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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
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
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