[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

accelerate_configs/1gpu_config.yaml

@@ -1,11 +0,0 @@
-compute_environment: LOCAL_MACHINE
-debug: false
-distributed_type: NO
-downcast_bf16: 'no'
-enable_cpu_affinity: false
-machine_rank: 0
-main_training_function: main
-mixed_precision: 'no'
-num_machines: 1
-num_processes: 1
-use_cpu: false

accelerate_configs/2gpu_config_safe.yaml

@@ -1,18 +0,0 @@
-compute_environment: LOCAL_MACHINE
-debug: false
-distributed_type: MULTI_GPU
-downcast_bf16: 'no'
-enable_cpu_affinity: false
-gpu_ids: all
-machine_rank: 0
-main_training_function: main
-mixed_precision: 'no'
-num_machines: 1
-num_processes: 2
-rdzv_backend: static
-same_network: true
-tpu_env: []
-tpu_use_cluster: false
-tpu_use_sudo: false
-use_cpu: false
-dynamo_backend: "no"

docker/Dockerfile.user

@@ -29,7 +29,7 @@ ENV DEBIAN_FRONTEND=noninteractive \
 
 # Install system dependencies and uv (as root)
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
+    build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \
     libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
     && curl -LsSf https://astral.sh/uv/install.sh | sh \
     && mv /root/.local/bin/uv /usr/local/bin/uv \

docs/source/_toctree.yml

@@ -39,8 +39,6 @@
 - sections:
   - local: notebooks
     title: Notebooks
-  - local: feetech
-    title: Updating Feetech Firmware
   title: "Resources"
 - sections:
   - local: contributing

docs/source/feetech.mdx

@@ -1,71 +0,0 @@
-# Feetech Motor Firmware Update
-
-This tutorial guides you through updating the firmware of Feetech motors using the official Feetech software.
-
-## Prerequisites
-
-- Windows computer (Feetech software is only available for Windows)
-- Feetech motor control board
-- USB cable to connect the control board to your computer
-- Feetech motors connected to the control board
-
-## Step 1: Download Feetech Software
-
-1. Visit the official Feetech software download page: [https://www.feetechrc.com/software.html](https://www.feetechrc.com/software.html)
-2. Download the latest version of the Feetech debugging software (FD)
-3. Install the software on your Windows computer
-
-## Step 2: Hardware Setup
-
-1. Connect your Feetech motors to the motor control board
-2. Connect the motor control board to your Windows computer via USB cable
-3. Ensure power is supplied to the motors
-
-## Step 3: Configure Connection
-
-1. Launch the Feetech debugging software
-2. Select the correct COM port from the port dropdown menu
-   - If unsure which port to use, check Windows Device Manager under "Ports (COM & LPT)"
-3. Set the appropriate baud rate (typically 1000000 for most Feetech motors)
-4. Click "Open" to establish communication with the control board
-
-## Step 4: Scan for Motors
-
-1. Once connected, click the "Search" button to detect all connected motors
-2. The software will automatically discover and list all motors on the bus
-3. Each motor will appear with its ID number
-
-## Step 5: Update Firmware
-
-For each motor you want to update:
-
-1. **Select the motor** from the list by clicking on it
-2. **Click on Upgrade tab**:
-3. **Click on Online button**:
-   - If an potential firmware update is found, it will be displayed in the box
-4. **Click on Upgrade button**:
-   - The update progress will be displayed
-
-## Step 6: Verify Update
-
-1. After the update completes, the software should automatically refresh the motor information
-2. Verify that the firmware version has been updated to the expected version
-
-## Important Notes
-
-⚠️ **Warning**: Do not disconnect power or USB during firmware updates, it will potentially brick the motor.
-
-## Bonus: Motor Debugging on Linux/macOS
-
-For debugging purposes only, you can use the open-source Feetech Debug Tool:
-
-- **Repository**: [FT_SCServo_Debug_Qt](https://github.com/CarolinePascal/FT_SCServo_Debug_Qt/tree/fix/port-search-timer)
-
-### Installation Instructions
-
-Follow the instructions in the repository to install the tool, for Ubuntu you can directly install it, for MacOS you need to build it from source.
-
-**Limitations:**
-
-- This tool is for debugging and parameter adjustment only
-- Firmware updates must still be done on Windows with official Feetech software

docs/source/hope_jr.mdx

@@ -117,6 +117,14 @@ middle_dip           |   1484 |   1500 |   1547
 
 Once calibration is complete, the system will save the calibration to `/Users/your_username/.cache/huggingface/lerobot/calibration/teleoperators/homunculus_glove/red.json`
 
