TrossenRobotics · abhichothani42 · May 5, 2026 · Apr 22, 2026 · Apr 22, 2026 · Apr 22, 2026
diff --git a/.gitignore b/.gitignore
@@ -85,7 +85,7 @@ ipython_config.py
 # pyenv
 #   For a library or package, you might want to ignore these files since the code is
 #   intended to run in multiple environments; otherwise, check them in:
-# .python-version
+.python-version
 
 # pipenv
 #   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
@@ -98,7 +98,7 @@ ipython_config.py
 #   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
 #   This is especially recommended for binary packages to ensure reproducibility, and is more
 #   commonly ignored for libraries.
-# uv.lock
+uv.lock
 
 # poetry
 #   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.

diff --git a/README.md b/README.md
@@ -173,11 +173,21 @@ Scan the following QR code with your GoPro to apply all required camera settings
 
 ![Camera settings QR code](assets/camera_settings_qr.jpeg)
 
+Once the settings are saved, the GoPro screen will show **"Labs-Trumi"** with the applied configuration:
+
+![Camera settings saved confirmation](assets/camera_settings_saved_check.jpg)
+
+**Note:** When using with ultra-wide lens, disable auto lens detection and manually set the lens to standard (Preferences > Lens Mod > Standard). This prevents GoPro from applying additional distortion correction, ensuring raw undistorted frames are saved.
+
 ### Step 1: Timecode Sync
 
 **Note:** This step is only required for bi-manual (two-gripper) data collection. Skip it if you are using a single gripper.
 
-Open the [timecode sync link](https://umi-gripper.github.io/qrlocal/) and scan the refreshing QR code using your GoPro (requires Labs firmware). Precise synchronization between the two grippers is critical for bi-manual data collection.
+Serve the timecode sync page locally and open the printed URL in a browser, then scan the refreshing QR code using your GoPro (requires Labs firmware). Precise synchronization between the two grippers is critical for bi-manual data collection.
+
+```bash
+uv run python scripts/serve_timecode_sync.py
+```
 
