mirrorMode) + setHandData(processed) + onLandmarksUpdate?.(processed) + + // Process gestures + if (result.gestures && result.gestures.length > 0 && result.gestures[0].length > 0) { + const topGesture = result.gestures[0][0] + const gestureResult: GestureResult = { + categoryName: topGesture.categoryName, + score: topGesture.score, + index: topGesture.index, + } + setGesture(gestureResult) + onGestureDetected?.(gestureResult) + } else { + setGesture(null) + } + } else { + setHandData(null) + setGesture(null) + } + } catch (err) { + console.error('Hand tracking error:', err) + } + + animationFrameRef.current = requestAnimationFrame(processFrame) + }, [videoRef, gestureRecognizer, mirrorMode, onLandmarksUpdate, onGestureDetected]) + + const startTracking = useCallback(() => { + if (!gestureRecognizer || trackingRef.current) return + + trackingRef.current = true + setIsTracking(true) + lastVideoTimeRef.current = -1 + frameCountRef.current = 0 + lastFpsUpdateRef.current = Date.now() + + animationFrameRef.current = requestAnimationFrame(processFrame) + console.log('Hand tracking started') + }, [gestureRecognizer, processFrame]) + + const stopTracking = useCallback(() => { + trackingRef.current = false + setIsTracking(false) + + if (animationFrameRef.current) { + cancelAnimationFrame(animationFrameRef.current) + animationFrameRef.current = null + } + + setHandData(null) + setGesture(null) + setFps(0) + console.log('Hand tracking stopped') + }, []) + + // Handle enabled prop changes + useEffect(() => { + if (enabled && gestureRecognizer && videoRef.current) { + // Don't auto-start - let user explicitly start + } else if (!enabled) { + stopTracking() + } + }, [enabled, gestureRecognizer, videoRef, stopTracking]) + + // Cleanup on unmount + useEffect(() => { + return () => { + if (animationFrameRef.current) { + cancelAnimationFrame(animationFrameRef.current) + } + } + }, []) + + return { + isTracking, + handData, + gesture, + fps, + startTracking, + stopTracking, + } +} diff --git a/src/hooks/useMediaPipe.ts b/src/hooks/useMediaPipe.ts new file mode 100644 index 0000000..dc59685 --- /dev/null +++ b/src/hooks/useMediaPipe.ts @@ -0,0 +1,80 @@ +// MediaPipe Gesture Recognizer initialization hook + +import { useState, useEffect, useRef, useCallback } from 'react' +import { + GestureRecognizer, + FilesetResolver, +} from '@mediapipe/tasks-vision' +import type { MediaPipeConfig, UseMediaPipeReturn } from '@/types/mediapipe' +import { DEFAULT_MEDIAPIPE_CONFIG, MODEL_PATHS } from '@/lib/mediapipe/config' + +export function useMediaPipe( + config: Partial = {} +): UseMediaPipeReturn & { gestureRecognizer: GestureRecognizer | null } { + const [isInitialized, setIsInitialized] = useState(false) + const [isLoading, setIsLoading] = useState(false) + const [error, setError] = useState(null) + + const gestureRecognizerRef = useRef(null) + const initializingRef = useRef(false) + + const mergedConfig = { ...DEFAULT_MEDIAPIPE_CONFIG, ...config } + + const initializeMediaPipe = useCallback(async () => { + if (initializingRef.current || gestureRecognizerRef.current) { + return + } + + initializingRef.current = true + setIsLoading(true) + setError(null) + + try { + // Initialize the vision task + const vision = await FilesetResolver.forVisionTasks(MODEL_PATHS.wasmPath) + + // Create the gesture recognizer + const recognizer = await GestureRecognizer.createFromOptions(vision, { + baseOptions: { + modelAssetPath: MODEL_PATHS.gestureRecognizer, + delegate: 'GPU', + }, + runningMode: 'VIDEO', + numHands: mergedConfig.numHands, + minHandDetectionConfidence: mergedConfig.minDetectionConfidence, + minTrackingConfidence: mergedConfig.minTrackingConfidence, + }) + + gestureRecognizerRef.current = recognizer + setIsInitialized(true) + console.log('MediaPipe GestureRecognizer initialized successfully') + } catch (err) { + const error = err instanceof Error ? err : new Error('Failed to initialize MediaPipe') + setError(error) + console.error('MediaPipe initialization error:', error) + } finally { + setIsLoading(false) + initializingRef.current = false + } + }, [mergedConfig.numHands, mergedConfig.minDetectionConfidence, mergedConfig.minTrackingConfidence]) + + // Initialize on mount + useEffect(() => { + initializeMediaPipe() + + return () => { + if (gestureRecognizerRef.current) { + gestureRecognizerRef.current.close() + gestureRecognizerRef.current = null + setIsInitialized(false) + } + } + }, [initializeMediaPipe]) + + return { + isInitialized, + isLoading, + error, + gestureRecognizer: gestureRecognizerRef.current, + } +} diff --git a/src/hooks/useWebcam.ts b/src/hooks/useWebcam.ts new file mode 100644 index 0000000..44ceb24 --- /dev/null +++ b/src/hooks/useWebcam.ts @@ -0,0 +1,84 @@ +// Webcam access and stream management hook + +import { useState, useRef, useCallback, useEffect } from 'react' +import type { UseWebcamReturn } from '@/types/mediapipe' + +interface WebcamConfig { + width?: number + height?: number + facingMode?: 'user' | 'environment' +} + +export function useWebcam(config: WebcamConfig = {}): UseWebcamReturn { + const [isStreaming, setIsStreaming] = useState(false) + const [error, setError] = useState(null) + + const videoRef = useRef(null) + const streamRef = useRef(null) + + const { width = 640, height = 480, facingMode = 'user' } = config + + const startStream = useCallback(async () => { + if (streamRef.current) { + return // Already streaming + } + + setError(null) + + try { + const constraints: MediaStreamConstraints = { + video: { + width: { ideal: width }, + height: { ideal: height }, + facingMode, + frameRate: { ideal: 30 }, + }, + audio: false, + } + + const stream = await navigator.mediaDevices.getUserMedia(constraints) + streamRef.current = stream + + if (videoRef.current) { + videoRef.current.srcObject = stream + await videoRef.current.play() + setIsStreaming(true) + console.log('Webcam stream started') + } + } catch (err) { + const error = err instanceof Error ? err : new Error('Failed to access webcam') + setError(error) + console.error('Webcam error:', error) + throw error + } + }, [width, height, facingMode]) + + const stopStream = useCallback(() => { + if (streamRef.current) { + streamRef.current.getTracks().forEach(track => track.stop()) + streamRef.current = null + } + + if (videoRef.current) { + videoRef.current.srcObject = null + } + + setIsStreaming(false) + console.log('Webcam stream stopped') + }, []) + + // Cleanup on unmount + useEffect(() => { + return () => { + stopStream() + } + }, [stopStream]) + + return { + videoRef, + isStreaming, + error, + startStream, + stopStream, + } +} diff --git a/src/lib/filters/index.ts b/src/lib/filters/index.ts new file mode 100644 index 0000000..a1af462 --- /dev/null +++ b/src/lib/filters/index.ts @@ -0,0 +1,5 @@ +export { KalmanFilter, MultiKalmanFilter } from './kalman' +export { LowPassFilter, MultiLowPassFilter } from './low-pass' +export { VelocityLimiter, MultiVelocityLimiter } from './velocity-limiter' +export type { KalmanState } from './kalman' +export type { VelocityLimiterConfig } from './velocity-limiter' diff --git a/src/lib/filters/kalman.ts b/src/lib/filters/kalman.ts new file mode 100644 index 0000000..bb17295 --- /dev/null +++ b/src/lib/filters/kalman.ts @@ -0,0 +1,95 @@ +// Simple 1D Kalman Filter for smoothing hand tracking data + +export interface KalmanState { + x: number // Estimated value + p: number // Estimation error covariance + q: number // Process noise covariance + r: number // Measurement noise covariance +} + +export class KalmanFilter { + private state: KalmanState + + constructor( + initialValue: number = 0, + processNoise: number = 0.01, + measurementNoise: number = 0.1 + ) { + this.state = { + x: initialValue, + p: 1, + q: processNoise, + r: measurementNoise, + } + } + + update(measurement: number): number { + // Prediction + const p_pred = this.state.p + this.state.q + + // Update + const k = p_pred / (p_pred + this.state.r) // Kalman gain + this.state.x = this.state.x + k * (measurement - this.state.x) + this.state.p = (1 - k) * p_pred + + return this.state.x + } + + getValue(): number { + return this.state.x + } + + reset(value: number = 0): void { + this.state.x = value + this.state.p = 1 + } + + setNoiseParams(processNoise: number, measurementNoise: number): void { + this.state.q = processNoise + this.state.r = measurementNoise + } +} + +// Multi-dimensional Kalman filter for tracking multiple values +export class MultiKalmanFilter { + private filters: Map = new Map() + private processNoise: number + private measurementNoise: number + + constructor(processNoise: number = 0.01, measurementNoise: number = 0.1) { + this.processNoise = processNoise + this.measurementNoise = measurementNoise + } + + update(key: string, measurement: number): number { + if (!this.filters.has(key)) { + this.filters.set(key, new KalmanFilter(measurement, this.processNoise, this.measurementNoise)) + return measurement + } + return this.filters.get(key)!.update(measurement) + } + + updateAll(measurements: Record): Record { + const result: Record = {} + for (const [key, value] of Object.entries(measurements)) { + result[key] = this.update(key, value) + } + return result + } + + getValue(key: string): number | undefined { + return this.filters.get(key)?.getValue() + } + + reset(): void { + this.filters.clear() + } + + setNoiseParams(processNoise: number, measurementNoise: number): void { + this.processNoise = processNoise + this.measurementNoise = measurementNoise + for (const filter of this.filters.values()) { + filter.setNoiseParams(processNoise, measurementNoise) + } + } +} diff --git a/src/lib/filters/low-pass.ts b/src/lib/filters/low-pass.ts new file mode 100644 index 0000000..ecc2538 --- /dev/null +++ b/src/lib/filters/low-pass.ts @@ -0,0 +1,77 @@ +// Low-pass filter for smoothing values over time + +export class LowPassFilter { + private value: number + private alpha: number + private initialized: boolean = false + + constructor(smoothingFactor: number = 0.3) { + this.alpha = Math.max(0, Math.min(1, smoothingFactor)) + this.value = 0 + } + + update(newValue: number): number { + if (!this.initialized) { + this.value = newValue + this.initialized = true + return newValue + } + + // Exponential moving average + this.value = this.alpha * newValue + (1 - this.alpha) * this.value + return this.value + } + + getValue(): number { + return this.value + } + + reset(value?: number): void { + this.initialized = value !== undefined + this.value = value ?? 0 + } + + setAlpha(alpha: number): void { + this.alpha = Math.max(0, Math.min(1, alpha)) + } +} + +// Multi-value low-pass filter +export class MultiLowPassFilter { + private filters: Map = new Map() + private alpha: number + + constructor(smoothingFactor: number = 0.3) { + this.alpha = smoothingFactor + } + + update(key: string, value: number): number { + if (!this.filters.has(key)) { + this.filters.set(key, new LowPassFilter(this.alpha)) + } + return this.filters.get(key)!.update(value) + } + + updateAll(values: Record): Record { + const result: Record = {} + for (const [key, value] of Object.entries(values)) { + result[key] = this.update(key, value) + } + return result + } + + getValue(key: string): number | undefined { + return this.filters.get(key)?.getValue() + } + + reset(): void { + this.filters.clear() + } + + setAlpha(alpha: number): void { + this.alpha = alpha + for (const filter of this.filters.values()) { + filter.setAlpha(alpha) + } + } +} diff --git a/src/lib/filters/velocity-limiter.ts b/src/lib/filters/velocity-limiter.ts new file mode 100644 index 0000000..01e07ad --- /dev/null +++ b/src/lib/filters/velocity-limiter.ts @@ -0,0 +1,118 @@ +// Velocity limiter to prevent sudden jerky movements + +export interface VelocityLimiterConfig { + maxVelocity: number // Maximum change per second + maxAcceleration: number // Maximum velocity change per second +} + +export class VelocityLimiter { + private currentValue: number = 0 + private currentVelocity: number = 0 + private lastUpdateTime: number = 0 + private config: VelocityLimiterConfig + private initialized: boolean = false + + constructor(config: Partial = {}) { + this.config = { + maxVelocity: config.maxVelocity ?? 