+#### Visualizing Teleoperator Glove
+
+After calibration, you can visualize the glove movements in real-time. Open the visualizer by navigating to the visualizer directory and opening the HTML file in your browser:
+
+```bash
+open examples/hopejr/visualizer/index.html
+```
+
 ### 1.3 Calibrate Robot Arm
 
 ```bash

examples/hopejr/visualizer/index.html

@@ -0,0 +1,182 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>3D Hand Joint Visualizer</title>
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            overflow: hidden;
+            display: flex;
+            flex-direction: column;
+            height: 100vh;
+        }
+
+        .controls {
+            padding: 15px;
+            background-color: #f5f5f5;
+            z-index: 100;
+        }
+
+        .status {
+            padding: 10px;
+            border-radius: 5px;
+            margin: 10px 0;
+        }
+
+        .connected {
+            background-color: #d4edda;
+            color: #155724;
+        }
+
+        .disconnected {
+            background-color: #f8d7da;
+            color: #721c24;
+        }
+
+        button {
+            padding: 8px 16px;
+            background-color: #4CAF50;
+            color: white;
+            border: none;
+            border-radius: 4px;
+            cursor: pointer;
+            margin-right: 10px;
+        }
+
+        button:hover {
+            background-color: #45a049;
+        }
+
+        button:disabled {
+            background-color: #cccccc;
+            cursor: not-allowed;
+        }
+
+        .container {
+            display: flex;
+            flex: 1;
+            overflow: hidden;
+        }
+
+        #canvas-container {
+            flex: 3;
+            position: relative;
+        }
+
+        #sidebar {
+            flex: 1;
+            padding: 15px;
+            background-color: #f8f9fa;
+            overflow-y: auto;
+            max-width: 300px;
+            border-left: 1px solid #ddd;
+        }
+
+        .joint-info {
+            margin-bottom: 10px;
+            padding: 8px;
+            border: 1px solid #ddd;
+            border-radius: 4px;
+        }
+
+        .joint-name {
+            font-weight: bold;
+        }
+
+        .joint-value {
+            font-family: monospace;
+        }
+
+        .bar-container {
+            width: 100%;
+            background-color: #e0e0e0;
+            height: 10px;
+            border-radius: 5px;
+            overflow: hidden;
+            margin-top: 5px;
+        }
+
+        .bar {
+            height: 100%;
+            background-color: #4CAF50;
+            width: 0%;
+            transition: width 0.2s ease-in-out;
+        }
+
+        .log-container {
+            margin-top: 20px;
+            border: 1px solid #ddd;
+            border-radius: 5px;
+            padding: 10px;
+            height: 150px;
+            overflow-y: auto;
+            font-family: monospace;
+            background-color: #f8f9fa;
+        }
+
+        .view-controls {
+            position: absolute;
+            bottom: 10px;
+            left: 10px;
+            z-index: 10;
+        }
+
+        .view-button {
+            background-color: rgba(0, 0, 0, 0.5);
+            color: white;
+            border: none;
+            padding: 5px 10px;
+            margin-right: 5px;
+            border-radius: 3px;
+            cursor: pointer;
+        }
+    </style>
+</head>
+<body>
+    <div class="controls">
+        <button id="connectButton">Connect to Device</button>
+        <button id="disconnectButton" disabled>Disconnect</button>
+        <select id="baudRate">
+            <option value="9600">9600</option>
+            <option value="19200">19200</option>
+            <option value="38400">38400</option>
+            <option value="57600">57600</option>
+            <option value="115200" selected>115200</option>
+        </select>
+        <span id="statusIndicator" class="status disconnected">Status: Disconnected</span>
+    </div>
+
+    <div class="container">
+        <div id="canvas-container">
+            <!-- 3D canvas will be inserted here -->
+            <div class="view-controls">
+                <button class="view-button" id="frontView">Front</button>
+                <button class="view-button" id="sideView">Side</button>
+                <button class="view-button" id="topView">Top</button>
+                <button class="view-button" id="resetView">Reset</button>
+            </div>
+        </div>
+
+        <div id="sidebar">
+            <h3>Joint Values</h3>
+            <div id="jointsContainer">
+                <!-- Joint info will be added here -->
+            </div>
+
+            <div class="log-container" id="logContainer">
+                <!-- Log messages will be added here -->
+            </div>
+        </div>
+    </div>
+
+    <!-- Import Three.js -->
+    <script src="https://cdn.jsdelivr.net/npm/three@0.132.2/build/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.132.2/examples/js/controls/OrbitControls.js"></script>
+
+    <script src="script.js"></script>
+</body>
+</html>

examples/hopejr/visualizer/script.js

@@ -0,0 +1,669 @@
+// === Hand Visualizer with Pre-Connect Sliders + Per-Joint Angle Limits ===
+// Assumes your HTML already has elements with the following IDs:
+// connectButton, disconnectButton, baudRate, statusIndicator, jointsContainer, logContainer,
+// canvas-container, frontView, sideView, topView, resetView
+// Requires Three.js + OrbitControls loaded on the page.
+
+// -------------------- Config --------------------
+const MAX_JOINTS = 16;
+const RAW_MIN = 0, RAW_MAX = 4096;
+const RAW_CENTER = (RAW_MIN + RAW_MAX) / 2;
+const DEG = Math.PI / 180;
+const UI_DEG_MIN = -90, UI_DEG_MAX = 90; // UI sliders for angle limits
+
+// -------------------- State --------------------
+let port;
+let reader;
+let keepReading = false;
+let isConnected = false;
+const decoder = new TextDecoder();
+let inputBuffer = '';
+
+let jointValues = new Array(MAX_JOINTS).fill(RAW_CENTER);
+
+// Auto-calibration: track observed min/max per joint
+let observedMin = new Array(MAX_JOINTS).fill(Infinity);
+let observedMax = new Array(MAX_JOINTS).fill(-Infinity);
+let calibrationEnabled = true;
+
+// Three.js
+let scene, camera, renderer, controls;
+let hand = { palm: null, fingers: [] };
+
+// DOM
+const connectButton     = document.getElementById('connectButton');
+const disconnectButton  = document.getElementById('disconnectButton');
+const baudRateSelect    = document.getElementById('baudRate');
+const statusIndicator   = document.getElementById('statusIndicator');
+const jointsContainer   = document.getElementById('jointsContainer');
+const logContainer      = document.getElementById('logContainer');
+const canvasContainer   = document.getElementById('canvas-container');
+const frontViewBtn      = document.getElementById('frontView');
+const sideViewBtn       = document.getElementById('sideView');
+const topViewBtn        = document.getElementById('topView');
+const resetViewBtn      = document.getElementById('resetView');
+
+// Helpers
+const clamp = (x, a, b) => Math.max(a, Math.min(b, x));
+const invLerp = (a, b, x) => clamp((x - a) / (b - a), 0, 1);
+
+// -------------------- Joint Map with per-joint angle limits --------------------
+const fingerJointMap = [
+  // Thumb (4)
+  { finger:0, joint:0, type:'CMC_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:0, joint:1, type:'CMC_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:0, joint:2, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+  { finger:0, joint:3, type:'IP_FLEXION',     min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Index (3)
+  { finger:1, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:1, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:1, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Middle (3)
+  { finger:2, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:2, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:2, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Ring (3)
+  { finger:3, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:3, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:3, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false }, // +45° only
+
+  // Pinky (3)
+  { finger:4, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:4, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:4, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false }  // +45° only
+];
+
+// Assign angle limits (radians) per joint (default ±45°, exceptions: +45° only)
+for (const j of fingerJointMap) {
+  const isThumb = j.finger === 0;
+  const isPIP   = j.type === 'PIP_FLEXION';
+  let minA = -45 * DEG, maxA = +45 * DEG;
+  if ((isThumb && (j.type === 'MCP_FLEXION' || j.type === 'IP_FLEXION')) || (!isThumb && isPIP)) {
+    minA = 0;
+    maxA = +45 * DEG;
+  }
+  j.angleMin = minA;
+  j.angleMax = maxA;
+}
+
+// -------------------- UI: Joint Panel --------------------
+const uiRefs = []; // per joint: { valueLabel, bar, barWrap, slider, invertChk, minDeg, maxDeg }
+
+function initializeJointElements() {
+  jointsContainer.innerHTML = '';
+  uiRefs.length = 0;
+
+  for (let i = 0; i < MAX_JOINTS; i++) {
+    const wrap = document.createElement('div');
+    wrap.className = 'joint-info';
+
+    const fingerIndex = i < 4 ? 0 : Math.floor((i - 4) / 3) + 1;
+    const jointInfo = fingerJointMap[i];
+    const jointType = jointInfo?.type || 'Unknown';
+    const fingerName = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky'][fingerIndex];
+
+    // Header
+    const nameEl = document.createElement('div');
+    nameEl.className = 'joint-name';
+    nameEl.textContent = `${fingerName} – ${jointType}`;
+
+    // Value + bar
+    const valueEl = document.createElement('div');
+    valueEl.className = 'joint-value';
+    valueEl.textContent = `Value: ${jointValues[i]}`;
+
+    const barWrap = document.createElement('div');
+    barWrap.className = 'bar-container';
+    const barEl = document.createElement('div');
+    barEl.className = 'bar';
+    barWrap.appendChild(barEl);
+
+    // Slider for pre-connect manual control
+    const slider = document.createElement('input');
+    slider.type = 'range';
+    slider.min = String(RAW_MIN);
+    slider.max = String(RAW_MAX);
+    slider.value = String(jointValues[i]);
+    slider.step = '1';
+    slider.className = 'joint-slider';
+
+    slider.addEventListener('input', () => {
+      if (isConnected) return; // ignore while connected
+      let v = parseInt(slider.value, 10);
+      if (jointInfo?.inverted) v = (jointInfo.min + jointInfo.max) - v;
+      jointValues[i] = clamp(jointInfo ? v : 0, RAW_MIN, RAW_MAX);
+      updateJointDisplay(i, jointValues[i]);
+      updateHandModel();
+    });
+
+    // Invert checkbox
+    const invertLbl = document.createElement('label');
+    invertLbl.className = 'invert-toggle';
+    const invertChk = document.createElement('input');
+    invertChk.type = 'checkbox';
+    invertChk.checked = !!jointInfo?.inverted;
+    invertChk.addEventListener('change', () => {
+      if (jointInfo) jointInfo.inverted = invertChk.checked;
+      addLogMessage(`${fingerName} ${jointType} inversion ${invertChk.checked ? 'enabled' : 'disabled'}`);
+    });
+    invertLbl.appendChild(invertChk);
+    invertLbl.appendChild(document.createTextNode('Invert Values'));
