From d845cfe2cc2f5183b4dfaadfebf53c5aa735b97a Mon Sep 17 00:00:00 2001
From: melancholytron <melancholytron@users.noreply.gitea.opentesla.org>
Date: Sun, 1 Mar 2026 13:41:50 -0600
Subject: [PATCH] Add recalibrate via gaze ball (yellow, second from left)
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Looking at the yellow gaze ball for 5 seconds sends a recalibrate
command to the bridge, which resets calibration state — arms return
to zero and after 10s delay the user's neutral pose is recaptured.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
---
 Main.gd                   |  4 ++++
 scripts/teleop_client.gd  |  6 ++++++
 server/retarget_bridge.py | 12 ++++++++++++
 server/teleop_server.py   | 10 ++++++++++
 4 files changed, 32 insertions(+)

diff --git a/Main.gd b/Main.gd
index bbf8591..f3e0cc7 100644
--- a/Main.gd
+++ b/Main.gd
@@ -464,6 +464,10 @@ func _on_gaze_activated(index: int) -> void:
 		0:  # Exit AR
 			print("[Main] Gaze exit: returning to CONFIG")
 			_exit_ar_mode()
+		1:  # Recalibrate
+			print("[Main] Gaze: recalibrating")
+			teleop_client.send_command("recalibrate")
+			_gaze_timers[index] = 0.0
 		3:  # Quit app
 			print("[Main] Gaze exit: quitting app")
 			get_tree().quit()
diff --git a/scripts/teleop_client.gd b/scripts/teleop_client.gd
index 8b0fc47..bb5660d 100644
--- a/scripts/teleop_client.gd
+++ b/scripts/teleop_client.gd
@@ -152,6 +152,12 @@ func _on_tracking_data(data: Dictionary) -> void:
 	# Don't buffer if not connected — tracking data is perishable
 
 
+## Send a command message to the server (e.g. "recalibrate").
+func send_command(command: String) -> void:
+	if is_connected:
+		_send_json({"type": command})
+
+
 func _send_json(data: Dictionary) -> void:
 	var json_str := JSON.stringify(data)
 	var err := ws.send_text(json_str)
diff --git a/server/retarget_bridge.py b/server/retarget_bridge.py
index c010fd3..6c2b288 100644
--- a/server/retarget_bridge.py
+++ b/server/retarget_bridge.py
@@ -813,6 +813,18 @@ def main():
     while running:
         t_start = time.perf_counter()
 
+        # Check for recalibrate request from client
+        with tv_wrapper.server.recalibrate_requested.get_lock():
+            if tv_wrapper.server.recalibrate_requested.value:
+                tv_wrapper.server.recalibrate_requested.value = 0
+                cal.calibrated = False
+                first_data_time = time.time()  # restart cal_delay countdown
+                startup_ramp = 0.0
+                startup_time = None
+                smoothed_upper[:] = 0.0
+                current_hands[:] = 1.0
+                logger.info("Recalibrating — arms to zero, waiting %.1fs", args.cal_delay)
+
         # Read tracking data (for hand positions)
         tele_data = tv_wrapper.get_tele_data()
         data_time = tv_wrapper.last_data_time
diff --git a/server/teleop_server.py b/server/teleop_server.py
index 4e2b315..54c8e89 100644
--- a/server/teleop_server.py
+++ b/server/teleop_server.py
@@ -118,6 +118,9 @@ class TeleopServer:
         self._message_count = 0
         self._last_log_time = 0
 
+        # Command flags (set by client, read by bridge)
+        self.recalibrate_requested = Value('i', 0)
+
     def set_webcam_frame(self, jpeg_bytes: bytes, camera_id: int = 0):
         """Called by external code to provide a new JPEG frame for a camera.
 
@@ -172,6 +175,13 @@ class TeleopServer:
             return
 
         msg_type = data.get("type")
+
+        if msg_type == "recalibrate":
+            with self.recalibrate_requested.get_lock():
+                self.recalibrate_requested.value = 1
+            logger.info("Recalibrate requested by client")
+            return
+
         if msg_type != "tracking":
             return