100, // degrees/second + maxAcceleration: config.maxAcceleration ?? 200, // degrees/second^2 + } + } + + update(targetValue: number, timestamp: number = Date.now()): number { + if (!this.initialized) { + this.currentValue = targetValue + this.lastUpdateTime = timestamp + this.initialized = true + return targetValue + } + + const dt = Math.max(0.001, (timestamp - this.lastUpdateTime) / 1000) // seconds + this.lastUpdateTime = timestamp + + // Calculate desired velocity + const desiredVelocity = (targetValue - this.currentValue) / dt + + // Limit velocity + let limitedVelocity = Math.max( + -this.config.maxVelocity, + Math.min(this.config.maxVelocity, desiredVelocity) + ) + + // Limit acceleration + const velocityChange = limitedVelocity - this.currentVelocity + const maxVelocityChange = this.config.maxAcceleration * dt + if (Math.abs(velocityChange) > maxVelocityChange) { + limitedVelocity = this.currentVelocity + Math.sign(velocityChange) * maxVelocityChange + } + + // Update state + this.currentVelocity = limitedVelocity + this.currentValue = this.currentValue + limitedVelocity * dt + + return this.currentValue + } + + getValue(): number { + return this.currentValue + } + + getVelocity(): number { + return this.currentVelocity + } + + reset(value?: number): void { + this.currentValue = value ?? 0 + this.currentVelocity = 0 + this.lastUpdateTime = 0 + this.initialized = value !== undefined + } + + setConfig(config: Partial): void { + if (config.maxVelocity !== undefined) { + this.config.maxVelocity = config.maxVelocity + } + if (config.maxAcceleration !== undefined) { + this.config.maxAcceleration = config.maxAcceleration + } + } +} + +// Multi-value velocity limiter +export class MultiVelocityLimiter { + private limiters: Map = new Map() + private config: VelocityLimiterConfig + + constructor(config: Partial = {}) { + this.config = { + maxVelocity: config.maxVelocity ?? 100, + maxAcceleration: config.maxAcceleration ?? 200, + } + } + + update(key: string, value: number, timestamp?: number): number { + if (!this.limiters.has(key)) { + this.limiters.set(key, new VelocityLimiter(this.config)) + } + return this.limiters.get(key)!.update(value, timestamp) + } + + updateAll(values: Record, timestamp?: number): Record { + const result: Record = {} + for (const [key, value] of Object.entries(values)) { + result[key] = this.update(key, value, timestamp) + } + return result + } + + reset(): void { + this.limiters.clear() + } + + setConfig(config: Partial): void { + this.config = { ...this.config, ...config } + for (const limiter of this.limiters.values()) { + limiter.setConfig(config) + } + } +} diff --git a/src/lib/mediapipe/config.ts b/src/lib/mediapipe/config.ts new file mode 100644 index 0000000..e471b69 --- /dev/null +++ b/src/lib/mediapipe/config.ts @@ -0,0 +1,40 @@ +// MediaPipe Configuration + +import type { MediaPipeConfig, ControlMappingConfig } from '@/types/mediapipe' + +export const DEFAULT_MEDIAPIPE_CONFIG: MediaPipeConfig = { + numHands: 1, + minDetectionConfidence: 0.5, + minTrackingConfidence: 0.5, + mirrorMode: true, + preferredHand: 'right', +} + +export const DEFAULT_CONTROL_CONFIG: ControlMappingConfig = { + mode: 'direct', + sensitivity: 1.0, + positionDeadzone: 0.02, + rotationDeadzone: 0.05, + smoothingEnabled: true, + smoothingFactor: 0.3, + maxCommandRate: 60, + gestureConfidenceThreshold: 0.7, + gestureHoldTime: 150, +} + +// Joint limits matching backend (from main.zig) +export const JOINT_LIMITS = { + baseRotation: { min: -180, max: 180 }, + shoulderRotation: { min: -120, max: 30 }, + elbowRotation: { min: -120, max: 120 }, + wristBendRotation: { min: -100, max: 100 }, + wristRotation: { min: -180, max: 180 }, + toolRotation: { min: -180, max: 180 }, + gripperRotation: { min: 0, max: 100 }, +} as const + +// MediaPipe model paths +export const MODEL_PATHS = { + gestureRecognizer: 'https://storage.googleapis.com/mediapipe-models/gesture_recognizer/gesture_recognizer/float16/1/gesture_recognizer.task', + wasmPath: 'https://cdn.jsdelivr.net/npm/@mediapipe/tasks-vision@latest/wasm', +} diff --git a/src/lib/mediapipe/index.ts