feat: initial commit — orchestratore presa-mano con AI assistant + dual-robot
Pipeline completa per calibrazione hand-eye e grasp planning su robot Unitree G1/H1 con camera depth Nuwa-HP60C. Esposta come FastAPI + GUI vanilla JS, con assistente AI (OpenRouter + tool calling curato) per pilotare il sistema in linguaggio naturale. Architettura: - FastAPI orchestrator (porta da .env, default 8890) che coordina 4 microservizi upstream: Nuwa-HP60C, marker-finder, YOLO, robot bridge. - Dual-robot: services.g1 e services.h1 in config.yaml; switchabili a runtime via PUT /api/home/robot. - Calibrazione hand-eye eye-to-hand split per-side (right/left). - Marker pose: marker-finder riceve gli intrinseci RGB della Nuwa al boot, PnP server-side con quei dati. Nessun re-PnP locale richiesto. - Depth-to-RGB: registrazione iterativa IR↔RGB per back-projection 3D corretta (Nuwa /api/measure usa coords IR; il nostro /api/perception/ measure_rgb prende pixel RGB e ritorna 3D nel frame RGB OpenCV). - Correzione affine sul depth bias (calibrabile via marker come ground-truth) — riduce errore Z da ~6% a ~1.5% nei test. - AI assistant: 16 tool curati (move_wrist_*, hand_action, get_marker[_3d], detect_object, calibration_*, set_active_robot…), system prompt dinamico che riflette robot attivo + marker config + addendum customizzabile da GUI. Temperature di default 0.1 per evitare invenzioni. GUI (7 tab): - Home: stato comunicazione device + selettore robot attivo G1/H1 - Assistente AI: chat con OpenRouter, history persistita lato browser, task riutilizzabili (prompt salvati), trace tool calls - Impostazioni AI: modello da combo curata, temperature, max iterations, prompt addendum, anteprima system prompt - Calibrazione, Auto-Calibrazione, TrovaUtensile, Servo Visuale, Vista 3D, Movimento EE — invariate dalle versioni precedenti Setup: - Variabili in presa-mano/.env (template in .env.example) - OPENROUTER_API_KEY richiesta solo per il tab Assistente AI - PRESA_MANO_PORT configurabile Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Adriano Dal PastroandClaude Opus 4.7 committed
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/* Auto-calibration tab: reuses G1Viewer for the 3D URDF, overlays the
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* calibration waypoints as colored spheres + triads (target orientation),
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* orchestrates Calcola / Verifica reale / Start / Stop flow, polls
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* /api/calibration/auto/status during execution, shows a per-waypoint attempt
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* bar chart, and persists form settings in localStorage so the user can
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* re-run the same calibration without re-typing.
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*/
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import * as THREE from 'three';
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import { G1Viewer } from './diagnostic3d.js';
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const $ = (id) => document.getElementById(id);
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const STATE_COLORS = {
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pending: 0xaaaaaa,
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unreach: 0xe74c3c,
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skipped: 0x8a3a33,
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current: 0x4da3ff,
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done: 0x3ecf8e,
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failed: 0xf0ad4e,
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};
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const LS_KEY = 'presaMano.autocalParams.v1';
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let viewer = null;
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let booted = false;
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let pollTimer = null;
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let waypointGroup = null;
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let waypointItems = new Map(); // idx -> {sphere, triad}
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let hoverTooltip = null;
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let lastSnapshot = null;
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let showTriads = true;
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async function boot() {
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if (booted) return;
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booted = true;
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const canvas = $('autocalCanvas');
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if (!canvas) return;
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$('autocalStatus').textContent = 'caricamento URDF…';
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try {
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viewer = new G1Viewer(canvas);
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await viewer.load();
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// Hide the per-motor spheres here — user doesn't want them in this tab.
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viewer.setShowSpheres(false);
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$('autocalStatus').textContent = 'URDF caricato · imposta parametri e clicca Calcola griglia';
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waypointGroup = new THREE.Group();
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waypointGroup.name = 'autocal:waypoints';
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viewer.scene.add(waypointGroup);
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installHoverTooltip();
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// Expose hook so app.js powerPollOnce can push /diagnostics (live robot motion).
