The Lucy Control Panel is the fastest way to drive the robot. It is a terminal-styled web app that talks to ROS 2 over the network, so anything you do in the browser happens on the robot (or its simulation) in real time.

Live 3D viewer

A Three.js model mirrors the robot from /joint_states as it moves. Orbit, zoom and pan around it, toggle a wireframe, and watch every joint update live.

Real-time joint control

Every servo gets a precise slider and input. Drive them one at a time or move whole limbs — the same controls work against the Gazebo simulation and against real hardware.

Puppet the hands with your webcam

Turn on hand-tracking and MediaPipe reads your hand through the webcam, mapping each finger to Lucy's. It is the most fun way to test the hands.

Poses, animations and streaming

Save named poses, sequence them into animations, and watch the robot's camera feed — complete with FPS and latency metrics — without leaving the panel.

Configure the hardware

The configuration workflow lets you edit actuators, boards and sensors in a YAML editor, then runs a VALIDATE → GENERATE → BUILD → FLASH → RELOAD pipeline to regenerate the ros2_control config and flash firmware.

Ready to try it? Open the demo or install Lucy locally.

Cheers,
Lucy