b/src/lib/mediapipe/index.ts new file mode 100644 index 0000000..d53c8b2 --- /dev/null +++ b/src/lib/mediapipe/index.ts @@ -0,0 +1,2 @@ +export * from './config' +export * from './mapping' diff --git a/src/lib/mediapipe/mapping.ts b/src/lib/mediapipe/mapping.ts new file mode 100644 index 0000000..acabd70 --- /dev/null +++ b/src/lib/mediapipe/mapping.ts @@ -0,0 +1,332 @@ +// Hand-to-Robot Mapping Functions + +import type { + NormalizedLandmark, + ProcessedHandData, + JointAngles, + GestureResult, + DiscreteCommand, + FingerState, +} from '@/types/mediapipe' +import { LANDMARK, GESTURES } from '@/types/mediapipe' +import { JOINT_LIMITS } from './config' + +// Map a value from one range to another +export function mapRange( + value: number, + inMin: number, + inMax: number, + outMin: number, + outMax: number +): number { + const mapped = ((value - inMin) / (inMax - inMin)) * (outMax - outMin) + outMin + return Math.max(outMin, Math.min(outMax, mapped)) +} + +// Apply deadzone to a value +export function applyDeadzone(value: number, deadzone: number, center: number = 0.5): number { + const delta = value - center + if (Math.abs(delta) < deadzone) { + return center + } + // Remap remaining range to remove deadzone gap + const sign = delta > 0 ? 1 : -1 + const remapped = (Math.abs(delta) - deadzone) / (0.5 - deadzone) + return center + sign * remapped * 0.5 +} + +// Calculate 3D distance between two landmarks +export function distance3D(a: NormalizedLandmark, b: NormalizedLandmark): number { + const dx = a.x - b.x + const dy = a.y - b.y + const dz = a.z - b.z + return Math.sqrt(dx * dx + dy * dy + dz * dz) +} + +// Calculate 2D distance (ignoring z) +export function distance2D(a: NormalizedLandmark, b: NormalizedLandmark): number { + const dx = a.x - b.x + const dy = a.y - b.y + return Math.sqrt(dx * dx + dy * dy) +} + +// Calculate angle between three points (returns radians) +export function angleBetweenPoints( + a: NormalizedLandmark, + b: NormalizedLandmark, + c: NormalizedLandmark +): number { + const ba = { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z } + const bc = { x: c.x - b.x, y: c.y - b.y, z: c.z - b.z } + + const dot = ba.x * bc.x + ba.y * bc.y + ba.z * bc.z + const magBA = Math.sqrt(ba.x * ba.x + ba.y * ba.y + ba.z * ba.z) + const magBC = Math.sqrt(bc.x * bc.x + bc.y * bc.y + bc.z * bc.z) + + if (magBA === 0 || magBC === 0) return 0 + + const cosAngle = Math.max(-1, Math.min(1, dot / (magBA * magBC))) + return Math.acos(cosAngle) +} + +// Calculate finger curl (0 = straight, 1 = fully curled) +export function calculateFingerCurl( + landmarks: NormalizedLandmark[], + mcpIndex: number, + pipIndex: number, + dipIndex: number, + tipIndex: number +): number { + const angle1 = angleBetweenPoints( + landmarks[mcpIndex - 1] || landmarks[LANDMARK.WRIST], + landmarks[mcpIndex], + landmarks[pipIndex] + ) + const angle2 = angleBetweenPoints( + landmarks[mcpIndex], + landmarks[pipIndex], + landmarks[dipIndex] + ) + const angle3 = angleBetweenPoints( + landmarks[pipIndex], + landmarks[dipIndex], + landmarks[tipIndex] + ) + + // Normalize to 0-1 (straight finger ~= 3.14 rad total, curled ~= 1.5 rad) + const totalAngle = angle1 + angle2 + angle3 + const curl = 1 - mapRange(totalAngle, 1.5, Math.PI, 0, 1) + return Math.max(0, Math.min(1, curl)) +} + +// Calculate finger state +export function getFingerState( + landmarks: NormalizedLandmark[], + mcpIndex: number, + pipIndex: number, + dipIndex: number, + tipIndex: number +): FingerState { + const curl = calculateFingerCurl(landmarks, mcpIndex, pipIndex, dipIndex, tipIndex) + return { + extended: curl < 0.4, + curl, + tipPosition: landmarks[tipIndex], + } +} + +// Calculate hand roll (rotation around forward axis) +export function calculateHandRoll(landmarks: NormalizedLandmark[]): number { + const wrist = landmarks[LANDMARK.WRIST] + const indexMcp = landmarks[LANDMARK.INDEX_MCP] + const pinkyMcp = landmarks[LANDMARK.PINKY_MCP] + + // Vector from pinky to index MCP + const dx = indexMcp.x - pinkyMcp.x + const dy = indexMcp.y - pinkyMcp.y + + // Calculate