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window.g1AutocalViewer = viewer;
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await previewGrid().catch(() => {});
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} catch (e) {
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$('autocalStatus').textContent = 'errore: ' + e.message;
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console.error(e);
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}
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}
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function installHoverTooltip() {
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hoverTooltip = document.createElement('div');
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hoverTooltip.className = 'diag3d-tooltip hidden';
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hoverTooltip.id = 'autocalTooltip';
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viewer.canvas.parentElement.appendChild(hoverTooltip);
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const raycaster = new THREE.Raycaster();
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const mouse = new THREE.Vector2();
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viewer.canvas.addEventListener('pointermove', (ev) => {
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if (!waypointItems.size) { hoverTooltip.classList.add('hidden'); return; }
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const rect = viewer.canvas.getBoundingClientRect();
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mouse.x = ((ev.clientX - rect.left) / rect.width) * 2 - 1;
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mouse.y = -((ev.clientY - rect.top) / rect.height) * 2 + 1;
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raycaster.setFromCamera(mouse, viewer.camera);
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const spheres = [...waypointItems.values()].map(it => it.sphere);
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const hits = raycaster.intersectObjects(spheres, false);
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if (!hits.length) { hoverTooltip.classList.add('hidden'); return; }
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const w = hits[0].object.userData.waypoint;
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hoverTooltip.className = 'diag3d-tooltip ' +
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(w.state === 'failed' || !w.reachable ? 'err' : '');
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const rows = [
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['idx', '#' + w.idx],
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['stato', w.state + (!w.reachable ? ' (unreach)' : '')],
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['x (m)', Number(w.position[0]).toFixed(3)],
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['y (m)', Number(w.position[1]).toFixed(3)],
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['z (m)', Number(w.position[2]).toFixed(3)],
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];
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if (w.attempts) rows.push(['attempts', w.attempts]);
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if (w.error) rows.push(['error', w.error.slice(0, 60)]);
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if (w.reason) rows.push(['motivo', w.reason]);
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hoverTooltip.innerHTML = `<div class="tt-title">waypoint #${w.idx}</div>` +
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rows.map(([k, v]) => `<div class="tt-row"><span class="k">${k}</span><span>${v}</span></div>`).join('');
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hoverTooltip.style.left = (ev.clientX - rect.left + 14) + 'px';
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hoverTooltip.style.top = (ev.clientY - rect.top + 14) + 'px';
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hoverTooltip.classList.remove('hidden');
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});
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}
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function colorForWaypoint(w) {
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if (!w.reachable) return STATE_COLORS.unreach;
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switch (w.state) {
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case 'current': return STATE_COLORS.current;
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case 'done': return STATE_COLORS.done;
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case 'failed': return STATE_COLORS.failed;
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case 'skipped': return STATE_COLORS.skipped;
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default: return STATE_COLORS.pending;
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}
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}
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// Quaternion (xyzw) → 3-axis triad: 3 short coloured segments, length = 4 cm.
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function makeTriad() {
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const L = 0.04;
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const geom = new THREE.BufferGeometry();
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const verts = new Float32Array([
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0,0,0, L,0,0, // X
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0,0,0, 0,L,0, // Y
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0,0,0, 0,0,L, // Z
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]);
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const colors = new Float32Array([
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1,0.2,0.2, 1,0.2,0.2,
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0.2,1,0.3, 0.2,1,0.3,
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0.3,0.6,1, 0.3,0.6,1,
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]);
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geom.setAttribute('position', new THREE.BufferAttribute(verts, 3));
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geom.setAttribute('color', new THREE.BufferAttribute(colors, 3));
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const mat = new THREE.LineBasicMaterial({ vertexColors: true, linewidth: 2, depthTest: false, transparent: true, opacity: 0.9 });
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const lines = new THREE.LineSegments(geom, mat);
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lines.renderOrder = 998;
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return lines;
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}
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function renderWaypoints(waypoints) {
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if (!waypointGroup) return;
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const seen = new Set();
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for (const w of waypoints) {
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seen.add(w.idx);
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let item = waypointItems.get(w.idx);
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if (!item) {
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const geom = new THREE.SphereGeometry(0.012, 18, 14);
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const mat = new THREE.MeshStandardMaterial({
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color: colorForWaypoint(w),
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emissive: 0x111111,
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depthTest: false,
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transparent: true,
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opacity: 0.85,
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});
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const sphere = new THREE.Mesh(geom, mat);
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sphere.renderOrder = 999;
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const triad = makeTriad();
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const group = new THREE.Group();
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group.add(sphere);
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group.add(triad);
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waypointGroup.add(group);
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item = { group, sphere, triad };
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waypointItems.set(w.idx, item);
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}
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item.group.position.set(w.position[0], w.position[1], w.position[2]);
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const q = new THREE.Quaternion(w.quaternion[0], w.quaternion[1], w.quaternion[2], w.quaternion[3]);
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item.triad.quaternion.copy(q);
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item.triad.visible = showTriads;
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item.sphere.material.color.setHex(colorForWaypoint(w));
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item.sphere.userData.waypoint = w;
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if (w.state === 'current') {
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item.sphere.material.emissive.setHex(0x1e5a8a);
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item.sphere.material.emissiveIntensity = 0.7;
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const s = 1.0 + 0.2 * Math.sin(Date.now() / 120);
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item.sphere.scale.setScalar(s);
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} else {
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item.sphere.material.emissive.setHex(0x000000);
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item.sphere.material.emissiveIntensity = 0;
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item.sphere.scale.setScalar(1.0);
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}
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}
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// Remove stale.