+
+    // Angle limits (deg) controls
+    const limitsRow = document.createElement('div');
+    limitsRow.className = 'limits-row';
+
+    const minDeg = document.createElement('input');
+    minDeg.type = 'number';
+    minDeg.min = String(UI_DEG_MIN);
+    minDeg.max = String(UI_DEG_MAX);
+    minDeg.step = '1';
+    minDeg.value = String(Math.round((jointInfo.angleMin || 0) / DEG));
+    minDeg.className = 'limit-num';
+
+    const maxDeg = document.createElement('input');
+    maxDeg.type = 'number';
+    maxDeg.min = String(UI_DEG_MIN);
+    maxDeg.max = String(UI_DEG_MAX);
+    maxDeg.step = '1';
+    maxDeg.value = String(Math.round((jointInfo.angleMax || 0) / DEG));
+    maxDeg.className = 'limit-num';
+
+    const minLbl = document.createElement('span'); minLbl.textContent = 'min°';
+    const maxLbl = document.createElement('span'); maxLbl.textContent = 'max°';
+    minLbl.className = 'limit-label'; maxLbl.className = 'limit-label';
+
+    function syncLimits() {
+      let mn = parseFloat(minDeg.value);
+      let mx = parseFloat(maxDeg.value);
+      if (isNaN(mn)) mn = -45;
+      if (isNaN(mx)) mx = +45;
+      if (mn > mx) [mn, mx] = [mx, mn];
+      jointInfo.angleMin = clamp(mn, UI_DEG_MIN, UI_DEG_MAX) * DEG;
+      jointInfo.angleMax = clamp(mx, UI_DEG_MIN, UI_DEG_MAX) * DEG;
+      minDeg.value = String(Math.round(jointInfo.angleMin / DEG));
+      maxDeg.value = String(Math.round(jointInfo.angleMax / DEG));
+      updateHandModel();
+    }
+    minDeg.addEventListener('change', syncLimits);
+    maxDeg.addEventListener('change', syncLimits);
+
+    limitsRow.appendChild(minLbl);
+    limitsRow.appendChild(minDeg);
+    limitsRow.appendChild(maxLbl);
+    limitsRow.appendChild(maxDeg);
+
+         // Calibration controls
+     const calibRow = document.createElement('div');
+     calibRow.className = 'calib-row';
+
+     const resetCalibBtn = document.createElement('button');
+     resetCalibBtn.textContent = 'Reset Calib';
+     resetCalibBtn.className = 'calib-btn';
+     resetCalibBtn.addEventListener('click', () => {
+       observedMin[i] = Infinity;
+       observedMax[i] = -Infinity;
+       addLogMessage(`Reset calibration for ${fingerName} ${jointType}`);
+     });
+
+     const calibStatus = document.createElement('span');
+     calibStatus.className = 'calib-status';
+     calibStatus.textContent = `Range: --`;
+
+     calibRow.appendChild(resetCalibBtn);
+     calibRow.appendChild(calibStatus);
+
+     // Compose
+     wrap.appendChild(nameEl);
+     wrap.appendChild(valueEl);
+     wrap.appendChild(barWrap);
+     wrap.appendChild(slider);
+     wrap.appendChild(invertLbl);
+     wrap.appendChild(limitsRow);
+     wrap.appendChild(calibRow);
+
+     jointsContainer.appendChild(wrap);
+
+     uiRefs[i] = { valueLabel: valueEl, bar: barEl, barWrap, slider, invertChk, minDeg, maxDeg, nameEl, calibStatus };
+  }
+
+  setConnectedUI(false); // initial state: sliders active
+}
+
+ // Toggle UI between pre-connect SLIDERS vs post-connect BARS
+ function setConnectedUI(connected) {
+   isConnected = connected;
+   for (let i = 0; i < uiRefs.length; i++) {
+     const ui = uiRefs[i];
+     if (!ui) continue;
+     // Show bars when connected; sliders disabled/hidden
+     ui.barWrap.style.display = connected ? '' : 'none';
+     ui.slider.disabled = connected;
+     ui.slider.style.display = connected ? 'none' : '';
+   }
+
+   // Reset calibration when connecting
+   if (connected) {
+     observedMin.fill(Infinity);
+     observedMax.fill(-Infinity);
+     addLogMessage('Calibration reset - move joints through full range for best results');
+   }
+ }
+
+// Update joint display (value text + bar color/width + slider position if needed)
+function updateJointDisplay(jointIndex, value) {
+  const ui = uiRefs[jointIndex];
+  const info = fingerJointMap[jointIndex];
+  if (!ui || !info) return;
+
+  ui.valueLabel.textContent = `Value: ${value}`;
+
+  // bar
+  const min = info.min, max = info.max;
+  const pct = clamp((value - min) / (max - min), 0, 1) * 100;
+  ui.bar.style.width = `${pct}%`;
+  const hue = Math.floor(pct * 1.2); // 0..120
+  ui.bar.style.backgroundColor = `hsl(${hue}, 80%, 50%)`;
+
+  // slider (only meaningful when not connected; keep in sync anyway)
+  const rawForSlider = info.inverted ? (info.min + info.max) - value : value;
+  if (!isConnected) ui.slider.value = String(clamp(Math.round(rawForSlider), RAW_MIN, RAW_MAX));
+}
+
+// -------------------- Serial I/O --------------------
+async function readSerialData() {
+  while (port?.readable && keepReading) {
+    reader = port.readable.getReader();
+    try {
+      while (true) {
+        const { value, done } = await reader.read();
+        if (done) break;
+        if (value) processData(decoder.decode(value));
+      }
+    } catch (err) {
+      console.error('Error reading:', err);
+      addLogMessage(`Error: ${err.message}`);
+      break;
+    } finally {
+      reader.releaseLock();
+    }
+  }
+}
+
+ function processData(chunk) {
+   inputBuffer += chunk;
+   let idx;
+   while ((idx = inputBuffer.indexOf('\n')) !== -1) {
+     const line = inputBuffer.slice(0, idx).trim();
+     inputBuffer = inputBuffer.slice(idx + 1);
+
+     const vals = line.split(/\s+/).map(v => parseInt(v, 10));
+     if (vals.length === MAX_JOINTS && vals.every(v => Number.isFinite(v))) {
+       for (let i = 0; i < MAX_JOINTS; i++) {
+         const info = fingerJointMap[i];
+         if (!info) continue;
+
+         let rawValue = vals[i];
+
+         // Update calibration tracking
+         if (calibrationEnabled) {
+           observedMin[i] = Math.min(observedMin[i], rawValue);
+           observedMax[i] = Math.max(observedMax[i], rawValue);
+
+           // Update calibration display
+           const ui = uiRefs[i];
+           if (ui && ui.calibStatus) {
+             if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity) {
+               ui.calibStatus.textContent = `Range: ${observedMin[i]}-${observedMax[i]}`;
+             }
+           }
+
+           // Remap observed range to target range
+           if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity && observedMax[i] > observedMin[i]) {
+             const observedRange = observedMax[i] - observedMin[i];
+             const targetRange = info.max - info.min;
+             const normalizedValue = (rawValue - observedMin[i]) / observedRange;
+             rawValue = info.min + (normalizedValue * targetRange);
+           }
+         }
+
+         let v = clamp(rawValue, info.min, info.max);
+         if (info.inverted) v = (info.min + info.max) - v;
+         jointValues[i] = v;
+         updateJointDisplay(i, v);
+       }
+       updateHandModel();
+     } else {
+       addLogMessage(`Received: ${line}`);
+     }
+   }
+ }
+
+async function connectToDevice() {
+  try {
+    port = await navigator.serial.requestPort();
+    const baudRate = parseInt(baudRateSelect.value, 10) || 115200;
+    await port.open({ baudRate });
+
+    keepReading = true;
+    setConnectedUI(true);
+
+    statusIndicator.textContent = 'Status: Connected';
+    statusIndicator.className = 'status connected';
+    connectButton.disabled = true;
+    disconnectButton.disabled = false;
+    baudRateSelect.disabled = true;
+
+    addLogMessage(`Connected at ${baudRate} baud`);
+    readSerialData();
+  } catch (e) {
+    console.error('Connect error:', e);
+    addLogMessage(`Connection error: ${e.message}`);
+  }
+}
+
+async function disconnectFromDevice() {
+  try {
+    keepReading = false;
+    if (reader) {
+      try { reader.cancel(); } catch {}
+    }
+    if (port) {
+      await port.close();
+      port = null;
+    }
+  } catch (e) {
+    console.error('Disconnect error:', e);
+    addLogMessage(`Disconnection error: ${e.message}`);
+  } finally {
+    setConnectedUI(false);
+    statusIndicator.textContent = 'Status: Disconnected';
+    statusIndicator.className = 'status disconnected';
+    connectButton.disabled = false;
+    disconnectButton.disabled = true;
+    baudRateSelect.disabled = false;
+    addLogMessage('Disconnected');
+  }
+}
+
+// -------------------- Three.js Scene --------------------
+function initThreeJS() {
+  scene = new THREE.Scene();
+  scene.background = new THREE.Color(0xf0f0f0);
+
+  camera = new THREE.PerspectiveCamera(
+    75,
+    canvasContainer.clientWidth / canvasContainer.clientHeight,
+    0.1, 1000
+  );
+  camera.position.set(0, 15, 15);
+  camera.lookAt(0, 0, 0);
+
+  renderer = new THREE.WebGLRenderer({ antialias: true });
+  renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
+  renderer.setPixelRatio(window.devicePixelRatio);
+  canvasContainer.appendChild(renderer.domElement);
+
+  controls = new THREE.OrbitControls(camera, renderer.domElement);
+  controls.enableDamping = true;
+  controls.dampingFactor = 0.25;
+
+  const ambientLight = new THREE.AmbientLight(0x404040);
+  scene.add(ambientLight);
+  const dir1 = new THREE.DirectionalLight(0xffffff, 0.5);
+  dir1.position.set(1, 1, 1);
+  scene.add(dir1);
+  const dir2 = new THREE.DirectionalLight(0xffffff, 0.3);
+  dir2.position.set(-1, 1, -1);
+  scene.add(dir2);
+
+  const gridHelper = new THREE.GridHelper(20, 20);
+  scene.add(gridHelper);
+
+  createHandModel();
+  window.addEventListener('resize', onWindowResize);
+  animate();
+}
+
+function createHandModel() {
+  const palmMaterial   = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
+  const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
+  const jointMaterial  = new THREE.MeshPhongMaterial({ color: 0xe3a977 });
+
+     const palmGeometry = new THREE.BoxGeometry(7, 1, 8);
+   hand.palm = new THREE.Mesh(palmGeometry, palmMaterial);
+   hand.palm.position.set(0, 0, 0);
+   hand.palm.rotation.x = Math.PI / 2; // hand vertical, palm facing forward
+   scene.add(hand.palm);
+
+  const fingerWidth = 1, fingerHeight = 0.8;
+  const fingerSegmentLengths = [3, 2, 1.5];
+  const thumbSegmentLengths  = [2, 2, 1.5];
+
+  const fingerBasePositions = [
+    [ 3,   0,  -2],  // Thumb
+    [ 1.5,-0.5,-4],  // Index
+    [ 0,  -0.5,-4],  // Middle
+    [-1.5,-0.5,-4],  // Ring
+    [-3,  -0.5,-4],  // Pinky
+  ];
+  const fingerBaseRot = [
+    { x:0, y:-Math.PI/3,  z: Math.PI/3 },  // Thumb
+    { x:0, y:-Math.PI/48, z: 0 },
+    { x:0, y: Math.PI/48, z: 0 },
+    { x:0, y: Math.PI/32, z: 0 },
+    { x:0, y: Math.PI/24, z: 0 }
+  ];
+
+  for (let fIdx = 0; fIdx < 5; fIdx++) {
+    const finger = { name:['Thumb','Index','Middle','Ring','Pinky'][fIdx], segments:[], joints:[] };
+    const isThumb = fIdx === 0;
+    const segLens = isThumb ? thumbSegmentLengths : fingerSegmentLengths;
+
+    finger.group = new THREE.Group();
+    finger.group.position.set(...fingerBasePositions[fIdx]);
+    finger.group.rotation.x = fingerBaseRot[fIdx].x;
+    finger.group.rotation.y = fingerBaseRot[fIdx].y;
+    finger.group.rotation.z = fingerBaseRot[fIdx].z;
+    finger.group.userData.baseRot = {
+      x:finger.group.rotation.x,
+      y:finger.group.rotation.y,
+      z:finger.group.rotation.z
+    };
+    hand.palm.add(finger.group);
+
+    let parent = finger.group;
+    for (let s = 0; s < segLens.length; s++) {
+      const segGroup = new THREE.Group();
+
+      const jGeom = new THREE.SphereGeometry(fingerWidth * 0.6, 8, 8);
+      const joint = new THREE.Mesh(jGeom, jointMaterial);