angle from horizontal + return Math.atan2(dy, dx) +} + +// Calculate hand pitch (rotation around side axis - tilt forward/back) +export function calculateHandPitch(landmarks: NormalizedLandmark[]): number { + const wrist = landmarks[LANDMARK.WRIST] + const middleMcp = landmarks[LANDMARK.MIDDLE_MCP] + + // Vector from wrist to middle MCP + const dz = middleMcp.z - wrist.z + const dy = middleMcp.y - wrist.y + + return Math.atan2(dz, -dy) // Negative y because y increases downward +} + +// Calculate hand yaw (rotation around up axis - twist left/right) +export function calculateHandYaw(landmarks: NormalizedLandmark[]): number { + const wrist = landmarks[LANDMARK.WRIST] + const middleMcp = landmarks[LANDMARK.MIDDLE_MCP] + + // Vector from wrist to middle MCP in x-z plane + const dx = middleMcp.x - wrist.x + const dz = middleMcp.z - wrist.z + + return Math.atan2(dz, dx) +} + +// Calculate pinch distance (normalized 0-1) +export function calculatePinchDistance(landmarks: NormalizedLandmark[]): number { + const thumbTip = landmarks[LANDMARK.THUMB_TIP] + const indexTip = landmarks[LANDMARK.INDEX_TIP] + + const dist = distance3D(thumbTip, indexTip) + // Normalize: ~0.02 = pinched, ~0.15 = fully open + return mapRange(dist, 0.02, 0.15, 0, 1) +} + +// Calculate grab strength (average finger curl) +export function calculateGrabStrength(landmarks: NormalizedLandmark[]): number { + const indexCurl = calculateFingerCurl(landmarks, LANDMARK.INDEX_MCP, LANDMARK.INDEX_PIP, LANDMARK.INDEX_DIP, LANDMARK.INDEX_TIP) + const middleCurl = calculateFingerCurl(landmarks, LANDMARK.MIDDLE_MCP, LANDMARK.MIDDLE_PIP, LANDMARK.MIDDLE_DIP, LANDMARK.MIDDLE_TIP) + const ringCurl = calculateFingerCurl(landmarks, LANDMARK.RING_MCP, LANDMARK.RING_PIP, LANDMARK.RING_DIP, LANDMARK.RING_TIP) + const pinkyCurl = calculateFingerCurl(landmarks, LANDMARK.PINKY_MCP, LANDMARK.PINKY_PIP, LANDMARK.PINKY_DIP, LANDMARK.PINKY_TIP) + + return (indexCurl + middleCurl + ringCurl + pinkyCurl) / 4 +} + +// Process raw landmarks into structured hand data +export function processLandmarks( + landmarks: NormalizedLandmark[], + handedness: 'Left' | 'Right', + confidence: number, + mirror: boolean = true +): ProcessedHandData { + // Apply mirror transformation if needed + const processed = mirror + ? landmarks.map(l => ({ ...l, x: 1 - l.x })) + : landmarks + + const wrist = processed[LANDMARK.WRIST] + + return { + position: { + x: wrist.x, + y: wrist.y, + z: wrist.z, + }, + orientation: { + roll: calculateHandRoll(processed), + pitch: calculateHandPitch(processed), + yaw: calculateHandYaw(processed), + }, + fingers: { + thumb: { + extended: calculateFingerCurl(processed, LANDMARK.THUMB_MCP, LANDMARK.THUMB_MCP, LANDMARK.THUMB_IP, LANDMARK.THUMB_TIP) < 0.4, + curl: calculateFingerCurl(processed, LANDMARK.THUMB_MCP, LANDMARK.THUMB_MCP, LANDMARK.THUMB_IP, LANDMARK.THUMB_TIP), + tipPosition: processed[LANDMARK.THUMB_TIP], + }, + index: getFingerState(processed, LANDMARK.INDEX_MCP, LANDMARK.INDEX_PIP, LANDMARK.INDEX_DIP, LANDMARK.INDEX_TIP), + middle: getFingerState(processed, LANDMARK.MIDDLE_MCP, LANDMARK.MIDDLE_PIP, LANDMARK.MIDDLE_DIP, LANDMARK.MIDDLE_TIP), + ring: getFingerState(processed, LANDMARK.RING_MCP, LANDMARK.RING_PIP, LANDMARK.RING_DIP, LANDMARK.RING_TIP), + pinky: getFingerState(processed, LANDMARK.PINKY_MCP, LANDMARK.PINKY_PIP, LANDMARK.PINKY_DIP, LANDMARK.PINKY_TIP), + }, + pinchDistance: calculatePinchDistance(processed), + grabStrength: calculateGrabStrength(processed), + handedness: mirror ? (handedness === 'Left' ? 