From ae7a73491a52f1ff4f28dd9b1e131c2bf95e2688 Mon Sep 17 00:00:00 2001 From: Aayush Agrawal Date: Mon, 27 Apr 2026 14:08:35 -0400 Subject: [PATCH] knowledge graph --- _data/navigation.yml | 4 + _test_knowledge_graph.html | 254 ++++++++++++ assets/js/knowledge-graph-data.js | 483 ++++++++++++++++++++++ assets/js/knowledge-graph.js | 646 ++++++++++++++++++++++++++++++ wiki/knowledge-graph/index.html | 432 ++++++++++++++++++++ 5 files changed, 1819 insertions(+) create mode 100644 _test_knowledge_graph.html create mode 100644 assets/js/knowledge-graph-data.js create mode 100644 assets/js/knowledge-graph.js create mode 100644 wiki/knowledge-graph/index.html diff --git a/_data/navigation.yml b/_data/navigation.yml index 60b17258..92efa2e4 100644 --- a/_data/navigation.yml +++ b/_data/navigation.yml @@ -8,6 +8,8 @@ wiki: url: /about/ - title: Wiki Index url: /wiki/ + - title: Knowledge Graph + url: /wiki/knowledge-graph/ - title: Contribute url: /docs/index/ - title: Software Bootcamp @@ -471,6 +473,8 @@ wiki: main: - title: Wiki url: /wiki/ + - title: Knowledge Graph + url: /wiki/knowledge-graph/ - title: About url: /about/ - title: Contribute diff --git a/_test_knowledge_graph.html b/_test_knowledge_graph.html new file mode 100644 index 00000000..41085c2a --- /dev/null +++ b/_test_knowledge_graph.html @@ -0,0 +1,254 @@ + + + + + +Knowledge Graph - Test + + + +
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Initializing Knowledge Graph...
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+ + + + + + diff --git a/assets/js/knowledge-graph-data.js b/assets/js/knowledge-graph-data.js new file mode 100644 index 00000000..3f802d6a --- /dev/null +++ b/assets/js/knowledge-graph-data.js @@ -0,0 +1,483 @@ +var GRAPH_DATA = { + categories: [ + { id: "cat-bootcamp", label: "Bootcamp", color: "#66BB6A", url: "/wiki/bootcamp/" }, + { id: "cat-project-guide", label: "Project Guide", color: "#FFA726", url: "/wiki/robotics-project-guide/master-guide/" }, + { id: "cat-system-design", label: "System Design", color: "#AB47BC", url: "/wiki/system-design-development/" }, + { id: "cat-project-mgmt", label: "Project Mgmt", color: "#BCAAA4", url: "/wiki/project-management/" }, + { id: "cat-platforms", label: "Platforms", color: "#26A69A", url: "/wiki/common-platforms/" }, + { id: "cat-sensing", label: "Sensing", color: "#42A5F5", url: "/wiki/sensing/" }, + { id: "cat-actuation", label: "Actuation", color: "#EF5350", url: "/wiki/actuation/" }, + { id: "cat-manipulators", label: "Manipulators", color: "#EC407A", url: "/wiki/manipulators/" }, + { id: "cat-ml", label: "Machine Learning", color: "#FFCA28", url: "/wiki/machine-learning/" }, + { id: "cat-rl", label: "Reinforcement Learning", color: "#F48FB1", url: "/wiki/reinforcement-learning/" }, + { id: "cat-state-est", label: "State Estimation", color: "#7E57C2", url: "/wiki/state-estimation/" }, + { id: "cat-programming", label: "Programming", color: "#00ACC1", url: "/wiki/programming/" }, + { id: "cat-networking", label: "Networking", color: "#5C6BC0", url: "/wiki/networking/" }, + { id: "cat-simulation", label: "Simulation", color: "#78909C", url: "/wiki/simulation/" }, + { id: "cat-interfacing", label: "Interfacing", color: "#9CCC65", url: "/wiki/interfacing/" }, + { id: "cat-computing", label: "Computing", color: "#FFB300", url: "/wiki/computing/" }, + { id: "cat-fabrication", label: "Fabrication", color: "#D4E157", url: "/wiki/fabrication/" }, + { id: "cat-math", label: "Math", color: "#E040FB", url: "/wiki/math/" }, + { id: "cat-tools", label: "Tools", color: "#8D6E63", url: "/wiki/tools/" }, + { id: "cat-datasets", label: "Datasets", color: "#80DEEA", url: "/wiki/datasets/" }, + { id: "cat-planning", label: "Planning", color: "#FF7043", url: "/wiki/planning/" } + ], + + articles: [ + // ── Bootcamp ── + { id: "art-bootcamp-guide", label: "Bootcamp Guide", category: "cat-bootcamp", url: "/wiki/bootcamp/bootcamp-guide/" }, + + // ── Robotics Project Guide ── + { id: "art-define-goals", label: "Define Goals & Requirements", category: "cat-project-guide", url: "/wiki/robotics-project-guide/define-your-goals-and-requirements/" }, + { id: "art-choose-robot", label: "Choose a Robot", category: "cat-project-guide", url: "/wiki/robotics-project-guide/choose-a-robot/" }, + { id: "art-make-robot", label: "Make a Robot", category: "cat-project-guide", url: "/wiki/robotics-project-guide/make-a-robot/" }, + { id: "art-choose-language", label: "Choose a Language", category: "cat-project-guide", url: "/wiki/robotics-project-guide/choose-a-language/" }, + { id: "art-robot-comm", label: "Robot Communication", category: "cat-project-guide", url: "/wiki/robotics-project-guide/choose-comm/" }, + { id: "art-choose-sim", label: "Choose a Simulator", category: "cat-project-guide", url: "/wiki/robotics-project-guide/choose-a-sim/" }, + { id: "art-test-debug", label: "Test & Debug", category: "cat-project-guide", url: "/wiki/robotics-project-guide/test-and-debug/" }, + { id: "art-demo-day", label: "Demo Day", category: "cat-project-guide", url: "/wiki/robotics-project-guide/demo-day/" }, + { id: "art-humanoid-robot", label: "Humanoid Robot Overview", category: "cat-project-guide", url: "/wiki/robotics-project-guide/humanoid-robot/" }, + + // ── System Design & Development ── + { id: "art-system-engineering", label: "System Engineering", category: "cat-system-design", url: "/wiki/system-design-development/system-engineering/" }, + { id: "art-fsm", label: "Finite State Machines", category: "cat-system-design", url: "/wiki/system-design-development/finite-state-machine/" }, + { id: "art-mech-design", label: "Mechanical Design", category: "cat-system-design", url: "/wiki/system-design-development/mechanical-design/" }, + { id: "art-pcb-design", label: "PCB Design", category: "cat-system-design", url: "/wiki/system-design-development/pcb-design/" }, + { id: "art-cable-mgmt", label: "Cable Management", category: "cat-system-design", url: "/wiki/system-design-development/cable-management/" }, + { id: "art-subsystem-interface", label: "Subsystem Interface Modeling", category: "cat-system-design", url: "/wiki/system-design-development/subsystem-interface-modeling/" }, + { id: "art-in-loop-testing", label: "In Loop Testing", category: "cat-system-design", url: "/wiki/system-design-development/In-Loop-Testing/" }, + + // ── Project Management ── + { id: "art-drone-permits", label: "Drone Flight Permissions", category: "cat-project-mgmt", url: "/wiki/project-management/drone-flight-permissions/" }, + { id: "art-product-dev", label: "Product Dev in Complex Systems", category: "cat-project-mgmt", url: "/wiki/project-management/product-development-complex-systems/" }, + { id: "art-risk-mgmt", label: "Risk Management", category: "cat-project-mgmt", url: "/wiki/project-management/risk-management/" }, + { id: "art-jira", label: "Jira", category: "cat-project-mgmt", url: "/wiki/project-management/jira/" }, + { id: "art-notion", label: "Notion for Project Management", category: "cat-project-mgmt", url: "/wiki/project-management/using-notion-for-project-management/" }, + + // ── Common Platforms ── + { id: "art-dji-breakdown", label: "DJI Drone Breakdown", category: "cat-platforms", url: "/wiki/common-platforms/dji-drone-breakdown-for-technical-projects/" }, + { id: "art-custom-drone-darpa", label: "Custom Drone DARPA", category: "cat-platforms", url: "/wiki/common-platforms/building-custom-drone-for-darpa-triage-challenge/" }, + { id: "art-dji-sdk", label: "DJI SDK", category: "cat-platforms", url: "/wiki/common-platforms/dji-sdk/" }, + { id: "art-unitree-g1", label: "Unitree G1", category: "cat-platforms", url: "/wiki/common-platforms/unitree-g1/" }, + { id: "art-unitree-go1", label: "Unitree Go1", category: "cat-platforms", url: "/wiki/common-platforms/unitree-go1/" }, + { id: "art-nvidia-orin", label: "Nvidia Orin Interface", category: "cat-platforms", url: "/wiki/common-platforms/interfacing-with-nvidia-orin/" }, + { id: "art-pixhawk", label: "Pixhawk", category: "cat-platforms", url: "/wiki/common-platforms/pixhawk/" }, + { id: "art-asctec-pelican", label: "Asctec Pelican UAV", category: "cat-platforms", url: "/wiki/common-platforms/asctec-uav-setup-guide/" }, + { id: "art-husky", label: "Husky Interface", category: "cat-platforms", url: "/wiki/common-platforms/husky_interfacing_and_communication/" }, + { id: "art-ur5e", label: "UR5e Robotic Arm", category: "cat-platforms", url: "/wiki/common-platforms/ur5e/" }, + { id: "art-ros-intro", label: "ROS Introduction", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-intro/" }, + { id: "art-ros-arduino", label: "ROS Arduino Interface", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-arduino-interface/" }, + { id: "art-ros-motion-server", label: "ROS Motion Server", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-motion-server-framework/" }, + { id: "art-ros-cost-maps", label: "ROS Cost Maps", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-cost-maps/" }, + { id: "art-ros-mapping", label: "ROS Mapping & Localization", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-mapping-localization/" }, + { id: "art-ros-navigation", label: "ROS Navigation", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-navigation/" }, + { id: "art-ros-global-planner", label: "ROS Global Planner", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-global-planner/" }, + { id: "art-ros-unsupported-os", label: "ROS on Unsupported OS", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros-unsupported-os" }, + { id: "art-rc-cars", label: "Making RC Cars Autonomous", category: "cat-platforms", url: "/wiki/common-platforms/rccars-the-complete-guide/" }, + { id: "art-khepera4", label: "Khepera 4", category: "cat-platforms", url: "/wiki/common-platforms/khepera4/" }, + { id: "art-ros2-husky-nav", label: "ROS2 Navigation Husky", category: "cat-platforms", url: "/wiki/common-platforms/ros2-navigation-for-clearpath-husky/" }, + { id: "art-hello-robot", label: "Hello Robot Stretch RE1", category: "cat-platforms", url: "/wiki/common-platforms/hello-robot" }, + { id: "art-ros2-ios", label: "iOS App for ROS2", category: "cat-platforms", url: "/wiki/common-platforms/ros2-ios-app-with-swift/" }, + { id: "art-vscode-ros2", label: "VS Code for ROS2", category: "cat-platforms", url: "/wiki/common-platforms/configure-vscode-for-ros2/" }, + { id: "art-ros2-custom-pkg", label: "ROS2 Custom Packages", category: "cat-platforms", url: "/wiki/common-platforms/ros/ros2-custom-package/" }, + + // ── Sensing ── + { id: "art-trajectory-extract", label: "Traffic Camera Tracking", category: "cat-sensing", url: "/wiki/sensing/trajectory_extraction/" }, + { id: "art-adafruit-gps", label: "Adafruit GPS", category: "cat-sensing", url: "/wiki/sensing/adafruit-gps/" }, + { id: "art-apriltags", label: "AprilTags", category: "cat-sensing", url: "/wiki/sensing/apriltags/" }, + { id: "art-stag", label: "STag Markers", category: "cat-sensing", url: "/wiki/sensing/stag/" }, + { id: "art-camera-calib", label: "Camera Calibration", category: "cat-sensing", url: "/wiki/sensing/camera-calibration/" }, + { id: "art-handeye-calib", label: "Hand-Eye Calibration", category: "cat-sensing", url: "/wiki/sensing/handeye-calibration/" }, + { id: "art-cv-considerations", label: "Computer Vision