+      segGroup.add(joint);
+
+      const segGeom = new THREE.BoxGeometry(fingerWidth, fingerHeight, segLens[s]);
+      const seg = new THREE.Mesh(segGeom, fingerMaterial);
+      seg.position.z = -segLens[s] / 2;
+      segGroup.add(seg);
+
+      parent.add(segGroup);
+
+      finger.segments.push(segGroup);
+      finger.joints.push(joint);
+
+      if (s < segLens.length - 1) {
+        const connector = new THREE.Group();
+        connector.position.z = -segLens[s];
+        segGroup.add(connector);
+        parent = connector;
+      }
+    }
+
+    hand.fingers.push(finger);
+  }
+
+  addFingerLabels();
+  addHandLabel();
+}
+
+function addFingerLabels() {
+  const names = ['Thumb','Index','Middle','Ring','Pinky'];
+  for (let i = 0; i < hand.fingers.length; i++) {
+    const finger = hand.fingers[i];
+    const canvas = document.createElement('canvas');
+    const ctx = canvas.getContext('2d');
+    canvas.width = 128; canvas.height = 32;
+    ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
+    ctx.font = 'bold 16px Arial';
+    ctx.fillStyle = '#000000';
+    ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+    ctx.fillText(names[i], canvas.width/2, canvas.height/2);
+
+    const texture = new THREE.CanvasTexture(canvas);
+    const geom = new THREE.PlaneGeometry(2, 0.5);
+    const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
+    const label = new THREE.Mesh(geom, mat);
+    label.position.set(0, -1.5, -2);
+    label.rotation.x = Math.PI / 2;
+    finger.group.add(label);
+  }
+}
+
+function addHandLabel() {
+  const canvas = document.createElement('canvas');
+  const ctx = canvas.getContext('2d');
+  canvas.width = 256; canvas.height = 64;
+  ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
+  ctx.font = 'bold 24px Arial';
+  ctx.fillStyle = '#000000';
+  ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+     ctx.fillText('RIGHT HAND (VERTICAL)', canvas.width/2, canvas.height/2);
+
+  const texture = new THREE.CanvasTexture(canvas);
+  const geom = new THREE.PlaneGeometry(7, 1.75);
+  const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
+  const label = new THREE.Mesh(geom, mat);
+  label.position.set(0, -2, 0);
+  label.rotation.x = Math.PI / 2;
+  scene.add(label);
+}
+
+function updateHandModel() {
+  for (let i = 0; i < MAX_JOINTS; i++) {
+    const info = fingerJointMap[i];
+    if (!info) continue;
+    const { finger, joint, type, min, max, angleMin, angleMax } = info;
+    const raw = jointValues[i];
+    const f = hand.fingers[finger];
+    if (!f) continue;
+
+    const center = (min + max) / 2;
+    let angle = 0;
+
+         if (type.includes('ABDUCTION')) {
+       // symmetric around neutral
+       const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
+       angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
+
+       const base = f.group.userData.baseRot || {x:0,y:0,z:0};
+       if (finger === 0 && joint === 0) {
+         // Thumb: abduction about Z (toward/away from palm)
+         f.group.rotation.z = base.z + angle;
+       } else {
+         // Other fingers: side-to-side about Y
+         f.group.rotation.y = base.y + angle;
+       }
+     } else if (type.includes('FLEXION')) {
+       const isThumb = finger === 0;
+       const isMCP = type === 'MCP_FLEXION';
+       const isPIP = type === 'PIP_FLEXION';
+       const positiveOnly = (isThumb && (type === 'MCP_FLEXION' || type === 'IP_FLEXION')) || (!isThumb && isPIP);
+
+       if (positiveOnly) {
+         const t = raw <= center ? 0 : invLerp(center, max, raw); // 0..1
+         angle = angleMin + t * (angleMax - angleMin);           // 0..+limit
+       } else {
+         const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
+         angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
+       }
+
+       if (isMCP) {
+         // MCP flexion applies to the finger base group (same as abduction)
+         const base = f.group.userData.baseRot || {x:0,y:0,z:0};
+         f.group.rotation.x = base.x + angle;
+       } else if (f.segments[joint]) {
+         // PIP/DIP/IP flexion applies to individual segments
+         f.segments[joint].rotation.x = angle;
+       }
+     }
+  }
+}
+
+// -------------------- Render Loop --------------------
+function onWindowResize() {
+  camera.aspect = canvasContainer.clientWidth / canvasContainer.clientHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
+}
+
+function animate() {
+  requestAnimationFrame(animate);
+  controls.update();
+  renderer.render(scene, camera);
+}
+
+// -------------------- Misc UI --------------------
+function addLogMessage(msg) {
+  const el = document.createElement('div');
+  el.textContent = msg;
+  logContainer.appendChild(el);
+  logContainer.scrollTop = logContainer.scrollHeight;
+  while (logContainer.children.length > 100) {
+    logContainer.removeChild(logContainer.firstChild);
+  }
+}
+
+// Camera view controls
+frontViewBtn?.addEventListener('click', () => { camera.position.set(0, 0, 20); camera.lookAt(0,0,0); controls.update(); });
+sideViewBtn?.addEventListener('click',  () => { camera.position.set(20, 0, 0); camera.lookAt(0,0,0); controls.update(); });
+topViewBtn?.addEventListener('click',   () => { camera.position.set(0, 20, 0); camera.lookAt(0,0,0); controls.update(); });
+resetViewBtn?.addEventListener('click', () => { camera.position.set(10,10,10); camera.lookAt(0,0,0); controls.update(); });
+
+// Serial connect buttons
+connectButton?.addEventListener('click', connectToDevice);
+disconnectButton?.addEventListener('click', disconnectFromDevice);
+
+// Web Serial support check
+if (!navigator.serial) {
+  statusIndicator.textContent = 'Status: Web Serial API not supported in this browser';
+  connectButton.disabled = true;
+  addLogMessage('ERROR: Web Serial API is not supported in this browser. Try Chrome or Edge.');
+}
+
+// -------------------- Boot --------------------
+initThreeJS();
+initializeJointElements();
+
+ // -------------------- Styles (inline) --------------------
+ const styleElement = document.createElement('style');
+ styleElement.textContent = `
+ .joint-info { border-bottom: 1px solid #eee; padding: 8px 0; }
+ .joint-name { font-weight: 600; margin-bottom: 4px; }
+ .joint-value { font-size: 12px; color: #333; margin-bottom: 4px; }
+ .bar-container { width: 100%; height: 8px; background: #ddd; border-radius: 4px; overflow: hidden; }
+ .bar { height: 100%; width: 0%; background: #4caf50; }
+ .joint-slider { width: 100%; margin: 6px 0; }
+ .invert-toggle { display: inline-flex; align-items: center; gap: 6px; margin-top: 4px; font-size: 12px; color: #555; }
+ .limits-row { display: flex; align-items: center; gap: 6px; margin-top: 6px; flex-wrap: wrap; }
+ .limit-label { font-size: 11px; color: #666; }
+ .limit-num { width: 60px; }
+ .calib-row { display: flex; align-items: center; gap: 8px; margin-top: 4px; }
+ .calib-btn { padding: 2px 6px; font-size: 11px; background: #f44336; color: white; border: none; border-radius: 3px; cursor: pointer; }
+ .calib-btn:hover { background: #d32f2f; }
+ .calib-status { font-size: 11px; color: #666; }
+ .status.connected { color: #0a0; }
+ .status.disconnected { color: #a00; }
+ `;
+ document.head.appendChild(styleElement);

src/lerobot/datasets/lerobot_dataset.py

@@ -825,8 +825,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         """
         if not episode_data:
             episode_buffer = self.episode_buffer
-        else:
-            episode_buffer = episode_data
 
         validate_episode_buffer(episode_buffer, self.meta.total_episodes, self.features)
 

src/lerobot/motors/dynamixel/tables.py

@@ -107,8 +107,6 @@ X_SERIES_ENCODINGS_TABLE = {
     "Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1],
     "Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1],
     "Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1],
-    "Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1],
-    "Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1],
     "Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1],
     "Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1],
     "Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1],

src/lerobot/robots/so100_follower/so100_follower.py

@@ -161,11 +161,6 @@ class SO100Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
-                if motor == "gripper":
-                    self.bus.write("Max_Torque_Limit", motor, 500)  # 50% of max torque to avoid burnout
-                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
-                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
-
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")

src/lerobot/robots/so101_follower/so101_follower.py

@@ -157,13 +157,6 @@ class SO101Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
-                if motor == "gripper":
-                    self.bus.write(
-                        "Max_Torque_Limit", motor, 500
-                    )  # 50% of the max torque limit to avoid burnout
-                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
-                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
-
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")

src/lerobot/scripts/eval.py

@@ -243,11 +243,7 @@ def eval_policy(
     if max_episodes_rendered > 0 and not videos_dir:
         raise ValueError("If max_episodes_rendered > 0, videos_dir must be provided.")
 
-    # Handle accelerate-wrapped models by unwrapping them
+    if not isinstance(policy, PreTrainedPolicy):
-    if hasattr(policy, 'module') and isinstance(policy.module, PreTrainedPolicy):
-        # This is likely an accelerate-wrapped model (DistributedDataParallel)
-        policy = policy.module
-    elif not isinstance(policy, PreTrainedPolicy):
         raise ValueError(
             f"Policy of type 'PreTrainedPolicy' is expected, but type '{type(policy)}' was provided."
         )

src/lerobot/scripts/server/robot_client.py

@@ -302,6 +302,11 @@ class RobotClient:
 
                     self.logger.debug(f"Current latest action: {latest_action}")
 
+                    # Get queue state before changes
+                    old_size, old_timesteps = self._inspect_action_queue()
+                    if not old_timesteps:
+                        old_timesteps = [latest_action]  # queue was empty
+
                     # Get queue state before changes
                     old_size, old_timesteps = self._inspect_action_queue()
                     if not old_timesteps:

src/lerobot/scripts/train.py

@@ -16,7 +16,6 @@
 import logging
 import time
 from contextlib import nullcontext
-from functools import partial
 from pprint import pformat
 from typing import Any
 
@@ -24,8 +23,6 @@ import torch
 from termcolor import colored
 from torch.amp import GradScaler
 from torch.optim import Optimizer
-import os
-from datetime import timedelta
 
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
@@ -55,8 +52,6 @@ from lerobot.utils.utils import (
 )
 from lerobot.utils.wandb_utils import WandBLogger
 
-def is_launched_with_accelerate() -> bool:
-    return "ACCELERATE_MIXED_PRECISION" in os.environ
 
 def update_policy(
     train_metrics: MetricsTracker,
@@ -64,65 +59,36 @@ def update_policy(
     batch: Any,
     optimizer: Optimizer,
     grad_clip_norm: float,
-    grad_scaler: GradScaler | None,
