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Wire up Zig simulation backend to frontend #4

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354ca75
Add comprehensive MediaPipe hand tracking integration plan
claude Jan 12, 2026
860af05
Implement MediaPipe hand tracking for KUKA arm control
claude Jan 12, 2026
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1,010 changes: 1,010 additions & 0 deletions MEDIAPIPE_INTEGRATION.md
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13,634 changes: 13,634 additions & 0 deletions package-lock.json
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5 changes: 3 additions & 2 deletions package.json
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand All @@ -86,4 +87,4 @@
"typescript": "^5",
"vite": "^5.4.10"
}
}
}
176 changes: 176 additions & 0 deletions src/components/mediapipe/hand-tracker.tsx
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@@ -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<MediaPipeConfig>
controlConfig?: Partial<ControlMappingConfig>
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 (
<div className={`relative ${className}`} style={{ width: videoWidth, height: videoHeight }}>
{/* Status overlay */}
{!isInitialized && (
<div className="absolute inset-0 bg-black/80 flex items-center justify-center z-20">
<div className="text-center text-white">
{mediaPipeLoading && <p className="animate-pulse">Loading MediaPipe...</p>}
{error && <p className="text-red-400">Error: {error.message}</p>}
{!enabled && !error && <p className="text-gray-400">Hand tracking disabled</p>}
</div>
</div>
)}

{/* Video element */}
<video
ref={videoRef}
className={`absolute inset-0 w-full h-full object-cover ${showVideo ? '' : 'opacity-0'}`}
style={{ transform: 'scaleX(-1)' }} // Mirror for user-facing camera
playsInline
muted
/>

{/* Hand visualization overlay */}
{showVisualization && handData && (
<HandVisualizer
handData={handData}
width={videoWidth}
height={videoHeight}
className="z-10"
/>
)}

{/* Stats overlay */}
{isTracking && (
<div className="absolute top-2 left-2 bg-black/60 text-white text-xs px-2 py-1 rounded z-20">
<div>FPS: {fps}</div>
{gesture && gesture.categoryName !== 'None' && (
<div className="text-orange-400">
{gesture.categoryName} ({(gesture.score * 100).toFixed(0)}%)
</div>
)}
{handData && (
<div className="text-green-400">
Pinch: {(handData.pinchDistance * 100).toFixed(0)}%
</div>
)}
</div>
)}
</div>
)
}
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