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for (const [idx, item] of waypointItems.entries()) {
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if (!seen.has(idx)) {
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waypointGroup.remove(item.group);
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item.sphere.geometry.dispose();
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item.sphere.material.dispose();
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item.triad.geometry.dispose();
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item.triad.material.dispose();
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waypointItems.delete(idx);
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}
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}
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}
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function readParams() {
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const side = $('acSide').value || null;
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return {
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delta_x_mm: +$('acDx').value,
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delta_y_mm: +$('acDy').value,
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delta_z_mm: +$('acDz').value,
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offset_x_mm: +$('acOx').value,
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offset_y_mm: +$('acOy').value,
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offset_z_mm: +$('acOz').value,
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n_x: +$('acNx').value,
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n_y: +$('acNy').value,
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n_z: +$('acNz').value,
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wrist_rot_delta_deg: +$('acRotDeg').value,
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min_z_m: +$('acMinZ').value,
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settle_s: +$('acSettle').value,
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side: side || undefined,
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auto_solve: $('acAutoSolve').checked,
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dry_run: $('acDryRun').checked,
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order: $('acOrder').value,
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};
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}
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function persistParams() {
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try { localStorage.setItem(LS_KEY, JSON.stringify(readParams())); } catch {}
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}
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function restoreParams() {
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try {
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const raw = localStorage.getItem(LS_KEY);
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if (!raw) return;
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const p = JSON.parse(raw);
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const setV = (id, v) => { if ($(id) && v != null) $(id).value = v; };
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const setC = (id, v) => { if ($(id) && v != null) $(id).checked = !!v; };
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setV('acDx', p.delta_x_mm); setV('acDy', p.delta_y_mm); setV('acDz', p.delta_z_mm);
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setV('acOx', p.offset_x_mm); setV('acOy', p.offset_y_mm); setV('acOz', p.offset_z_mm);
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setV('acNx', p.n_x); setV('acNy', p.n_y); setV('acNz', p.n_z);
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setV('acRotDeg', p.wrist_rot_delta_deg); setV('acMinZ', p.min_z_m); setV('acSettle', p.settle_s);
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if (p.side) setV('acSide', p.side);
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setC('acAutoSolve', p.auto_solve);
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setC('acDryRun', p.dry_run);
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if (p.order) setV('acOrder', p.order);
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} catch (e) { console.warn('restoreParams:', e); }
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}
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async function api(method, path, body = null) {
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const opts = { method, headers: {} };
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if (body !== null) {
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opts.headers['Content-Type'] = 'application/json';
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opts.body = JSON.stringify(body);
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}
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const r = await fetch(path, opts);
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const text = await r.text();
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let data; try { data = JSON.parse(text); } catch { data = text; }
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if (!r.ok) throw new Error(`${r.status} ${(data && data.detail) || text}`);
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return data;
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}
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async function previewGrid() {
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persistParams();
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const body = readParams();
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setStatus('Calcolo griglia…');
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try {
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const r = await api('POST', '/api/calibration/auto/feasibility', body);
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renderWaypoints(r.waypoints);
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drawChart(r.waypoints);
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updateStats(r.waypoints, null);
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const reach = r.waypoints.filter(w => w.reachable).length;
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setStatus(`griglia: ${r.waypoints.length} punti · ${reach} raggiungibili · ${r.waypoints.length - reach} scartati`);
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$('acStartBtn').disabled = reach === 0;
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$('acVerifyBtn').disabled = reach === 0;
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} catch (e) {
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setStatus('errore: ' + e.message, 'err');
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}
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}
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async function startProcedure() {
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persistParams();
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const body = readParams();
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const reach = [...waypointItems.values()].filter(it => it.sphere.userData.waypoint.reachable).length;
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if (!reach) return;
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if (!body.dry_run && !confirm(`Avvio calibrazione su ${reach} punti. Il robot si muoverà. Confermi?`)) return;
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try {
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setStatus('avvio procedura…');
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await api('POST', '/api/calibration/auto/start', body);
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$('acStartBtn').disabled = true;
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$('acVerifyBtn').disabled = true;
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$('acStopBtn').disabled = false;
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startPolling();
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} catch (e) {
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setStatus('start fallito: ' + e.message, 'err');
