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about.py
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addon_api.py
addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py

Repository files navigation

Bifrost

Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.

Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.

Features

  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning

Quick Start (Standalone)

Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.

Running from Source

Requires Python 3.10+.

pip install -r requirements.txt
python bifrost.py

Dependencies

  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib

Building the Exe

pip install pyinstaller
pyinstaller bifrost.spec --noconfirm

Output: dist/bifrost.exe (~90 MB standalone executable).

Hardware

  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping

Acknowledgements

License

All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

About

A modern GUI for operating the Thor robot arm

Resources

Readme
CC-BY-SA-4.0 license
Activity

Stars

1 star

Watchers

1 watching

Forks

0 forks
Report repository

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
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try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
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try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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README.md
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about.py
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addon_api.py
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addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
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} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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addons @ c1823b7
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doc
tests
tests
.gitignore
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ADDON_README.md
ADDON_README.md
LICENSE
LICENSE
README.md
README.md
about.py
about.py
addon_api.py
addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

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README.md
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about.py
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addon_api.py
addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
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Contributors
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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tests
tests
.gitignore
.gitignore
.gitmodules
.gitmodules
ADDON_README.md
ADDON_README.md
LICENSE
LICENSE
README.md
README.md
about.py
about.py
addon_api.py
addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
About
A modern GUI for operating the Thor robot arm
Resources
Readme
CC-BY-SA-4.0 license
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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ADDON_README.md
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LICENSE
README.md
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about.py
about.py
addon_api.py
addon_api.py
addon_base.py
addon_base.py
addon_manager.py
addon_manager.py
bifrost.py
bifrost.py
bifrost.spec
bifrost.spec
calculate_offsets.py
calculate_offsets.py
calibration_panel.py
calibration_panel.py
command_builder.py
command_builder.py
config.py
config.py
config_g_manager.py
config_g_manager.py
connection_manager.py
connection_manager.py
coordinate_frames.json
coordinate_frames.json
coordinate_frames.py
coordinate_frames.py
dh_panel.py
dh_panel.py
dh_parameters.json
dh_parameters.json
differential_kinematics.py
differential_kinematics.py
fk_controller.py
fk_controller.py
forward_kinematics.py
forward_kinematics.py
frame_controller.py
frame_controller.py
frame_panel.py
frame_panel.py
frame_teaching.py
frame_teaching.py
gripper_calibration.json
gripper_calibration.json
gripper_controller.py
gripper_controller.py
gui_modern.py
gui_modern.py
home_position.json
home_position.json
ik_controller.py
ik_controller.py
inverse_kinematics.py
inverse_kinematics.py
movement_controller.py
movement_controller.py
park_position.json
park_position.json
parsing_patterns.py
parsing_patterns.py
paths.py
paths.py
position_display_controller.py
position_display_controller.py
position_history.py
position_history.py
position_history_manager.py
position_history_manager.py
position_visualizer.py
position_visualizer.py
pyi_rth_vosk.py
pyi_rth_vosk.py
pytest.ini
pytest.ini
requirements.txt
requirements.txt
robot_3d_visualizer.py
robot_3d_visualizer.py
robot_controller.py
robot_controller.py
sequence_controller.py
sequence_controller.py
sequence_recorder.py
sequence_recorder.py
serial_manager.py
serial_manager.py
serial_port_finder.py
serial_port_finder.py
serial_response_router.py
serial_response_router.py
serial_thread.py
serial_thread.py
show_dh_params.py
show_dh_params.py
simulated_hardware.py
simulated_hardware.py
test sequence.json
test sequence.json
ui_state_manager.py
ui_state_manager.py
visualization_controller.py
visualization_controller.py
Repository files navigation
Bifrost
Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.
Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.
Features
  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning
Quick Start (Standalone)
Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.
Running from Source
Requires Python 3.10+.
pip install -r requirements.txt
python bifrost.py
Dependencies
  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib
Building the Exe
pip install pyinstaller
pyinstaller bifrost.spec --noconfirm
Output: dist/bifrost.exe (~90 MB standalone executable).
Hardware
  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping
Acknowledgements
License 
All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
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A modern GUI for operating the Thor robot arm
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