Considerations", category: "cat-sensing", url: "/wiki/sensing/computer-vision-considerations/" }, + { id: "art-delphi-radar", label: "Delphi ESR Radar", category: "cat-sensing", url: "/wiki/sensing/delphi-esr-radar/" }, + { id: "art-pcl", label: "Point Cloud Library", category: "cat-sensing", url: "/wiki/sensing/pcl/" }, + { id: "art-photometric-calib", label: "Photometric Calibration", category: "cat-sensing", url: "/wiki/sensing/photometric-calibration/" }, + { id: "art-speech-recognition", label: "Speech Recognition", category: "cat-sensing", url: "/wiki/sensing/speech-recognition/" }, + { id: "art-stereo-vision", label: "Stereo Vision OpenCV", category: "cat-sensing", url: "/wiki/sensing/opencv-stereo/" }, + { id: "art-camera-imu-calib", label: "Camera-IMU Calibration", category: "cat-sensing", url: "/wiki/sensing/camera-imu-calibration/" }, + { id: "art-fiducial-markers", label: "Fiducial Markers", category: "cat-sensing", url: "/wiki/sensing/fiducial-markers/" }, + { id: "art-rtk-gps", label: "RTK GPS", category: "cat-sensing", url: "/wiki/sensing/gps/" }, + { id: "art-realsense", label: "Intel RealSense", category: "cat-sensing", url: "/wiki/sensing/realsense/" }, + { id: "art-total-station", label: "Robotic Total Station", category: "cat-sensing", url: "/wiki/sensing/robotic-total-stations/" }, + { id: "art-thermal-cameras", label: "Thermal Cameras", category: "cat-sensing", url: "/wiki/sensing/thermal-cameras/" }, + { id: "art-azure-block", label: "Azure Block Detection", category: "cat-sensing", url: "/wiki/sensing/azure-block-detection/" }, + { id: "art-uwb-positioning", label: "UWB Positioning", category: "cat-sensing", url: "/wiki/sensing/ultrawideband-beacon-positioning/" }, + { id: "art-sensor-noise", label: "Reducing Sensor Noise", category: "cat-sensing", url: "/wiki/sensing/sensor-noise/" }, + { id: "art-apple-vision-sensing", label: "Apple Vision Pro (Sensing)", category: "cat-sensing", url: "/wiki/sensing/apple-vision-pro/" }, + { id: "art-hololens", label: "Microsoft HoloLens 2", category: "cat-sensing", url: "/wiki/sensing/hololens-101/" }, + { id: "art-thermal-perception", label: "Thermal Perception", category: "cat-sensing", url: "/wiki/sensing/thermal-perception/" }, + + // ── Controls & Actuation ── + { id: "art-motor-feedback", label: "Motor Controller Feedback", category: "cat-actuation", url: "/wiki/actuation/motor-controller-feedback/" }, + { id: "art-pid-arduino", label: "PID Control on Arduino", category: "cat-actuation", url: "/wiki/actuation/pid-control-arduino/" }, + { id: "art-linear-actuator", label: "Linear Actuator Types", category: "cat-actuation", url: "/wiki/actuation/linear-actuator-resources/" }, + { id: "art-uln2003a", label: "ULN2003A Motor Controller", category: "cat-actuation", url: "/wiki/actuation/uln2003a-motor-controller/" }, + { id: "art-vedder-esc", label: "Vedder ESC", category: "cat-actuation", url: "/wiki/actuation/vedder-electronic-speed-controller/" }, + { id: "art-pure-pursuit", label: "Pure Pursuit Controller", category: "cat-actuation", url: "/wiki/actuation/Pure-Pursuit-Controller-for-Skid-Steering-Robot/" }, + { id: "art-moveit-hebi", label: "MoveIt & HEBI Integration", category: "cat-actuation", url: "/wiki/actuation/moveit-and-HEBI-integration/" }, + { id: "art-mpc", label: "Model Predictive Control", category: "cat-actuation", url: "/wiki/actuation/model-predictive-control/" }, + { id: "art-task-priority", label: "Task Prioritization Control", category: "cat-actuation", url: "/wiki/actuation/task-prioritization-control/" }, + { id: "art-drive-by-wire", label: "Drive-by-Wire Conversion", category: "cat-actuation", url: "/wiki/actuation/drive-by-wire/" }, + + // ── Manipulators ── + { id: "art-kuka-moveit2", label: "KUKA LBR with