'Right' : 'Left') : handedness, + confidence, + timestamp: Date.now(), + landmarks: processed, + } +} + +// Map processed hand data to robot joint angles +export function mapHandToJointAngles( + hand: ProcessedHandData, + sensitivity: number = 1.0, + positionDeadzone: number = 0.02 +): JointAngles { + // Apply deadzones + const x = applyDeadzone(hand.position.x, positionDeadzone) + const y = applyDeadzone(hand.position.y, positionDeadzone) + const z = hand.position.z // Z is relative, no deadzone needed + + // Map hand position to base joints + const baseRotation = mapRange(x, 0, 1, JOINT_LIMITS.baseRotation.min, JOINT_LIMITS.baseRotation.max) * sensitivity + const shoulderRotation = mapRange(y, 0, 1, JOINT_LIMITS.shoulderRotation.max, JOINT_LIMITS.shoulderRotation.min) * sensitivity // Inverted + const elbowRotation = mapRange(z, -0.3, 0.3, JOINT_LIMITS.elbowRotation.min, JOINT_LIMITS.elbowRotation.max) * sensitivity + + // Map hand orientation to wrist joints + const wristBendRotation = mapRange( + hand.orientation.pitch, + -Math.PI / 3, + Math.PI / 3, + JOINT_LIMITS.wristBendRotation.min, + JOINT_LIMITS.wristBendRotation.max + ) * sensitivity + + const wristRotation = mapRange( + hand.orientation.roll, + -Math.PI / 2, + Math.PI / 2, + JOINT_LIMITS.wristRotation.min, + JOINT_LIMITS.wristRotation.max + ) * sensitivity + + const toolRotation = mapRange( + hand.orientation.yaw, + -Math.PI / 2, + Math.PI / 2, + JOINT_LIMITS.toolRotation.min, + JOINT_LIMITS.toolRotation.max + ) * sensitivity + + // Map pinch to gripper (inverted: pinched = closed) + const gripperRotation = mapRange( + hand.pinchDistance, + 0, + 1, + 0, + 100 + ) + + return { + baseRotation: clampToLimits(baseRotation, 'baseRotation'), + shoulderRotation: clampToLimits(shoulderRotation, 'shoulderRotation'), + elbowRotation: clampToLimits(elbowRotation, 'elbowRotation'), + wristBendRotation: clampToLimits(wristBendRotation, 'wristBendRotation'), + wristRotation: clampToLimits(wristRotation, 'wristRotation'), + toolRotation: clampToLimits(toolRotation, 'toolRotation'), + gripperRotation: clampToLimits(gripperRotation, 'gripperRotation'), + } +} + +// Clamp value to joint limits +function clampToLimits(value: number, joint: keyof typeof JOINT_LIMITS): number { + const limits = JOINT_LIMITS[joint] + return Math.max(limits.min, Math.min(limits.max, value)) +} + +// Map gesture to discrete command +export function mapGestureToCommand(gesture: GestureResult): DiscreteCommand | null { + if (gesture.score < 0.7) return null + + const timestamp = Date.now() + const base = { source: 'mediapipe' as const, gesture: gesture.categoryName, timestamp } + + switch (gesture.categoryName) { + case GESTURES.CLOSED_FIST: + return { ...base, type: 'GRIPPER', value: 'close' } + + case GESTURES.OPEN_PALM: + return { ...base, type: 'GRIPPER', value: 'open' } + + case GESTURES.THUMB_UP: + return { ...base, type: 'CONFIRM' } + + case GESTURES.THUMB_DOWN: + return { ...base, type: 'CANCEL' } + + case GESTURES.VICTORY: + return { ...base, type: 'MODE' } + + case GESTURES.I_LOVE_YOU: + return { ...base, type: 'E_STOP' } + + case GESTURES.POINTING_UP: + case GESTURES.NONE: + default: + return null + } +} + +// Convert JointAngles to array format for backend +export function jointAnglesToArray(angles: JointAngles): number[] { + return [ + angles.baseRotation, + angles.shoulderRotation, + angles.elbowRotation, + angles.wristBendRotation, + angles.wristRotation, + angles.toolRotation, + angles.gripperRotation, + ] +} diff --git a/src/types/mediapipe.ts b/src/types/mediapipe.ts new file mode 100644 index 0000000..82cb19f --- /dev/null +++ b/src/types/mediapipe.ts @@ -0,0 +1,217 @@ +// MediaPipe Hand Tracking Types for KUKA Arm Control + +// ===== MediaPipe Raw Data ===== + +export interface NormalizedLandmark { + x: number // 0.0 - 1.0 (normalized by image width) + y: number // 0.0 - 1.0 (normalized by image height) + z: number // Depth relative to wrist +} + +export interface WorldLandmark { + x: number // meters + y: number // meters + z: number // meters +} + +export interface HandResult { + landmarks: NormalizedLandmark[] // 21 points + worldLandmarks: WorldLandmark[] // 21 points in 3D + handedness: 'Left' | 'Right' + handednessScore: number // 0.0 - 1.0 +} + +export interface GestureResult { + categoryName: string // e.g., "Thumb_Up" + score: number // 0.0 - 1.0 + index: number // Gesture index +} + +// ===== Landmark Indices ===== + +export const LANDMARK = { + WRIST: 0, + THUMB_CMC: 1, + THUMB_MCP: 2, + THUMB_IP: 3, + THUMB_TIP: 4, + INDEX_MCP: 5, + INDEX_PIP: 6, + INDEX_DIP: 7, + INDEX_TIP: 8, + MIDDLE_MCP: 