NoVa Dual-Arm Control/Animation Software

Take control of Nova’s upper body with this dual-arm inverse kinematics (IK) control and animation suite. Built for precision and ease, it lets you create and loop lifelike movements using a powerful keyframe-based system.

🧩 What You Get:

Dual-arm inverse kinematics control interface
Keyframe recording, saving, loading, and looping
Export-ready animation sequences
ESP32 servo driver firmware code (for ST3215-HS servos)
Python GUI built with Open3D

🛠 Requirements:

Python 3.8+
Install dependencies with:

pip install numpy open3d pyserial

Compatible ESP32 board
ST3215-HS servos with unique IDs configured

⚙️ Servo Setup & Firmware Upload Instructions

📌 1. Set Servo IDs Before Uploading
Before uploading the ESP32 firmware, you must set the ID of each ST3215-HS servo using Waveshare’s official method (e.g., UART tool or configuration software). Each servo must have a unique ID to be controlled correctly.

🔗 Follow the official Waveshare setup guide here:
https://www.waveshare.com/wiki/ST3215_Servo

📥 2. Uploading Firmware to the ESP32 Board:

Connect your ESP32 board to your computer via USB.
Open Arduino IDE or PlatformIO and select the correct board and port.
Begin the upload process.
Immediately hold the RESET button on the ESP32 as the upload starts.
When you see the upload progress dots (...), release the RESET button.
Wait for the upload to complete.

Pay

You’ll get a fully functional dual-arm control interface for Nova, complete with a keyframe animation system. You’ll be able to record, save, load, and loop custom animations with ease, making it perfect for live demos, choreography, or testing movements.