 **Tip:** Adjust your distance to the QR code if you have difficulty scanning.
 

diff --git a/assets/camera_settings_saved_check.jpg b/assets/camera_settings_saved_check.jpg
diff --git a/assets/timecode_sync/index.html b/assets/timecode_sync/index.html
@@ -0,0 +1,216 @@
+
+<!DOCTYPE html>
+<html lang="en-US">
+  <head>
+
+
+    <meta charset="UTF-8">
+
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <meta name="theme-color" content="#157878">
+    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
+    <link rel="stylesheet" href="./style.css">
+    <link rel="icon" href="data:,">
+  </head>
+  <body>
+    <main id="content" class="main-content" role="main">
+      <h1 id="precision-date-and-time-local">Precision Date and Time (Local)</h1>
+
+<script src="./qrcodeborder.js"></script>
+
+<style>
+        #qrcode{
+            width: 100%;
+        }
+        div{
+            width: 100%;
+            display: inline-block;
+        }
+</style>
+
+<p><strong>Refresh Rate</strong> <input type="range" id="fpsid" name="fpsid" min="10" max="120" value="30" style="width: 300px;" /><label for="fpsid"></label>  <b id="fpstext"></b> FPS</p>
+
+<p><strong>Timezone</strong> <input type="range" id="tzid" name="tzid" min="-48" max="56" value="0" style="width: 300px;" /><label for="tzid"></label>  <b id="tztext"></b> hour <b id="tzmin"></b> minute<br /></p>
+
+<p><strong>Daylight Saving Time</strong> <input type="checkbox" id="tdid" name="tdid" /> <label for="tdid">Active</label><br /></p>
+
+<p><strong>QR Command Set Time</strong> <input type="checkbox" id="qrid" name="qrid" checked="true"/> <label for="qrid">Active</label><br /></p>
+
+<p>Simply point your Labs enabled camera at this animated QR Code, to set your date and time very accurately to local time. This is particularly useful for multi-camera shoots, as it helps synchronize the timecode between cameras. As the camera’s internal clock will drift slowly over time, use this QR Code just before your multi-camera shoot for the best synchronization.</p>
+
+<center>
+<div id="qrcode"></div>
+<br />
+</center>
+<p>QR Command: <b id="qrtext"></b></p>
+
+<p><strong>Compatibility:</strong> Labs enabled HERO5 Session, HERO7, HERO8, HERO9, HERO10, HERO11, HERO12, HERO13, MAX and BONES</p>
+
+<script>
+var once = true;
+var qrcode;
+var cmd = "";
+var id = 0;
+var fps = 30;
+
+
+function id5() {  // 5 characters, so up to 17-bit ID
+  return ([1111]+1).replace(/1/g, c =>
+    (c ^ crypto.getRandomValues(new Uint8Array(1))[0] % 10 >> c / 4).toString()
+  );
+}
+
+function getMachineId()
+{
+    let machineId = localStorage.getItem('MachineId');
+    if (!machineId) {
+    	//machineId = crypto.randomUUID();
+        machineId = id5();
+        localStorage.setItem('MachineId', machineId);
+    }
+    return machineId;
+}
+
+function isDST(d) {
+    let jan = new Date(d.getFullYear(), 0, 1).getTimezoneOffset();
+    let jul = new Date(d.getFullYear(), 6, 1).getTimezoneOffset();
+  return d.getTimezoneOffset() < Math.max(jan, jul);
+}
+
+function setTZ() {
+  var today = new Date();
+  var tz,td = 0;
+  tz = today.getTimezoneOffset();
+
+  if(isDST(today))
+     td = 1;
+
+  if(document.getElementById("tzid") !== null)
+  {
+	document.getElementById("tzid").value = -tz/15;
+
+	var h = Math.trunc(tz/60);
+	var m = tz - h*60;
+	document.getElementById("tztext").innerHTML = -h;
+	document.getElementById("tzmin").innerHTML = -m;
+  }
+
+
+  if(document.getElementById("tdid") !== null)
+  {
+	if(td) {
+		document.getElementById("tdid").checked = true;
+	}
+  }
+}
+
+function makeQR() {
+  if(once === true)
+  {
+  	id = getMachineId();  // 5 character 10-base, so up to 17-bit ID
+    qrcode = new QRCode(document.getElementById("qrcode"),
+    {
+      text : "oT0",
+      width : 360,
+      height : 360,
+      correctLevel : QRCode.CorrectLevel.M
+    });
+    once = false;
+  }
+}
+function padTime(i) {
+  if (i < 10) {i = "0" + i;}  // add zero in front of numbers < 10
+  return i;
+}
+function padTime1000(i) {
+  if (i >= 10 && i < 100) {i = "0" + i;}  // add zero in front of numbers < 100
+  else if (i < 10) {i = "00" + i;}  // add zero in front of numbers < 10
+  return i;
+}
+function timeLoop(prevTime)
+{
+
+  if(document.getElementById("fpsid") !== null)
+  {
+	fps = parseInt(document.getElementById("fpsid").value);
+  document.getElementById("fpstext").innerHTML = fps;
+  }
+
+  var currTime = Date.now()
+  // exactly 60fps
+  if ((currTime - prevTime) < 1000./fps){
+    requestAnimationFrame(function (){timeLoop(prevTime)});
+    return;
+  }
+
+  var today;
+  var yy,mm,dd,h,m,s;
+  var ms,tz;
+
+  today = new Date();
+  yy = today.getFullYear() - 2000;
+  mm = today.getMonth() + 1;
+  dd = today.getDate();
+  h = today.getHours();
+  m = today.getMinutes();
+  s = today.getSeconds();
+  ms = today.getMilliseconds();
+  yy = padTime(yy);
+  mm = padTime(mm);
+  dd = padTime(dd);
+  h = padTime(h);
+  m = padTime(m);
+  s = padTime(s);
+  //ms = Math.floor(ms / 10); // hundredths
+  ms = padTime1000(ms);
+
+  if(document.getElementById("tzid") !== null)
+  {
+	tz = parseInt(document.getElementById("tzid").value) * 15;
+
+	var H = Math.trunc(tz/60);
+	var M = tz - H*60;
+	document.getElementById("tztext").innerHTML = H;
+	document.getElementById("tzmin").innerHTML = M;
+
+	if(Math.trunc(tz/60) == tz/60)
+		tz = tz/60;  // only need hours when precise.
+  }
+
+  var td = 0;
+  if(document.getElementById("tdid") !== null)
+  {
+	if(document.getElementById("tdid").checked) {
+		td = 1;
+	}
+  }
+
+  var set_time = true;
+  if(document.getElementById("qrid") !== null)
+  {
+    set_time = document.getElementById("qrid").checked;
+  }
+  cmd = "#" + yy + mm + dd + h + m + s + "." + ms;
+  if(set_time){
+    cmd = "oT" + yy + mm + dd + h + m + s + "." + ms + "oTD" + td + "oTZ" + tz + "oTI" + id;
+  }
+  qrcode.clear();
+  qrcode.makeCode(cmd);
+  document.getElementById("qrtext").innerHTML = cmd;
+
+  requestAnimationFrame(function (){timeLoop(currTime)});
+}
+
+function myReloadFunction() {
+  location.reload();
+}
+
+makeQR();
+setTZ();
+timeLoop(Date.now());
+
+</script>
+
+    </main>
+  </body>
+</html>