9, + MIDDLE_PIP: 10, + MIDDLE_DIP: 11, + MIDDLE_TIP: 12, + RING_MCP: 13, + RING_PIP: 14, + RING_DIP: 15, + RING_TIP: 16, + PINKY_MCP: 17, + PINKY_PIP: 18, + PINKY_DIP: 19, + PINKY_TIP: 20, +} as const + +// ===== Gesture Names ===== + +export const GESTURES = { + NONE: 'None', + CLOSED_FIST: 'Closed_Fist', + OPEN_PALM: 'Open_Palm', + POINTING_UP: 'Pointing_Up', + THUMB_DOWN: 'Thumb_Down', + THUMB_UP: 'Thumb_Up', + VICTORY: 'Victory', + I_LOVE_YOU: 'ILoveYou', +} as const + +export type GestureName = typeof GESTURES[keyof typeof GESTURES] + +// ===== Processed Hand Data ===== + +export interface ProcessedHandData { + // Position (normalized 0-1) + position: { + x: number + y: number + z: number + } + + // Orientation (radians) + orientation: { + roll: number // Rotation around forward axis + pitch: number // Rotation around side axis + yaw: number // Rotation around up axis + } + + // Finger states + fingers: { + thumb: FingerState + index: FingerState + middle: FingerState + ring: FingerState + pinky: FingerState + } + + // Derived values + pinchDistance: number // 0.0 - 1.0 (thumb to index) + grabStrength: number // 0.0 - 1.0 (all fingers curl) + + // Metadata + handedness: 'Left' | 'Right' + confidence: number + timestamp: number + + // Raw landmarks for visualization + landmarks: NormalizedLandmark[] +} + +export interface FingerState { + extended: boolean + curl: number // 0.0 (straight) - 1.0 (fully curled) + tipPosition: NormalizedLandmark +} + +// ===== Joint Angles for Robot ===== + +export interface JointAngles { + baseRotation: number // -180 to +180 degrees + shoulderRotation: number // -120 to +30 degrees + elbowRotation: number // -120 to +120 degrees + wristBendRotation: number // -100 to +100 degrees + wristRotation: number // -180 to +180 degrees + toolRotation: number // -180 to +180 degrees + gripperRotation: number // 0 to 100 (percent open) +} + +// ===== Control Commands ===== + +export interface JointCommand { + type: 'POSITION' + values: [number, number, number, number, number, number, number] + maxVelocity?: number[] + source: 'mediapipe' | 'manual' | 'preset' + timestamp: number +} + +export interface DiscreteCommand { + type: 'GRIPPER' | 'MODE' | 'E_STOP' | 'CONFIRM' | 'CANCEL' + value?: string | number + source: 'mediapipe' + gesture: string + timestamp: number +} + +// ===== Configuration ===== + +export interface MediaPipeConfig { + numHands: 1 | 2 + minDetectionConfidence: number // 0.0 - 1.0 + minTrackingConfidence: number // 0.0 - 1.0 + + // Custom settings + mirrorMode: boolean + preferredHand: 'left' | 'right' | 'any' +} + +export interface ControlMappingConfig { + mode: 'direct' | 'incremental' | 'target' + + // Sensitivity multiplier + sensitivity: number // 0.1 - 2.0 + + // Dead zones + positionDeadzone: number // Normalized units (default 0.02) + rotationDeadzone: number // Radians (default 0.05) + + // Smoothing + smoothingEnabled: boolean + smoothingFactor: number // 0.0 - 1.0 + + // Rate limiting + maxCommandRate: number // Hz (default 60) + + // Gesture settings + gestureConfidenceThreshold: number // 0.0 - 1.0 + gestureHoldTime: number // ms before action +} + +// ===== Input Source ===== + +export type InputSource = 'manual' | 'mediapipe' | 'preset' + +// ===== Hooks Return Types ===== + +export interface UseMediaPipeReturn { + isInitialized: boolean + isLoading: boolean + error: Error | null +} + +export interface UseWebcamReturn { + videoRef: React.RefObject + isStreaming: boolean + error: Error | null + startStream: () => Promise + stopStream: () => void +} + +export interface UseHandTrackingReturn { + isTracking: boolean + handData: ProcessedHandData | null + gesture: GestureResult | null + fps: number + startTracking: () => void + stopTracking: () => void +} + +export interface UseGestureControlReturn { + jointAngles: JointAngles | null + discreteCommand: DiscreteCommand | null + isControlling: boolean + enable: () => void + disable: () => void + setMode: (mode: ControlMappingConfig['mode']) => void + setSensitivity: (sensitivity: number) => void +}