+    grad_scaler: GradScaler,
     lr_scheduler=None,
     use_amp: bool = False,
     lock=None,
-    accelerator=None,
 ) -> tuple[MetricsTracker, dict]:
     start_time = time.perf_counter()
     device = get_device_from_parameters(policy)
     policy.train()
-    
+    with torch.autocast(device_type=device.type) if use_amp else nullcontext():
-    grad_norm = 0.0  # Initialize grad_norm to avoid undefined variable
+        loss, output_dict = policy.forward(batch)
-
-    if accelerator:
-        with accelerator.accumulate(policy):
-            with torch.autocast(device_type=device.type) if use_amp else nullcontext():
-                loss, output_dict = policy.forward(batch)
-            # TODO(rcadene): policy.unnormalize_outputs(out_dict)
-            accelerator.backward(loss)
-            if accelerator.sync_gradients:
-                grad_norm = torch.nn.utils.clip_grad_norm_(
-                    policy.parameters(),
-                    grad_clip_norm,
-                    error_if_nonfinite=False,
-                )
-            optimizer.step()
-            optimizer.zero_grad()
-    else:
-        # Standard training loop without accelerate
-        with torch.autocast(device_type=device.type) if use_amp else nullcontext():
-            loss, output_dict = policy.forward(batch)
         # TODO(rcadene): policy.unnormalize_outputs(out_dict)
+    grad_scaler.scale(loss).backward()
 
-        if grad_scaler is not None:
+    # Unscale the gradient of the optimizer's assigned params in-place **prior to gradient clipping**.
-            grad_scaler.scale(loss).backward()
+    grad_scaler.unscale_(optimizer)
-            # Unscale the gradient of the optimizer's assigned params in-place **prior to gradient clipping**.
-            grad_scaler.unscale_(optimizer)
-            grad_norm = torch.nn.utils.clip_grad_norm_(
-                policy.parameters(),
-                grad_clip_norm,
-                error_if_nonfinite=False,
-            )
-            # Optimizer's gradients are already unscaled, so scaler.step does not unscale them,
-            # although it still skips optimizer.step() if the gradients contain infs or NaNs.
-            with lock if lock is not None else nullcontext():
-                grad_scaler.step(optimizer)
-            # Updates the scale for next iteration.
-            grad_scaler.update()
-        else:
-            # Without GradScaler (fallback)
-            loss.backward()
-            grad_norm = torch.nn.utils.clip_grad_norm_(
-                policy.parameters(),
-                grad_clip_norm,
-                error_if_nonfinite=False,
-            )
-            with lock if lock is not None else nullcontext():
-                optimizer.step()
 
-        optimizer.zero_grad()
+    grad_norm = torch.nn.utils.clip_grad_norm_(
+        policy.parameters(),
+        grad_clip_norm,
+        error_if_nonfinite=False,
+    )
+
+    # Optimizer's gradients are already unscaled, so scaler.step does not unscale them,
+    # although it still skips optimizer.step() if the gradients contain infs or NaNs.
+    with lock if lock is not None else nullcontext():
+        grad_scaler.step(optimizer)
+    # Updates the scale for next iteration.
+    grad_scaler.update()
+
+    optimizer.zero_grad()
 
     # Step through pytorch scheduler at every batch instead of epoch
     if lr_scheduler is not None:
@@ -133,7 +99,7 @@ def update_policy(
         policy.update()
 
     train_metrics.loss = loss.item()
-    train_metrics.grad_norm = grad_norm.item() if isinstance(grad_norm, torch.Tensor) else grad_norm
+    train_metrics.grad_norm = grad_norm.item()
     train_metrics.lr = optimizer.param_groups[0]["lr"]
     train_metrics.update_s = time.perf_counter() - start_time
     return train_metrics, output_dict
@@ -142,33 +108,8 @@ def update_policy(
 @parser.wrap()
 def train(cfg: TrainPipelineConfig):
     cfg.validate()
-    
-    accelerator = None
-    if is_launched_with_accelerate():
-        import accelerate
-
-        # For example pi0 has unused params (last llm block)
-        from accelerate import DistributedDataParallelKwargs
-        ddp_kwargs = DistributedDataParallelKwargs(find_unused_parameters=True)
-        # accelerator = accelerate.Accelerator(step_scheduler_with_optimizer=False, kwargs_handlers=[ddp_kwargs])
-        from accelerate import InitProcessGroupKwargs
-        # Set NCCL timeout (default 30 minutes = 1800 seconds)
-        nccl_timeout = getattr(cfg, 'nccl_timeout', 1800)
-        ddp_init_kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=nccl_timeout)) # FIXME(mshukor): allow user to set timeout. This should be longer than the evaluation time
-        # Set gradient accumulation steps (default 1)
-        gradient_accumulation_steps = getattr(cfg, 'gradient_accumulation_steps', 1)
-        accelerator = accelerate.Accelerator(step_scheduler_with_optimizer=False, gradient_accumulation_steps=gradient_accumulation_steps, kwargs_handlers=[ddp_init_kwargs, ddp_kwargs])
-        if accelerator is not None and not accelerator.is_main_process:
-            # Disable duplicate logging on non-main processes
-            logging.info(f"Setting logging level on non-main process {accelerator.process_index} to WARNING.")
-            logging.getLogger().setLevel(logging.WARNING)
-
     logging.info(pformat(cfg.to_dict()))
 
-    if accelerator and not accelerator.is_main_process:
-            # Disable logging on non-main processes.
-            cfg.wandb.enable = False
-
     if cfg.wandb.enable and cfg.wandb.project:
         wandb_logger = WandBLogger(cfg)
     else:
@@ -202,8 +143,7 @@ def train(cfg: TrainPipelineConfig):
 
     logging.info("Creating optimizer and scheduler")
     optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy)
-    # Only use GradScaler when not using accelerate (accelerate handles mixed precision internally)
+    grad_scaler = GradScaler(device.type, enabled=cfg.policy.use_amp)
-    grad_scaler = None if accelerator else GradScaler(device.type, enabled=cfg.policy.use_amp)
 
     step = 0  # number of policy updates (forward + backward + optim)
 
@@ -245,11 +185,6 @@ def train(cfg: TrainPipelineConfig):
     )
     dl_iter = cycle(dataloader)
 
-    # Prepare models for accelerate if using multi-GPU
-    if accelerator:
-        policy, optimizer, dataloader = accelerator.prepare(policy, optimizer, dataloader)
-        dl_iter = cycle(dataloader)
-
     policy.train()
 
     train_metrics = {
@@ -270,10 +205,9 @@ def train(cfg: TrainPipelineConfig):
         batch = next(dl_iter)
         train_tracker.dataloading_s = time.perf_counter() - start_time
 
-        if not accelerator:
+        for key in batch:
-            for key in batch:
+            if isinstance(batch[key], torch.Tensor):
-                if isinstance(batch[key], torch.Tensor):
+                batch[key] = batch[key].to(device, non_blocking=device.type == "cuda")
-                    batch[key] = batch[key].to(device, non_blocking=device.type == "cuda")
 
         train_tracker, output_dict = update_policy(
             train_tracker,
@@ -284,7 +218,6 @@ def train(cfg: TrainPipelineConfig):
             grad_scaler=grad_scaler,
             lr_scheduler=lr_scheduler,
             use_amp=cfg.policy.use_amp,
-            accelerator=accelerator,
         )
 
         # Note: eval and checkpoint happens *after* the `step`th training update has completed, so we
@@ -304,17 +237,15 @@ def train(cfg: TrainPipelineConfig):
                 wandb_logger.log_dict(wandb_log_dict, step)
             train_tracker.reset_averages()
 
-        if cfg.save_checkpoint and is_saving_step and (not accelerator or accelerator.is_main_process):
+        if cfg.save_checkpoint and is_saving_step:
             logging.info(f"Checkpoint policy after step {step}")
             checkpoint_dir = get_step_checkpoint_dir(cfg.output_dir, cfg.steps, step)
-            # Unwrap model for accelerate
+            save_checkpoint(checkpoint_dir, step, cfg, policy, optimizer, lr_scheduler)
-            policy_to_save = accelerator.unwrap_model(policy) if accelerator else policy
-            save_checkpoint(checkpoint_dir, step, cfg, policy_to_save, optimizer, lr_scheduler)
             update_last_checkpoint(checkpoint_dir)
             if wandb_logger:
                 wandb_logger.log_policy(checkpoint_dir)
 
-        if cfg.env and is_eval_step and (not accelerator or accelerator.is_main_process):
+        if cfg.env and is_eval_step:
             step_id = get_step_identifier(step, cfg.steps)
             logging.info(f"Eval policy at step {step}")
             with (
@@ -323,7 +254,7 @@ def train(cfg: TrainPipelineConfig):
             ):
                 eval_info = eval_policy(
                     eval_env,
-                    accelerator.unwrap_model(policy) if accelerator else policy,
+                    policy,
                     cfg.eval.n_episodes,
                     videos_dir=cfg.output_dir / "eval" / f"videos_step_{step_id}",
                     max_episodes_rendered=4,

src/lerobot/utils/train_utils.py

@@ -60,39 +60,11 @@ def load_training_step(save_dir: Path) -> int:
 
 
 def update_last_checkpoint(checkpoint_dir: Path) -> Path:
-    import fcntl
-    import tempfile
-    import os
-    
     last_checkpoint_dir = checkpoint_dir.parent / LAST_CHECKPOINT_LINK
+    if last_checkpoint_dir.is_symlink():
+        last_checkpoint_dir.unlink()
     relative_target = checkpoint_dir.relative_to(checkpoint_dir.parent)
-    
+    last_checkpoint_dir.symlink_to(relative_target)
-    # Use file locking to prevent race conditions in multi-GPU training
-    lock_file = checkpoint_dir.parent / ".symlink_lock"
-    
-    try:
-        with open(lock_file, 'w') as f:
-            # Get exclusive lock
-            fcntl.flock(f.fileno(), fcntl.LOCK_EX)
-            
-            # Update symlink atomically
-            if last_checkpoint_dir.exists() or last_checkpoint_dir.is_symlink():
-                last_checkpoint_dir.unlink()
-            last_checkpoint_dir.symlink_to(relative_target)
-            
-    except (OSError, FileExistsError) as e:
-        # Handle race conditions gracefully - another process may have already updated
-        if not last_checkpoint_dir.exists():
-            try:
-                last_checkpoint_dir.symlink_to(relative_target)
-            except FileExistsError:
-                pass  # Another process created it, that's fine
-    finally:
-        # Clean up lock file
-        try:
-            lock_file.unlink()
-        except FileNotFoundError:
-            pass
 
 
 def save_checkpoint(

test_accelerate_1gpu_local.sh

@@ -1,45 +0,0 @@
-#!/bin/bash
-
-echo "=== Local 1-GPU Accelerate Training Test with SmolVLA ==="
-echo "Environment: multi"
-echo "GPU: 1"
-echo "Steps: 50 (quick local test)"
-echo ""
-
-# Activate conda environment
-source /fsx/dana_aubakirova/miniconda3/etc/profile.d/conda.sh
-conda activate multi
-
-# Set CUDA environment for 1 GPU
-export CUDA_VISIBLE_DEVICES=0
-export PYTORCH_CUDA_ALLOC_CONF=max_split_size_mb:128,expandable_segments:True
-export TORCH_DISTRIBUTED_DEBUG=OFF
-export CUDA_LAUNCH_BLOCKING=0
-export TRANSFORMERS_NO_ADVISORY_WARNINGS=1
-
-# Change to working directory
-cd /fsx/dana_aubakirova/vla/pr/lerobot
-
-# Set output directory with timestamp