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}
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}
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async function verifyReachability() {
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persistParams();
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const body = readParams();
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const reach = [...waypointItems.values()].filter(it => it.sphere.userData.waypoint.reachable).length;
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if (!reach) return;
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if (!body.dry_run && !confirm(`Verifica raggiungibilità reale: il robot si muoverà a ${reach} punti senza acquisire campioni. Confermi?`)) return;
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try {
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setStatus('avvio verifica reachability…');
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await api('POST', '/api/calibration/auto/verify_reachability', body);
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$('acStartBtn').disabled = true;
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$('acVerifyBtn').disabled = true;
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$('acStopBtn').disabled = false;
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startPolling();
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} catch (e) {
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setStatus('verify fallito: ' + e.message, 'err');
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}
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}
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async function stopProcedure() {
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try {
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await api('POST', '/api/calibration/auto/stop');
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setStatus('stop richiesto… il robot tornerà a home prima di fermarsi');
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} catch (e) {
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setStatus('stop fallito: ' + e.message, 'err');
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}
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}
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function startPolling() {
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stopPolling();
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pollTick();
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pollTimer = setInterval(pollTick, 500);
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}
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function stopPolling() {
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if (pollTimer) { clearInterval(pollTimer); pollTimer = null; }
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}
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async function pollTick() {
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try {
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const s = await api('GET', '/api/calibration/auto/status');
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lastSnapshot = s;
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if (s.waypoints && s.waypoints.length) {
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renderWaypoints(s.waypoints);
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drawChart(s.waypoints);
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}
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updateStats(s.waypoints, s);
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if (s.status !== 'running') {
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stopPolling();
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$('acStartBtn').disabled = false;
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$('acVerifyBtn').disabled = false;
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$('acStopBtn').disabled = true;
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if (s.calibration) {
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$('autocalResult').textContent = JSON.stringify({
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method: s.calibration.method,
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n_samples: s.calibration.n_samples,
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residual_translation_mm: s.calibration.residual_translation_mm,
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residual_rotation_deg: s.calibration.residual_rotation_deg,
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T_base_camera: s.calibration.T_base_camera,
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sanity_check: s.calibration.sanity_check,
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}, null, 2);
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}
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const mode = (s.params || {}).mode || 'calibration';
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setStatus(`${mode}: ${s.status} · done=${s.stats.done} failed=${s.stats.failed} skipped=${s.stats.skipped}`,
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s.status === 'done' ? 'ok' : s.status === 'error' ? 'err' : '');
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}
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} catch (e) {
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console.warn('autocal poll:', e);
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}
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}
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function updateStats(waypoints, snapshot) {
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const host = $('autocalStats');
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if (!host) return;
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const total = waypoints.length;
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const reach = waypoints.filter(w => w.reachable).length;
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const unreach = total - reach;
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const done = waypoints.filter(w => w.state === 'done').length;
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const failed = waypoints.filter(w => w.state === 'failed').length;
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const skipped = waypoints.filter(w => w.state === 'skipped').length;
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const attempts = waypoints.filter(w => w.attempts > 0).map(w => w.attempts);
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const avgAtt = attempts.length ? (attempts.reduce((a, b) => a + b, 0) / attempts.length).toFixed(2) : '—';
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const maxAtt = attempts.length ? Math.max(...attempts) : '—';
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const current = snapshot && snapshot.current_index >= 0 ? snapshot.current_index : null;
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host.innerHTML = `
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<table><tbody>
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<tr><td>totale</td><td><strong>${total}</strong></td></tr>
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||||
<tr><td>raggiungibili</td><td>${reach}</td></tr>
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<tr><td>non raggiungibili</td><td>${unreach}</td></tr>
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<tr><td>campioni ok</td><td>${done}</td></tr>
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<tr><td>falliti</td><td>${failed}</td></tr>
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<tr><td>saltati</td><td>${skipped}</td></tr>
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<tr><td>tentativi medi</td><td>${avgAtt}</td></tr>
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<tr><td>tentativi max</td><td>${maxAtt}</td></tr>
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<tr><td>corrente</td><td>${current != null ? '#' + current : '—'}</td></tr>
|
||||
<tr><td>stato job</td><td>${snapshot ? snapshot.status : '—'}</td></tr>
|
||||
</tbody></table>`;
|
||||
}
|
||||
|
||||
// Per-waypoint bar chart: bar height = attempts, color by state.
