[{"_1":2,"_3":-5,"_4":-5},"loaderData",{"_5":6,"_7":8,"_9":10},"actionData","errors","root",{"_151":152,"_153":154},"routes/_app.x.$handle.$name",{"_95":94,"_32":45,"_103":85,"_27":36,"_13":14,"_104":-5,"_11":105,"_106":107,"_108":109,"_110":111,"_112":113,"_20":-5,"_114":-5,"_115":-5,"_116":25,"_117":118,"_119":25,"_120":-5,"_121":-5,"_122":123},"routes/_app.x.$handle.$name.branch.$branch.version.$version.diff",{"_11":12,"_13":14,"_15":16,"_17":-5,"_18":-5},"project",{"_43":44,"_32":45,"_38":46,"_47":-5,"_48":25,"_49":50,"_51":50,"_52":-5,"_53":-5,"_18":54,"_55":31,"_56":57,"_58":57,"_59":-5,"_60":61,"_62":63,"_64":-5,"_65":-5,"_66":-5,"_67":-5,"_68":69,"_70":69,"_71":72,"_73":72,"_74":72,"_75":69,"_76":69,"_77":78,"_79":80,"_81":82,"_83":25},"version",2,"changes",[19],"aiChatInfo","userId",{"_20":21,"_22":23,"_24":25,"_26":25,"_27":28,"_29":28},"file",{"_30":31,"_32":28,"_33":34,"_35":37,"_38":39,"_40":14,"_41":42,"_24":25},"previous",{"_30":31,"_32":28,"_33":34,"_35":36},"deleted",false,"deletedHere","path","main.ts","latestPath","fileId","4784c996-a979-11f0-a89e-0224a6c84d84","name","fileType","script","content","","// @ts-ignore\nimport { OpenAI } from \"https://esm.town/v/std/openai?v=4\";\n\n// --- TYPE DEFINITIONS ---\ninterface GraspPose {\n thumb: number; // 0 (curled) to 1 (extended)\n index: number;\n middle: number;\n ring: number;\n pinky: number;\n}\n\ninterface GraspPlan {\n reasoning: string;\n grasp: GraspPose;\n}\n\n// --- AI BEHAVIORAL GUIDELINES & PROMPT ENGINEERING ---\nconst GENERATION_STYLE_GUIDE =\n \"As the Robotics Grasp Planner AI, you must adopt the persona of a meticulous and disciplined robotics engineer. Your analysis should be articulated with precise, technical language. Avoid any colloquialisms, speculative phrasing, or subjective commentary. The objective is to produce a set of joint angles that represents a stable and efficient pre-grasp configuration, as if composed by a human expert in kinematics and manipulation.\";\n\nconst GRASP_PLANNER_PROMPT = `\nYou are an expert Robotics Grasp Planner AI. Your task is to translate a description of an object into an optimal pre-grasp pose for a five-fingered robotic hand.\n\n### Robotic Hand Kinematics & Constraints:\n- The hand has five independent digits: Thumb, Index, Middle, Ring, Pinky.\n- Each digit's posture is controlled by a single 'curl' value from 0.0 to 1.0.\n - A value of 0.0 represents a fully closed or curled finger (a fist).\n - A value of 1.0 represents a fully open or extended finger (a flat hand).\n- The thumb is opposable and positioned to grasp against the other four fingers.\n\n### Task:\nBased on the user's description of an object, determine the ideal pre-grasp finger curls. The hand should be shaped to securely approach and envelop the object.\n- For a 'small sphere', fingers should form a C-shape.\n- For a 'thin cylinder' or 'pen', the index and thumb should be prepared for a precision pinch, with other fingers slightly retracted.\n- For a 'flat card', all four fingers should be extended and aligned, with the thumb ready to clamp down.\n\n### Output Specification:\nYou MUST respond ONLY with a single, minified JSON object conforming to the GraspPlan interface.\n- The root object must have two keys: \"reasoning\" and \"grasp\".\n- \"reasoning\": A string providing a brief, technical justification for the chosen finger postures.\n- \"grasp\": An object containing five keys: \"thumb\", \"index\", \"middle\", \"ring\", and \"pinky\". Each value must be a float between 0.0 and 1.0.\n\n${GENERATION_STYLE_GUIDE}\n`;\n\n// --- HTML & FRONTEND ---\nfunction generateHtml(sourceUrl: string) {\n const baseUrl = sourceUrl.endsWith(\"/\") ? sourceUrl : `${sourceUrl}/`;\n\n return `\n\n\n \n \n 5-Finger AI & Gesture Control\n \n \n \n \n \n \n \n\n \n\n\n\n

\n\n

\n \n

5-Finger Hand Control

Control with gestures or command the AI.

\n Initializing...\n

\n \n

AI Grasp Planner

\n \n

\n\n

\n Mode: Manual Control\n

\n \n

\n \n \n

\n\n

\n \n

\n\n

✨ 5-Finger AI & Gesture Control ✨

This demo uses your webcam for real-time finger tracking and OpenAI for grasp planning. Please grant camera permissions to begin.

\n \n

\n\n \n\n`;\n}\n\nexport default async function (req: Request) {\n const url = new URL(req.url);\n const action = url.searchParams.get(\"action\");\n\n if (req.method === \"POST\" && action === \"planGrasp\") {\n try {\n const openai = new OpenAI();\n const body = await req.json();\n const goal = body.goal;\n\n if (!goal || typeof goal !== \"string\" || goal.trim().length === 0) {\n return new Response(\n JSON.stringify({ error: \"A valid object description is required.\" }),\n {\n status: 400,\n headers: { \"Content-Type\": \"application/json\" },\n },\n );\n }\n\n const messages = [\n { role: \"system\", content: GRASP_PLANNER_PROMPT },\n { role: \"user\", content: `Object to grasp: \"${goal}\"` },\n ];\n\n const completion = await openai.chat.completions.create({\n model: \"gpt-4o\",\n messages: messages,\n temperature: 0.3,\n response_format: { type: \"json_object\" },\n });\n\n const rawContent = completion.choices[0].message.content;\n\n // Sanitize and validate the untrusted AI response.\n let parsedContent: GraspPlan;\n try {\n parsedContent = JSON.parse(rawContent);\n if (\n !parsedContent.reasoning ||\n typeof parsedContent.reasoning !== \"string\" ||\n !parsedContent.grasp || Object.keys(parsedContent.grasp).length !== 5\n ) {\n throw new Error(\n \"AI returned an incomplete or invalid grasp structure.\",\n );\n }\n } catch (parseError) {\n console.error(\n \"AI Response Parse Error:\",\n parseError,\n \"Raw content:\",\n rawContent,\n );\n return new Response(\n JSON.stringify({ error: \"AI failed to generate a valid plan.\" }),\n {\n status: 500,\n headers: { \"Content-Type\": \"application/json\" },\n },\n );\n }\n\n return new Response(JSON.stringify(parsedContent), {\n headers: { \"Content-Type\": \"application/json\" },\n });\n } catch (error) {\n console.error(\"AI Grasp Planner Error:\", error);\n return new Response(\n JSON.stringify({\n error: error.message || \"An internal error occurred.\",\n }),\n {\n status: 500,\n headers: { \"Content-Type\": \"application/json\" },\n },\n );\n }\n }\n\n return new Response(generateHtml(url.href), {\n headers: { \"Content-Type\": \"text/html\" },\n 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Diff · v2