-export OUTPUT_DIR="outputs/test_accelerate_1gpu_local_$(date +%Y%m%d_%H%M%S)"
-
-echo "Output directory: $OUTPUT_DIR"
-echo ""
-
-# Test accelerate training with 1 GPU
-accelerate launch --config_file accelerate_configs/1gpu_config.yaml -m lerobot.scripts.train \
-    --policy.path=lerobot/smolvla_base \
-    --policy.push_to_hub=false \
-    --dataset.repo_id=lerobot/svla_so100_sorting \
-    --dataset.video_backend=pyav \
-    --steps=50 \
-    --save_freq=25 \
-    --log_freq=5 \
-    --batch_size=1 \
-    --num_workers=0 \
-    --output_dir=$OUTPUT_DIR \
-    --wandb.enable=false
-
-echo ""
-echo "=== Training completed! ==="
-echo "Check outputs in: $OUTPUT_DIR"

test_accelerate_2gpu.slurm

@@ -1,67 +0,0 @@
-#!/bin/bash
-#SBATCH --job-name=test_accelerate
-#SBATCH --nodes=1
-#SBATCH --ntasks-per-node=1
-#SBATCH --cpus-per-task=16
-#SBATCH --gres=gpu:2
-#SBATCH --time=1:00:00
-#SBATCH --partition=hopper-prod
-#SBATCH --output=/fsx/dana_aubakirova/vla/logs/test_accelerate_%j.out
-#SBATCH --error=/fsx/dana_aubakirova/vla/logs/test_accelerate_%j.err
-
-# Create logs directory if it doesn't exist
-mkdir -p /fsx/dana_aubakirova/vla/pr/lerobot/logs
-
-# Activate conda environment
-source /fsx/dana_aubakirova/miniconda3/etc/profile.d/conda.sh
-conda activate multi
-
-# 2-GPU Test CUDA environment
-export CUDA_VISIBLE_DEVICES=0,1
-export PYTORCH_CUDA_ALLOC_CONF=max_split_size_mb:128,expandable_segments:True
-export TORCH_DISTRIBUTED_DEBUG=OFF
-export NCCL_DEBUG=INFO
-export CUDA_LAUNCH_BLOCKING=0
-export ACCELERATE_USE_FSDP=false
-export ACCELERATE_USE_DEEPSPEED=false
-export HF_ACCELERATE_DEVICE_MAP=false
-export TRANSFORMERS_NO_ADVISORY_WARNINGS=1
-export SAFETENSORS_FAST_GPU=1
-export HF_HUB_ENABLE_HF_TRANSFER=1
-export PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True
-export ACCELERATE_TORCH_DEVICE_MAP_AUTO=false
-
-# Change to working directory
-cd /fsx/dana_aubakirova/vla/pr/lerobot
-
-echo "=== Testing Accelerate Multi-GPU Training with SmolVLA ==="
-echo "Dataset: lerobot/svla_so100_sorting"
-echo "GPUs: 2"
-echo "Steps: 100 (for quick test)"
-echo "Job ID: $SLURM_JOB_ID"
-echo ""
-
-# Set output directory with job ID
-export OUTPUT_DIR="outputs/test_accelerate_2gpu_job_${SLURM_JOB_ID}"
-
-echo "Output directory: $OUTPUT_DIR"
-echo ""
-
-# Test accelerate training
-accelerate launch --config_file accelerate_configs/2gpu_config_safe.yaml -m lerobot.scripts.train \
-    --policy.type=smolvla \
-    --policy.push_to_hub=false \
-    --dataset.repo_id=lerobot/svla_so100_sorting \
-    --dataset.video_backend=pyav \
-    --steps=100 \
-    --save_freq=50 \
-    --log_freq=5 \
-    --batch_size=2 \
-    --num_workers=0 \
-    --output_dir=$OUTPUT_DIR \
-    --wandb.enable=false
-
-echo ""
-echo "=== Training completed! ==="
-echo "Check logs and outputs in: $OUTPUT_DIR"
-echo "Job ID: $SLURM_JOB_ID"

test_direct_1gpu_local.sh

@@ -1,45 +0,0 @@
-#!/bin/bash
-
-echo "=== Direct 1-GPU Training Test with SmolVLA (no accelerate) ==="
-echo "Environment: multi"
-echo "GPU: 1"
-echo "Steps: 50 (quick local test)"
-echo ""
-
-# Activate conda environment
-source /fsx/dana_aubakirova/miniconda3/etc/profile.d/conda.sh
-conda activate multi
-
-# Set CUDA environment for 1 GPU
-export CUDA_VISIBLE_DEVICES=0
-export PYTORCH_CUDA_ALLOC_CONF=max_split_size_mb:128,expandable_segments:True
-export TORCH_DISTRIBUTED_DEBUG=OFF
-export CUDA_LAUNCH_BLOCKING=0
-export TRANSFORMERS_NO_ADVISORY_WARNINGS=1
-
-# Change to working directory
-cd /fsx/dana_aubakirova/vla/pr/lerobot
-
-# Set output directory with timestamp
-export OUTPUT_DIR="outputs/test_direct_1gpu_local_$(date +%Y%m%d_%H%M%S)"
-
-echo "Output directory: $OUTPUT_DIR"
-echo ""
-
-# Test direct training with 1 GPU (no accelerate)
-python -m lerobot.scripts.train \
-    --policy.path=lerobot/smolvla_base \
-    --policy.push_to_hub=false \
-    --dataset.repo_id=lerobot/svla_so100_sorting \
-    --dataset.video_backend=pyav \
-    --steps=50 \
-    --save_freq=25 \
-    --log_freq=5 \
-    --batch_size=1 \
-    --num_workers=0 \
-    --output_dir=$OUTPUT_DIR \
-    --wandb.enable=false
-
-echo ""
-echo "=== Training completed! ==="
-echo "Check outputs in: $OUTPUT_DIR"

visualizer/index.html

@@ -0,0 +1,182 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>3D Hand Joint Visualizer</title>
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            margin: 0;
+            padding: 0;
+            overflow: hidden;
+            display: flex;
+            flex-direction: column;
+            height: 100vh;
+        }
+
+        .controls {
+            padding: 15px;
+            background-color: #f5f5f5;
+            z-index: 100;
+        }
+
+        .status {
+            padding: 10px;
+            border-radius: 5px;
+            margin: 10px 0;
+        }
+
+        .connected {
+            background-color: #d4edda;
+            color: #155724;
+        }
+
+        .disconnected {
+            background-color: #f8d7da;
+            color: #721c24;
+        }
+
+        button {
+            padding: 8px 16px;
+            background-color: #4CAF50;
+            color: white;
+            border: none;
+            border-radius: 4px;
+            cursor: pointer;
+            margin-right: 10px;
+        }
+
+        button:hover {
+            background-color: #45a049;
+        }
+
+        button:disabled {
+            background-color: #cccccc;
+            cursor: not-allowed;
+        }
+
+        .container {
+            display: flex;
+            flex: 1;
+            overflow: hidden;
+        }
+
+        #canvas-container {
+            flex: 3;
+            position: relative;
+        }
+
+        #sidebar {
+            flex: 1;
+            padding: 15px;
+            background-color: #f8f9fa;
+            overflow-y: auto;
+            max-width: 300px;
+            border-left: 1px solid #ddd;
+        }
+
+        .joint-info {
+            margin-bottom: 10px;
+            padding: 8px;
+            border: 1px solid #ddd;
+            border-radius: 4px;
+        }
+
+        .joint-name {
+            font-weight: bold;
+        }
+
+        .joint-value {
+            font-family: monospace;
+        }
+
+        .bar-container {
+            width: 100%;
+            background-color: #e0e0e0;
+            height: 10px;
+            border-radius: 5px;
+            overflow: hidden;
+            margin-top: 5px;
+        }
+
+        .bar {
+            height: 100%;
+            background-color: #4CAF50;
+            width: 0%;
+            transition: width 0.2s ease-in-out;
+        }
+
+        .log-container {
+            margin-top: 20px;
+            border: 1px solid #ddd;
+            border-radius: 5px;
+            padding: 10px;
+            height: 150px;
+            overflow-y: auto;
+            font-family: monospace;
+            background-color: #f8f9fa;
+        }
+
+        .view-controls {
+            position: absolute;
+            bottom: 10px;
+            left: 10px;
+            z-index: 10;
+        }
+
+        .view-button {
+            background-color: rgba(0, 0, 0, 0.5);
+            color: white;
+            border: none;
+            padding: 5px 10px;
+            margin-right: 5px;
+            border-radius: 3px;
+            cursor: pointer;
+        }
+    </style>
+</head>
+<body>
+    <div class="controls">
+        <button id="connectButton">Connect to Device</button>
+        <button id="disconnectButton" disabled>Disconnect</button>
+        <select id="baudRate">
+            <option value="9600">9600</option>
+            <option value="19200">19200</option>
+            <option value="38400">38400</option>
+            <option value="57600">57600</option>
+            <option value="115200" selected>115200</option>
+        </select>
+        <span id="statusIndicator" class="status disconnected">Status: Disconnected</span>
+    </div>
+
+    <div class="container">
+        <div id="canvas-container">
+            <!-- 3D canvas will be inserted here -->
+            <div class="view-controls">
+                <button class="view-button" id="frontView">Front</button>
+                <button class="view-button" id="sideView">Side</button>
+                <button class="view-button" id="topView">Top</button>
+                <button class="view-button" id="resetView">Reset</button>
+            </div>
+        </div>
+
+        <div id="sidebar">
+            <h3>Joint Values</h3>
+            <div id="jointsContainer">
+                <!-- Joint info will be added here -->
+            </div>
+
+            <div class="log-container" id="logContainer">
+                <!-- Log messages will be added here -->
+            </div>
+        </div>
+    </div>
+
+    <!-- Import Three.js -->
+    <script src="https://cdn.jsdelivr.net/npm/three@0.132.2/build/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.132.2/examples/js/controls/OrbitControls.js"></script>
+
+    <script src="script.js"></script>
+</body>
+</html>

visualizer/script.js

@@ -0,0 +1,669 @@
+// === Hand Visualizer with Pre-Connect Sliders + Per-Joint Angle Limits ===
+// Assumes your HTML already has elements with the following IDs:
+// connectButton, disconnectButton, baudRate, statusIndicator, jointsContainer, logContainer,
+// canvas-container, frontView, sideView, topView, resetView
+// Requires Three.js + OrbitControls loaded on the page.
+
+// -------------------- Config --------------------
+const MAX_JOINTS = 16;
+const RAW_MIN = 0, RAW_MAX = 4096;
+const RAW_CENTER = (RAW_MIN + RAW_MAX) / 2;
+const DEG = Math.PI / 180;
+const UI_DEG_MIN = -90, UI_DEG_MAX = 90; // UI sliders for angle limits
+
+// -------------------- State --------------------
+let port;
+let reader;
+let keepReading = false;
+let isConnected = false;
+const decoder = new TextDecoder();
+let inputBuffer = '';
+
+let jointValues = new Array(MAX_JOINTS).fill(RAW_CENTER);
+
+// Auto-calibration: track observed min/max per joint
+let observedMin = new Array(MAX_JOINTS).fill(Infinity);
+let observedMax = new Array(MAX_JOINTS).fill(-Infinity);
+let calibrationEnabled = true;
+
+// Three.js
+let scene, camera, renderer, controls;
+let hand = { palm: null, fingers: [] };
+
+// DOM
+const connectButton     = document.getElementById('connectButton');
+const disconnectButton  = document.getElementById('disconnectButton');
+const baudRateSelect    = document.getElementById('baudRate');
+const statusIndicator   = document.getElementById('statusIndicator');
+const jointsContainer   = document.getElementById('jointsContainer');
+const logContainer      = document.getElementById('logContainer');
+const canvasContainer   = document.getElementById('canvas-container');
+const frontViewBtn      = document.getElementById('frontView');
+const sideViewBtn       = document.getElementById('sideView');
+const topViewBtn        = document.getElementById('topView');
+const resetViewBtn      = document.getElementById('resetView');
+
+// Helpers
+const clamp = (x, a, b) => Math.max(a, Math.min(b, x));
+const invLerp = (a, b, x) => clamp((x - a) / (b - a), 0, 1);
+
+// -------------------- Joint Map with per-joint angle limits --------------------
+const fingerJointMap = [
+  // Thumb (4)