|
||||
function drawChart(waypoints) {
|
||||
try {
|
||||
_drawChartImpl(waypoints);
|
||||
} catch (e) {
|
||||
console.error('drawChart failed:', e);
|
||||
setStatus('drawChart error: ' + (e && e.message || e), 'err');
|
||||
}
|
||||
}
|
||||
|
||||
function _drawChartImpl(waypoints) {
|
||||
const canvas = $('autocalChart');
|
||||
if (!canvas) return;
|
||||
const dpr = window.devicePixelRatio || 1;
|
||||
const w = canvas.clientWidth || canvas.width;
|
||||
const h = canvas.height;
|
||||
canvas.width = w * dpr;
|
||||
canvas.height = h * dpr;
|
||||
const ctx = canvas.getContext('2d');
|
||||
ctx.setTransform(dpr, 0, 0, dpr, 0, 0);
|
||||
ctx.clearRect(0, 0, w, h);
|
||||
ctx.fillStyle = '#0d1014';
|
||||
ctx.fillRect(0, 0, w, h);
|
||||
if (!waypoints || !waypoints.length) {
|
||||
ctx.fillStyle = '#666';
|
||||
ctx.font = '11px ui-monospace, monospace';
|
||||
ctx.fillText('nessun dato', 10, 20);
|
||||
return;
|
||||
}
|
||||
const n = waypoints.length;
|
||||
const maxA = Math.max(1, ...waypoints.map(x => x.attempts || 0));
|
||||
const pad = { l: 26, r: 6, t: 8, b: 18 };
|
||||
const plotW = w - pad.l - pad.r;
|
||||
const plotH = h - pad.t - pad.b;
|
||||
const barW = plotW / n;
|
||||
// grid
|
||||
ctx.strokeStyle = '#2a2f37';
|
||||
ctx.lineWidth = 1;
|
||||
const ticks = [1, 2, 3, 5, maxA].filter((v, i, a) => v <= maxA && a.indexOf(v) === i);
|
||||
ctx.font = '10px ui-monospace, monospace';
|
||||
ctx.fillStyle = '#666';
|
||||
for (const t of ticks) {
|
||||
const y = pad.t + plotH - (t / maxA) * plotH;
|
||||
ctx.beginPath(); ctx.moveTo(pad.l, y); ctx.lineTo(w - pad.r, y); ctx.stroke();
|
||||
ctx.fillText(String(t), 2, y + 3);
|
||||
}
|
||||
// bars
|
||||
const colorFor = (w) => {
|
||||
if (!w.reachable) return '#e74c3c';
|
||||
if (w.state === 'done' && w.attempts === 1) return '#3ecf8e';
|
||||
if (w.state === 'done') return '#ffd54f';
|
||||
if (w.state === 'failed') return '#f0ad4e';
|
||||
if (w.state === 'current') return '#4da3ff';
|
||||
if (w.state === 'skipped') return '#8a3a33';
|
||||
return '#555';
|
||||
};
|
||||
for (let i = 0; i < n; i++) {
|
||||
const wp = waypoints[i];
|
||||
const a = wp.attempts || 0;
|
||||
const bh = (a / maxA) * plotH;
|
||||
const x = pad.l + i * barW + 1;
|
||||
const y = pad.t + plotH - bh;
|
||||
ctx.fillStyle = colorFor(wp);
|
||||
ctx.fillRect(x, y, Math.max(1, barW - 2), bh);
|
||||
}
|
||||
// x label
|
||||
ctx.fillStyle = '#9aa0a6';
|
||||
ctx.fillText(`waypoints (${n})`, pad.l, h - 4);
|
||||
ctx.fillText(`tentativi`, 2, 10);
|
||||
}
|
||||
|
||||
function setStatus(msg, cls = '') {
|
||||
const el = $('autocalStatus');
|
||||
el.textContent = msg;
|
||||
el.style.color = cls === 'err' ? 'var(--danger)' : cls === 'ok' ? 'var(--ok)' : 'var(--dim)';
|
