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lerobot/glove_visualizer

sourceHugging Faceapache-2.0updated 8d agoView on Hugging Face

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App README

Project Homunculus · URDF viewer

The site shows the glove over an animated anatomical right hand. Each long finger has MCP spread + pitch, PIP pitch and a DIP hinge that copies PIP 1:1. Its pad sits close to PIP on the middle section. The thumb has CMC opposition + pitch, MCP pitch and IP pitch. From base to tip: no tab, MCP tab, IP tab. Both tabs constrain the hand IK, including the final IP angle. The first thumb tab is centred between the MCP and IP knuckles; the final tab is 16.5 mm from IP. Curved tabs wrap around the fingers with flat glove mounting faces. Toggle Show glove / Show hand, or use the 16 hand sliders. Touch index / middle / ring / pinky demonstrates thumb opposition within the hand and glove limits.

Switch to USB glove for Web Serial input, calibration, hand fitting, pad contact constraints and IK pose output. DIP sensors drive the pad-side joints; IK solves the intermediate hinges to keep the pads seated. Chrome/Edge and HTTPS or localhost are required for direct USB access. See ../HAND_CONTROL.md in the source project for the calibration and API guide.

F curls the flexion joints, R returns everything to zero, and dragging on empty space orbits the view, including underneath the hand. Everything runs in the browser with a packed CAD mesh, forward/inverse kinematics and no backend.

What is in here

Path	What
`index.html`	Page shell, OSD and styling
`src/main.js`	Scene, glove loading and camera framing
`src/robot.js`	Builds a three.js tree from `kinematics.json` and poses it by joint name
`src/panel.js`	The slider dock
`robot/models.json`	Glove model entry
`robot/<id>/`	One `kinematics.json` + one `.glb` per model
`vendor/`	three.js, vendored so there is no build step

Regenerating the models

The assets under robot/ are generated from the URDFs in the parent repo:

bash

./build_space.sh

That writes one kinematics.json and one decimated GLB per model, then rewrites robot/models.json to list whatever actually built. The glove's 168 STLs come to 17.5 MB on disk and 3 MB once packed.