+  { finger:0, joint:0, type:'CMC_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:0, joint:1, type:'CMC_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:0, joint:2, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+  { finger:0, joint:3, type:'IP_FLEXION',     min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Index (3)
+  { finger:1, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:1, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:1, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Middle (3)
+  { finger:2, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:2, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:2, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:true }, // +45° only
+
+  // Ring (3)
+  { finger:3, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:true },
+  { finger:3, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:3, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false }, // +45° only
+
+  // Pinky (3)
+  { finger:4, joint:0, type:'MCP_ABDUCTION',  min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:4, joint:1, type:'MCP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false },
+  { finger:4, joint:2, type:'PIP_FLEXION',    min:RAW_MIN, max:RAW_MAX, inverted:false }  // +45° only
+];
+
+// Assign angle limits (radians) per joint (default ±45°, exceptions: +45° only)
+for (const j of fingerJointMap) {
+  const isThumb = j.finger === 0;
+  const isPIP   = j.type === 'PIP_FLEXION';
+  let minA = -45 * DEG, maxA = +45 * DEG;
+  if ((isThumb && (j.type === 'MCP_FLEXION' || j.type === 'IP_FLEXION')) || (!isThumb && isPIP)) {
+    minA = 0;
+    maxA = +45 * DEG;
+  }
+  j.angleMin = minA;
+  j.angleMax = maxA;
+}
+
+// -------------------- UI: Joint Panel --------------------
+const uiRefs = []; // per joint: { valueLabel, bar, barWrap, slider, invertChk, minDeg, maxDeg }
+
+function initializeJointElements() {
+  jointsContainer.innerHTML = '';
+  uiRefs.length = 0;
+
+  for (let i = 0; i < MAX_JOINTS; i++) {
+    const wrap = document.createElement('div');
+    wrap.className = 'joint-info';
+
+    const fingerIndex = i < 4 ? 0 : Math.floor((i - 4) / 3) + 1;
+    const jointInfo = fingerJointMap[i];
+    const jointType = jointInfo?.type || 'Unknown';
+    const fingerName = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky'][fingerIndex];
+
+    // Header
+    const nameEl = document.createElement('div');
+    nameEl.className = 'joint-name';
+    nameEl.textContent = `${fingerName} – ${jointType}`;
+
+    // Value + bar
+    const valueEl = document.createElement('div');
+    valueEl.className = 'joint-value';
+    valueEl.textContent = `Value: ${jointValues[i]}`;
+
+    const barWrap = document.createElement('div');
+    barWrap.className = 'bar-container';
+    const barEl = document.createElement('div');
+    barEl.className = 'bar';
+    barWrap.appendChild(barEl);
+
+    // Slider for pre-connect manual control
+    const slider = document.createElement('input');
+    slider.type = 'range';
+    slider.min = String(RAW_MIN);
+    slider.max = String(RAW_MAX);
+    slider.value = String(jointValues[i]);
+    slider.step = '1';
+    slider.className = 'joint-slider';
+
+    slider.addEventListener('input', () => {
+      if (isConnected) return; // ignore while connected
+      let v = parseInt(slider.value, 10);
+      if (jointInfo?.inverted) v = (jointInfo.min + jointInfo.max) - v;
+      jointValues[i] = clamp(jointInfo ? v : 0, RAW_MIN, RAW_MAX);
+      updateJointDisplay(i, jointValues[i]);
+      updateHandModel();
+    });
+
+    // Invert checkbox
+    const invertLbl = document.createElement('label');
+    invertLbl.className = 'invert-toggle';
+    const invertChk = document.createElement('input');
+    invertChk.type = 'checkbox';
+    invertChk.checked = !!jointInfo?.inverted;
+    invertChk.addEventListener('change', () => {
+      if (jointInfo) jointInfo.inverted = invertChk.checked;
+      addLogMessage(`${fingerName} ${jointType} inversion ${invertChk.checked ? 'enabled' : 'disabled'}`);
+    });
+    invertLbl.appendChild(invertChk);
+    invertLbl.appendChild(document.createTextNode('Invert Values'));
+
+    // Angle limits (deg) controls
+    const limitsRow = document.createElement('div');
+    limitsRow.className = 'limits-row';
+
+    const minDeg = document.createElement('input');
+    minDeg.type = 'number';
+    minDeg.min = String(UI_DEG_MIN);
+    minDeg.max = String(UI_DEG_MAX);
+    minDeg.step = '1';
+    minDeg.value = String(Math.round((jointInfo.angleMin || 0) / DEG));
+    minDeg.className = 'limit-num';
+
+    const maxDeg = document.createElement('input');
+    maxDeg.type = 'number';
+    maxDeg.min = String(UI_DEG_MIN);
+    maxDeg.max = String(UI_DEG_MAX);
+    maxDeg.step = '1';
+    maxDeg.value = String(Math.round((jointInfo.angleMax || 0) / DEG));
+    maxDeg.className = 'limit-num';
+
+    const minLbl = document.createElement('span'); minLbl.textContent = 'min°';
+    const maxLbl = document.createElement('span'); maxLbl.textContent = 'max°';
+    minLbl.className = 'limit-label'; maxLbl.className = 'limit-label';
+
+    function syncLimits() {
+      let mn = parseFloat(minDeg.value);
+      let mx = parseFloat(maxDeg.value);
+      if (isNaN(mn)) mn = -45;
+      if (isNaN(mx)) mx = +45;
+      if (mn > mx) [mn, mx] = [mx, mn];
+      jointInfo.angleMin = clamp(mn, UI_DEG_MIN, UI_DEG_MAX) * DEG;
+      jointInfo.angleMax = clamp(mx, UI_DEG_MIN, UI_DEG_MAX) * DEG;
+      minDeg.value = String(Math.round(jointInfo.angleMin / DEG));
+      maxDeg.value = String(Math.round(jointInfo.angleMax / DEG));
+      updateHandModel();
+    }
+    minDeg.addEventListener('change', syncLimits);
+    maxDeg.addEventListener('change', syncLimits);
+
+    limitsRow.appendChild(minLbl);
+    limitsRow.appendChild(minDeg);
+    limitsRow.appendChild(maxLbl);
+    limitsRow.appendChild(maxDeg);
+
+         // Calibration controls
+     const calibRow = document.createElement('div');
+     calibRow.className = 'calib-row';
+
+     const resetCalibBtn = document.createElement('button');
+     resetCalibBtn.textContent = 'Reset Calib';
+     resetCalibBtn.className = 'calib-btn';
+     resetCalibBtn.addEventListener('click', () => {
+       observedMin[i] = Infinity;
+       observedMax[i] = -Infinity;
+       addLogMessage(`Reset calibration for ${fingerName} ${jointType}`);
+     });
+
+     const calibStatus = document.createElement('span');
+     calibStatus.className = 'calib-status';
+     calibStatus.textContent = `Range: --`;
+
+     calibRow.appendChild(resetCalibBtn);
+     calibRow.appendChild(calibStatus);
+
+     // Compose
+     wrap.appendChild(nameEl);
+     wrap.appendChild(valueEl);
+     wrap.appendChild(barWrap);
+     wrap.appendChild(slider);
+     wrap.appendChild(invertLbl);
+     wrap.appendChild(limitsRow);
+     wrap.appendChild(calibRow);
+
+     jointsContainer.appendChild(wrap);
+
+     uiRefs[i] = { valueLabel: valueEl, bar: barEl, barWrap, slider, invertChk, minDeg, maxDeg, nameEl, calibStatus };
+  }
+
+  setConnectedUI(false); // initial state: sliders active
+}
+
+ // Toggle UI between pre-connect SLIDERS vs post-connect BARS
+ function setConnectedUI(connected) {
+   isConnected = connected;
+   for (let i = 0; i < uiRefs.length; i++) {
+     const ui = uiRefs[i];
+     if (!ui) continue;
+     // Show bars when connected; sliders disabled/hidden
+     ui.barWrap.style.display = connected ? '' : 'none';
+     ui.slider.disabled = connected;
+     ui.slider.style.display = connected ? 'none' : '';
+   }
+
+   // Reset calibration when connecting
+   if (connected) {
+     observedMin.fill(Infinity);
+     observedMax.fill(-Infinity);
+     addLogMessage('Calibration reset - move joints through full range for best results');
+   }
+ }
+
+// Update joint display (value text + bar color/width + slider position if needed)
+function updateJointDisplay(jointIndex, value) {
+  const ui = uiRefs[jointIndex];
+  const info = fingerJointMap[jointIndex];
+  if (!ui || !info) return;
+
+  ui.valueLabel.textContent = `Value: ${value}`;
+
+  // bar
+  const min = info.min, max = info.max;
+  const pct = clamp((value - min) / (max - min), 0, 1) * 100;
+  ui.bar.style.width = `${pct}%`;
+  const hue = Math.floor(pct * 1.2); // 0..120
+  ui.bar.style.backgroundColor = `hsl(${hue}, 80%, 50%)`;
+
+  // slider (only meaningful when not connected; keep in sync anyway)
+  const rawForSlider = info.inverted ? (info.min + info.max) - value : value;
+  if (!isConnected) ui.slider.value = String(clamp(Math.round(rawForSlider), RAW_MIN, RAW_MAX));
+}
+
+// -------------------- Serial I/O --------------------
+async function readSerialData() {
+  while (port?.readable && keepReading) {
+    reader = port.readable.getReader();
+    try {
+      while (true) {
+        const { value, done } = await reader.read();
+        if (done) break;
+        if (value) processData(decoder.decode(value));
+      }
+    } catch (err) {
+      console.error('Error reading:', err);
+      addLogMessage(`Error: ${err.message}`);
+      break;
+    } finally {
+      reader.releaseLock();
+    }
+  }
+}
+
+ function processData(chunk) {
+   inputBuffer += chunk;
+   let idx;
+   while ((idx = inputBuffer.indexOf('\n')) !== -1) {
+     const line = inputBuffer.slice(0, idx).trim();
+     inputBuffer = inputBuffer.slice(idx + 1);
+
+     const vals = line.split(/\s+/).map(v => parseInt(v, 10));
+     if (vals.length === MAX_JOINTS && vals.every(v => Number.isFinite(v))) {
+       for (let i = 0; i < MAX_JOINTS; i++) {
+         const info = fingerJointMap[i];
+         if (!info) continue;
+
+         let rawValue = vals[i];
+
+         // Update calibration tracking
+         if (calibrationEnabled) {
+           observedMin[i] = Math.min(observedMin[i], rawValue);
+           observedMax[i] = Math.max(observedMax[i], rawValue);
+
+           // Update calibration display
+           const ui = uiRefs[i];
+           if (ui && ui.calibStatus) {
+             if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity) {
+               ui.calibStatus.textContent = `Range: ${observedMin[i]}-${observedMax[i]}`;
+             }
+           }
+
+           // Remap observed range to target range
+           if (observedMin[i] !== Infinity && observedMax[i] !== -Infinity && observedMax[i] > observedMin[i]) {
+             const observedRange = observedMax[i] - observedMin[i];
+             const targetRange = info.max - info.min;
+             const normalizedValue = (rawValue - observedMin[i]) / observedRange;
+             rawValue = info.min + (normalizedValue * targetRange);
+           }
+         }
+
+         let v = clamp(rawValue, info.min, info.max);
+         if (info.inverted) v = (info.min + info.max) - v;
+         jointValues[i] = v;
+         updateJointDisplay(i, v);
+       }
+       updateHandModel();
+     } else {
+       addLogMessage(`Received: ${line}`);
+     }
+   }
+ }
+
+async function connectToDevice() {
+  try {
+    port = await navigator.serial.requestPort();
+    const baudRate = parseInt(baudRateSelect.value, 10) || 115200;
+    await port.open({ baudRate });
+
+    keepReading = true;
+    setConnectedUI(true);
+
+    statusIndicator.textContent = 'Status: Connected';
+    statusIndicator.className = 'status connected';
+    connectButton.disabled = true;
+    disconnectButton.disabled = false;
+    baudRateSelect.disabled = true;
+
+    addLogMessage(`Connected at ${baudRate} baud`);
+    readSerialData();