||||
}
|
||||
|
||||
async function solveNow() {
|
||||
try {
|
||||
setStatus('calcolo matrice…');
|
||||
const side = $('acSide').value || undefined;
|
||||
const r = await api('POST', '/api/calibration/solve', { method: 'TSAI', side });
|
||||
$('autocalResult').textContent = JSON.stringify({
|
||||
method: r.method, n_samples: r.n_samples,
|
||||
residual_translation_mm: r.residual_translation_mm,
|
||||
residual_rotation_deg: r.residual_rotation_deg,
|
||||
T_base_camera: r.T_base_camera,
|
||||
sanity_check: r.sanity_check,
|
||||
}, null, 2);
|
||||
setStatus(`matrice calcolata · residuo ${r.residual_translation_mm.toFixed(1)} mm / ${r.residual_rotation_deg.toFixed(2)}°`, 'ok');
|
||||
} catch (e) { setStatus('solve: ' + e.message, 'err'); }
|
||||
}
|
||||
|
||||
async function clearSamples() {
|
||||
const side = $('acSide').value || 'right';
|
||||
if (!confirm(`Rimuovere tutti i sample del braccio ${side}?`)) return;
|
||||
try {
|
||||
await api('DELETE', `/api/calibration/samples?side=${encodeURIComponent(side)}`);
|
||||
setStatus('sample svuotati', 'ok');
|
||||
} catch (e) { setStatus(e.message, 'err'); }
|
||||
}
|
||||
|
||||
// Wire up events AFTER DOM is parsed.
|
||||
document.addEventListener('DOMContentLoaded', () => {
|
||||
if (!$('autocalCanvas')) return;
|
||||
restoreParams();
|
||||
// persist on any input change
|
||||
['acDx','acDy','acDz','acOx','acOy','acOz','acNx','acNy','acNz','acRotDeg','acMinZ','acSettle',
|
||||
'acSide','acAutoSolve','acDryRun','acOrder'].forEach(id => {
|
||||
const el = $(id); if (el) el.addEventListener('change', persistParams);
|
||||
});
|
||||
$('acPreviewBtn').addEventListener('click', previewGrid);
|
||||
$('acVerifyBtn').addEventListener('click', verifyReachability);
|
||||
$('acStartBtn').addEventListener('click', startProcedure);
|
||||
$('acStopBtn').addEventListener('click', stopProcedure);
|
||||
$('acSolveBtn').addEventListener('click', solveNow);
|
||||
$('acClearBtn').addEventListener('click', clearSamples);
|
||||
$('acShowTriads').addEventListener('change', (e) => {
|
||||
showTriads = e.target.checked;
|
||||
for (const it of waypointItems.values()) it.triad.visible = showTriads;
|
||||
});
|
||||
$('acFitBtn').addEventListener('click', () => viewer && viewer.fitView());
|
||||
$('acResetViewBtn').addEventListener('click', () => viewer && viewer.resetView());
|
||||
});
|
||||
|
||||
// Lazy boot when tab first opened.
|
||||
document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
|
||||
if (btn.dataset.tab === 'autocal') {
|
||||
boot();
|
||||
setTimeout(() => viewer && viewer.resize(), 50);
|
||||
}
|
||||
}));
|
||||
|
||||
if (document.getElementById('tab-autocal')?.classList.contains('active')) boot();
|
||||
Reference in new issue
Block a user