+  } catch (e) {
+    console.error('Connect error:', e);
+    addLogMessage(`Connection error: ${e.message}`);
+  }
+}
+
+async function disconnectFromDevice() {
+  try {
+    keepReading = false;
+    if (reader) {
+      try { reader.cancel(); } catch {}
+    }
+    if (port) {
+      await port.close();
+      port = null;
+    }
+  } catch (e) {
+    console.error('Disconnect error:', e);
+    addLogMessage(`Disconnection error: ${e.message}`);
+  } finally {
+    setConnectedUI(false);
+    statusIndicator.textContent = 'Status: Disconnected';
+    statusIndicator.className = 'status disconnected';
+    connectButton.disabled = false;
+    disconnectButton.disabled = true;
+    baudRateSelect.disabled = false;
+    addLogMessage('Disconnected');
+  }
+}
+
+// -------------------- Three.js Scene --------------------
+function initThreeJS() {
+  scene = new THREE.Scene();
+  scene.background = new THREE.Color(0xf0f0f0);
+
+  camera = new THREE.PerspectiveCamera(
+    75,
+    canvasContainer.clientWidth / canvasContainer.clientHeight,
+    0.1, 1000
+  );
+  camera.position.set(0, 15, 15);
+  camera.lookAt(0, 0, 0);
+
+  renderer = new THREE.WebGLRenderer({ antialias: true });
+  renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
+  renderer.setPixelRatio(window.devicePixelRatio);
+  canvasContainer.appendChild(renderer.domElement);
+
+  controls = new THREE.OrbitControls(camera, renderer.domElement);
+  controls.enableDamping = true;
+  controls.dampingFactor = 0.25;
+
+  const ambientLight = new THREE.AmbientLight(0x404040);
+  scene.add(ambientLight);
+  const dir1 = new THREE.DirectionalLight(0xffffff, 0.5);
+  dir1.position.set(1, 1, 1);
+  scene.add(dir1);
+  const dir2 = new THREE.DirectionalLight(0xffffff, 0.3);
+  dir2.position.set(-1, 1, -1);
+  scene.add(dir2);
+
+  const gridHelper = new THREE.GridHelper(20, 20);
+  scene.add(gridHelper);
+
+  createHandModel();
+  window.addEventListener('resize', onWindowResize);
+  animate();
+}
+
+function createHandModel() {
+  const palmMaterial   = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
+  const fingerMaterial = new THREE.MeshPhongMaterial({ color: 0xf5c396 });
+  const jointMaterial  = new THREE.MeshPhongMaterial({ color: 0xe3a977 });
+
+     const palmGeometry = new THREE.BoxGeometry(7, 1, 8);
+   hand.palm = new THREE.Mesh(palmGeometry, palmMaterial);
+   hand.palm.position.set(0, 0, 0);
+   hand.palm.rotation.x = Math.PI / 2; // hand vertical, palm facing forward
+   scene.add(hand.palm);
+
+  const fingerWidth = 1, fingerHeight = 0.8;
+  const fingerSegmentLengths = [3, 2, 1.5];
+  const thumbSegmentLengths  = [2, 2, 1.5];
+
+  const fingerBasePositions = [
+    [ 3,   0,  -2],  // Thumb
+    [ 1.5,-0.5,-4],  // Index
+    [ 0,  -0.5,-4],  // Middle
+    [-1.5,-0.5,-4],  // Ring
+    [-3,  -0.5,-4],  // Pinky
+  ];
+  const fingerBaseRot = [
+    { x:0, y:-Math.PI/3,  z: Math.PI/3 },  // Thumb
+    { x:0, y:-Math.PI/48, z: 0 },
+    { x:0, y: Math.PI/48, z: 0 },
+    { x:0, y: Math.PI/32, z: 0 },
+    { x:0, y: Math.PI/24, z: 0 }
+  ];
+
+  for (let fIdx = 0; fIdx < 5; fIdx++) {
+    const finger = { name:['Thumb','Index','Middle','Ring','Pinky'][fIdx], segments:[], joints:[] };
+    const isThumb = fIdx === 0;
+    const segLens = isThumb ? thumbSegmentLengths : fingerSegmentLengths;
+
+    finger.group = new THREE.Group();
+    finger.group.position.set(...fingerBasePositions[fIdx]);
+    finger.group.rotation.x = fingerBaseRot[fIdx].x;
+    finger.group.rotation.y = fingerBaseRot[fIdx].y;
+    finger.group.rotation.z = fingerBaseRot[fIdx].z;
+    finger.group.userData.baseRot = {
+      x:finger.group.rotation.x,
+      y:finger.group.rotation.y,
+      z:finger.group.rotation.z
+    };
+    hand.palm.add(finger.group);
+
+    let parent = finger.group;
+    for (let s = 0; s < segLens.length; s++) {
+      const segGroup = new THREE.Group();
+
+      const jGeom = new THREE.SphereGeometry(fingerWidth * 0.6, 8, 8);
+      const joint = new THREE.Mesh(jGeom, jointMaterial);
+      segGroup.add(joint);
+
+      const segGeom = new THREE.BoxGeometry(fingerWidth, fingerHeight, segLens[s]);
+      const seg = new THREE.Mesh(segGeom, fingerMaterial);
+      seg.position.z = -segLens[s] / 2;
+      segGroup.add(seg);
+
+      parent.add(segGroup);
+
+      finger.segments.push(segGroup);
+      finger.joints.push(joint);
+
+      if (s < segLens.length - 1) {
+        const connector = new THREE.Group();
+        connector.position.z = -segLens[s];
+        segGroup.add(connector);
+        parent = connector;
+      }
+    }
+
+    hand.fingers.push(finger);
+  }
+
+  addFingerLabels();
+  addHandLabel();
+}
+
+function addFingerLabels() {
+  const names = ['Thumb','Index','Middle','Ring','Pinky'];
+  for (let i = 0; i < hand.fingers.length; i++) {
+    const finger = hand.fingers[i];
+    const canvas = document.createElement('canvas');
+    const ctx = canvas.getContext('2d');
+    canvas.width = 128; canvas.height = 32;
+    ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
+    ctx.font = 'bold 16px Arial';
+    ctx.fillStyle = '#000000';
+    ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+    ctx.fillText(names[i], canvas.width/2, canvas.height/2);
+
+    const texture = new THREE.CanvasTexture(canvas);
+    const geom = new THREE.PlaneGeometry(2, 0.5);
+    const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
+    const label = new THREE.Mesh(geom, mat);
+    label.position.set(0, -1.5, -2);
+    label.rotation.x = Math.PI / 2;
+    finger.group.add(label);
+  }
+}
+
+function addHandLabel() {
+  const canvas = document.createElement('canvas');
+  const ctx = canvas.getContext('2d');
+  canvas.width = 256; canvas.height = 64;
+  ctx.fillStyle = '#ffffff'; ctx.fillRect(0,0,canvas.width,canvas.height);
+  ctx.font = 'bold 24px Arial';
+  ctx.fillStyle = '#000000';
+  ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+     ctx.fillText('RIGHT HAND (VERTICAL)', canvas.width/2, canvas.height/2);
+
+  const texture = new THREE.CanvasTexture(canvas);
+  const geom = new THREE.PlaneGeometry(7, 1.75);
+  const mat = new THREE.MeshBasicMaterial({ map:texture, transparent:true, side:THREE.DoubleSide });
+  const label = new THREE.Mesh(geom, mat);
+  label.position.set(0, -2, 0);
+  label.rotation.x = Math.PI / 2;
+  scene.add(label);
+}
+
+function updateHandModel() {
+  for (let i = 0; i < MAX_JOINTS; i++) {
+    const info = fingerJointMap[i];
+    if (!info) continue;
+    const { finger, joint, type, min, max, angleMin, angleMax } = info;
+    const raw = jointValues[i];
+    const f = hand.fingers[finger];
+    if (!f) continue;
+
+    const center = (min + max) / 2;
+    let angle = 0;
+
+         if (type.includes('ABDUCTION')) {
+       // symmetric around neutral
+       const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
+       angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
+
+       const base = f.group.userData.baseRot || {x:0,y:0,z:0};
+       if (finger === 0 && joint === 0) {
+         // Thumb: abduction about Z (toward/away from palm)
+         f.group.rotation.z = base.z + angle;
+       } else {
+         // Other fingers: side-to-side about Y
+         f.group.rotation.y = base.y + angle;
+       }
+     } else if (type.includes('FLEXION')) {
+       const isThumb = finger === 0;
+       const isMCP = type === 'MCP_FLEXION';
+       const isPIP = type === 'PIP_FLEXION';
+       const positiveOnly = (isThumb && (type === 'MCP_FLEXION' || type === 'IP_FLEXION')) || (!isThumb && isPIP);
+
+       if (positiveOnly) {
+         const t = raw <= center ? 0 : invLerp(center, max, raw); // 0..1
+         angle = angleMin + t * (angleMax - angleMin);           // 0..+limit
+       } else {
+         const k = clamp((raw - center) / ((max - min) / 2), -1, 1);
+         angle = angleMin + (k + 1) * 0.5 * (angleMax - angleMin);
+       }
+
+       if (isMCP) {
+         // MCP flexion applies to the finger base group (same as abduction)
+         const base = f.group.userData.baseRot || {x:0,y:0,z:0};
+         f.group.rotation.x = base.x + angle;
+       } else if (f.segments[joint]) {
+         // PIP/DIP/IP flexion applies to individual segments
+         f.segments[joint].rotation.x = angle;
+       }
+     }
+  }
+}
+
+// -------------------- Render Loop --------------------
+function onWindowResize() {
+  camera.aspect = canvasContainer.clientWidth / canvasContainer.clientHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(canvasContainer.clientWidth, canvasContainer.clientHeight);
+}
+
+function animate() {
+  requestAnimationFrame(animate);
+  controls.update();
+  renderer.render(scene, camera);
+}
+
+// -------------------- Misc UI --------------------
+function addLogMessage(msg) {
+  const el = document.createElement('div');
+  el.textContent = msg;
+  logContainer.appendChild(el);
+  logContainer.scrollTop = logContainer.scrollHeight;
+  while (logContainer.children.length > 100) {
+    logContainer.removeChild(logContainer.firstChild);
+  }
+}
+
+// Camera view controls
+frontViewBtn?.addEventListener('click', () => { camera.position.set(0, 0, 20); camera.lookAt(0,0,0); controls.update(); });
+sideViewBtn?.addEventListener('click',  () => { camera.position.set(20, 0, 0); camera.lookAt(0,0,0); controls.update(); });
+topViewBtn?.addEventListener('click',   () => { camera.position.set(0, 20, 0); camera.lookAt(0,0,0); controls.update(); });
+resetViewBtn?.addEventListener('click', () => { camera.position.set(10,10,10); camera.lookAt(0,0,0); controls.update(); });
+
+// Serial connect buttons
+connectButton?.addEventListener('click', connectToDevice);
+disconnectButton?.addEventListener('click', disconnectFromDevice);
+
+// Web Serial support check
+if (!navigator.serial) {
+  statusIndicator.textContent = 'Status: Web Serial API not supported in this browser';
+  connectButton.disabled = true;
+  addLogMessage('ERROR: Web Serial API is not supported in this browser. Try Chrome or Edge.');
+}
+
+// -------------------- Boot --------------------
+initThreeJS();
+initializeJointElements();
+
+ // -------------------- Styles (inline) --------------------
+ const styleElement = document.createElement('style');
+ styleElement.textContent = `
+ .joint-info { border-bottom: 1px solid #eee; padding: 8px 0; }
+ .joint-name { font-weight: 600; margin-bottom: 4px; }
+ .joint-value { font-size: 12px; color: #333; margin-bottom: 4px; }
+ .bar-container { width: 100%; height: 8px; background: #ddd; border-radius: 4px; overflow: hidden; }
+ .bar { height: 100%; width: 0%; background: #4caf50; }
+ .joint-slider { width: 100%; margin: 6px 0; }
+ .invert-toggle { display: inline-flex; align-items: center; gap: 6px; margin-top: 4px; font-size: 12px; color: #555; }
+ .limits-row { display: flex; align-items: center; gap: 6px; margin-top: 6px; flex-wrap: wrap; }
+ .limit-label { font-size: 11px; color: #666; }
+ .limit-num { width: 60px; }
+ .calib-row { display: flex; align-items: center; gap: 8px; margin-top: 4px; }
+ .calib-btn { padding: 2px 6px; font-size: 11px; background: #f44336; color: white; border: none; border-radius: 3px; cursor: pointer; }
+ .calib-btn:hover { background: #d32f2f; }
+ .calib-status { font-size: 11px; color: #666; }
+ .status.connected { color: #0a0; }
+ .status.disconnected { color: #a00; }
+ `;
+ document.head.appendChild(styleElement);