MoveIt2", category: "cat-manipulators", url: "/wiki/manipulators/integrating-kuka-lbr-manipulators-with-moveit2/" }, + + // ── Machine Learning ── + { id: "art-darknet", label: "Training Darknet", category: "cat-ml", url: "/wiki/machine-learning/train-darknet-on-custom-dataset/" }, + { id: "art-custom-semantic", label: "Custom Semantic Data", category: "cat-ml", url: "/wiki/machine-learning/custom-semantic-data/" }, + { id: "art-python-rl-libs", label: "Python RL Libraries", category: "cat-ml", url: "/wiki/machine-learning/python-libraries-for-reinforcement-learning/" }, + { id: "art-intro-rl", label: "Intro to RL", category: "cat-ml", url: "/wiki/machine-learning/intro-to-rl/" }, + { id: "art-diffusion", label: "Diffusion Models & Policy", category: "cat-ml", url: "/wiki/machine-learning/intro-to-diffusion/" }, + { id: "art-grpo-diffusion", label: "GRPO for Diffusion", category: "cat-ml", url: "/wiki/machine-learning/grpo-diffusion-policies/" }, + { id: "art-yolo-ros", label: "YOLO + ROS + CUDA", category: "cat-ml", url: "/wiki/sensing/ros-yolo-gpu/" }, + { id: "art-yolov5-tensorrt", label: "YOLOv5 on Jetson", category: "cat-ml", url: "/wiki/machine-learning/yolov5-tensorrt/" }, + { id: "art-mediapipe", label: "MediaPipe", category: "cat-ml", url: "/wiki/machine-learning/mediapipe-live-ml-anywhere/" }, + { id: "art-nlp-robotics", label: "NLP for Robotics", category: "cat-ml", url: "/wiki/machine-learning/nlp-for-robotics/" }, + { id: "art-distributed-pytorch", label: "Distributed PyTorch", category: "cat-ml", url: "/wiki/machine-learning/distributed-training-with-pytorch/" }, + { id: "art-imitation-learning", label: "Imitation Learning", category: "cat-ml", url: "/wiki/machine-learning/imitation-learning/" }, + + // ── Reinforcement Learning ── + { id: "art-rl-key-concepts", label: "RL Key Concepts", category: "cat-rl", url: "/wiki/reinforcement-learning/key-concepts-in-rl/" }, + { id: "art-rl-algorithms", label: "RL Algorithms", category: "cat-rl", url: "/wiki/reinforcement-learning/reinforcement-learning-algorithms/" }, + { id: "art-policy-gradient", label: "Policy Gradient Methods", category: "cat-rl", url: "/wiki/reinforcement-learning/intro-to-policy-gradient-methods/" }, + { id: "art-value-based-rl", label: "Value-Based RL", category: "cat-rl", url: "/wiki/reinforcement-learning/value-based-reinforcement-learning/" }, + + // ── State Estimation ── + { id: "art-amcl", label: "Adaptive Monte Carlo Localization", category: "cat-state-est", url: "/wiki/state-estimation/adaptive-monte-carlo-localization/" }, + { id: "art-sensor-fusion", label: "Sensor Fusion & Tracking", category: "cat-state-est", url: "/wiki/state-estimation/radar-camera-sensor-fusion/" }, + { id: "art-sbpl-lattice", label: "SBPL Lattice Planner", category: "cat-state-est", url: "/wiki/state-estimation/sbpl-lattice-planner/" }, + { id: "art-orb-slam2", label: "ORB-SLAM2 Setup", category: "cat-state-est", url: "/wiki/state-estimation/orb-slam2-setup/" }, + { id: "art-visual-servoing", label: "Visual Servoing", category: "cat-state-est", url: "/wiki/state-estimation/visual-servoing/" }, + { id: "art-cartographer", label: "Cartographer SLAM", category: "cat-state-est", url: "/wiki/state-estimation/Cartographer-ROS-Integration/" }, + { id: "art-gps-lacking", label: "GPS-Lacking State Estimation", category: "cat-state-est", url: "/wiki/state-estimation/gps-lacking-state-estimation-sensors/" }, + { id: "art-g2o-pose", label: "g2o Pose Graph Optimization", category: "cat-state-est", url: "/wiki/state-estimation/g2o-pose-graphs/" }, + + // ── Programming ── + { id: "art-boost", label: "Boost Library", category: "cat-programming", url: "/wiki/programming/boost-library/" }, + { id: "art-boost-maps", label: "Boost Maps & Vectors", category: "cat-programming", url: "/wiki/programming/boost-maps-vectors/" }, + { id: "art-build-source", label: "Building from Source", category: "cat-programming", url: "/wiki/programming/build-from-source/" }, + { id: "art-cmake", label: "CMake", category: "cat-programming", url: "/wiki/programming/cmake/" }, + { id: "art-eigen", label: "Eigen Library", category: "cat-programming", url: "/wiki/programming/eigen-library/" }, + { id: "art-git", label: "Git", category: "cat-programming", url: "/wiki/programming/git/" }, + { id: "art-multithreading", label: "Multithreaded Programming", category: "cat-programming", url: "/wiki/programming/multithreaded-programming/" }, + { id: "art-interviews", label: "Programming Interviews", category: "cat-programming", url: "/wiki/programming/google-programming-interviews/" }, + { id: "art-tutorials", label: "Tutorials & Resources", category: "cat-programming", url: "/wiki/programming/tutorials-resources/" }, + { id: "art-python-construct", label: "Python Construct", category: "cat-programming", url: "/wiki/programming/python-construct/" }, + { id: "art-yasmin-sm", label: "Yasmin State Machine", category: "cat-programming", url: "/wiki/programming/yasmin-ros2-state-machine/" }, + { id: "art-ros2-actions", label: "ROS2 Action Servers", category: "cat-programming", url: "/wiki/programming/ros2-async-action-servers/" }, + + // ── Networking ── + { id: "art-bluetooth", label: "Bluetooth Sockets", category: "cat-networking", url: "/wiki/networking/bluetooth-sockets/" }, + { id: "art-xbee", label: "Xbee Pro DigiMesh", category: "cat-networking", url: "/wiki/networking/xbee-pro-digimesh-900/" }, + { id: "art-rocon", label: "ROCON Multi-Master", category: "cat-networking", url: "/wiki/networking/rocon-multi-master/" }, + { id: "art-ros-distributed", label: "ROS over Multiple Machines", category: "cat-networking", url: "/wiki/networking/ros-distributed/" }, + { id: "art-wifi-hotspot", label: "WiFi Hotspot at Boot", category: "cat-networking", url: "/wiki/networking/wifi-hotspot/" }, + { id: "art-gstreamer-jetson", label: "GStreamer on Jetson", category: "cat-networking", url: "/wiki/networking/gstreamer-jetson-realtime-video/" }, + + // ── Simulation ── + { id: "art-custom-simulator", label: "Custom Simulator", category: "cat-simulation", url: "/wiki/simulation/Building-a-Light-Weight-Custom-Simulator/" }, + { id: "art-ros-arch-design", label: "ROS Architecture Design", category: "cat-simulation", url: "/wiki/simulation/Design-considerations-for-ROS-architectures" }, + { id: "art-carla", label: "CARLA Vehicles", category: "cat-simulation", url: "/wiki/simulation/Spawning-and-Controlling-Vehicles-in-CARLA" }, + { id: "art-autoware-ndt", label: "Autoware NDT Matching", category: "cat-simulation", url: "/wiki/simulation/NDT-Matching-with-Autoware/" }, + { id: "art-gazebo-graspable", label: "Gazebo Graspable Objects", category: "cat-simulation", url: "/wiki/simulation/gazebo-classic-simulation-of-graspable-and-breakable-objects" }, + { id: "art-isaac-sim", label: "NVIDIA Isaac Sim", category: "cat-simulation", url: "/wiki/simulation/simulation-isaacsim-setup/" }, + + // ── Interfacing ── + { id: "art-apple-vp-interface", label: "Apple Vision Pro Interface", category: "cat-interfacing", url: "/wiki/interfacing/apple-vision-pro-for-robotics-applications/" }, + { id: "art-myo", label: "Myo Gesture Control", category: "cat-interfacing", url: "/wiki/interfacing/myo/" }, + { id: "art-blink-led", label: "Blink(1) LED", category: "cat-interfacing", url: "/wiki/interfacing/blink-1-led/" }, + { id: "art-micro-ros", label: "micro-ROS", category: "cat-interfacing", url: "/wiki/interfacing/microros-for-ros2-on-microcontrollers/" }, + { id: "art-ros-bridge", label: "ROS1 - ROS2 Bridge", category: "cat-interfacing", url: "/wiki/interfacing/ros1_ros2_bridge/" }, + { id: "art-buffer-issues", label: "Buffer Issue Debugging", category: "cat-interfacing", url: "/wiki/interfacing/buffer-issues/" }, + + // ── Computing ── + { id: "art-aws", label: "AWS Quickstart", category: "cat-computing", url: "/wiki/computing/aws-quickstart/" }, + { id: "art-arduino", label: "Arduino", category: "cat-computing", url: "/wiki/computing/arduino/" }, + { id: "art-arduino-components", label: "Basic Arduino Components", category: "cat-computing", url: "/wiki/computing/basic-arduino-components/" }, + { id: "art-sbcs", label: "Single Board Computers", category: "cat-computing", url: "/wiki/computing/single-board-computers/" }, + { id: "art-cots-embedded", label: "COTS Embedded Systems", category: "cat-computing", url: "/wiki/computing/comparing-cots-embedded-systems/" }, + { id: "art-jetson-orin", label: "Jetson Orin AGX", category: "cat-computing", url: "/wiki/computing/jetson-orin-agx/" }, + { id: "art-ubuntu-kernel", label: "Upgrading Ubuntu Kernels", category: "cat-computing", url: "/wiki/computing/upgrading-ubuntu-kernel/" }, + { id: "art-ubuntu-chromebook", label: "Ubuntu on Chromebook", category: "cat-computing", url: "/wiki/computing/ubuntu-chromebook/" }, + { id: "art-gpu-setup", label: "GPU Setup for CV", category: "cat-computing", url: "/wiki/computing/setup-gpus-for-computer-vision/" }, + { id: "art-ubuntu-dual-boot", label: "Ubuntu Dual Boot", category: "cat-computing", url: "/wiki/computing/troubleshooting-ubuntu-dual-boot/" }, + + // ── Fabrication ── + { id: "art-3d-print-considerations", label: "3D Printing Considerations", category: "cat-fabrication", url: "/wiki/fabrication/fabrication_considerations_for_3D_printing/" }, + { id: "art-machining", label: "Machining & Prototyping", category: "cat-fabrication", url: "/wiki/fabrication/machining-prototyping/" }, + { id: "art-rapid-proto", label: "Rapid Prototyping", category: "cat-fabrication", url: "/wiki/fabrication/rapid-prototyping/" }, + { id: "art-turning", label: "Turning Process", category: "cat-fabrication", url: "/wiki/fabrication/turning-process/" }, + { id: "art-milling", label: "Milling Process", category: "cat-fabrication", url: "/wiki/fabrication/milling-process/" }, + { id: "art-soldering", label: "Soldering", category: "cat-fabrication", url: "/wiki/fabrication/soldering/" }, + { id: "art-3d-printers", label: "3D Printers Overview", category: "cat-fabrication", url: "/wiki/fabrication/3d-printers/" }, + { id: "art-makerbot", label: "MakerBot Replicator 2x", category: "cat-fabrication", url: "/wiki/fabrication/makerbot-replicator-2x/" }, + { id: "art-cubepro", label: "CubePro", category: "cat-fabrication", url: "/wiki/fabrication/cube-pro/" }, + { id: "art-series-a-pro", label: "Series A Pro Printer", category: "cat-fabrication", url: "/wiki/fabrication/series-A-pro/" }, + { id: "art-ultimaker", label: "Ultimaker Series", category: "cat-fabrication", url: "/wiki/fabrication/ultimaker-series/" }, + { id: "art-onshape", label: "Onshape Tutorial", category: "cat-fabrication", url: "/wiki/fabrication/onshape-tutorial/" }, + + // ── Math ── + { id: "art-gaussian", label: "Gaussian Processes & GMM", category: "cat-math", url: "/wiki/math/gaussian-process-gaussian-mixture-model/" }, + { id: "art-registration", label: "Registration Techniques", category: "cat-math", url: "/wiki/math/registration-techniques/" }, + + // ── Tools ── + { id: "art-docker", label: "Docker", category: "cat-tools", url: "/wiki/tools/docker/" }, + { id: "art-docker-security", label: "Docker Security", category: "cat-tools", url: "/wiki/tools/docker-security" }, + { id: "art-docker-pytorch", label: "Docker for PyTorch", category: "cat-tools", url: "/wiki/tools/docker-for-pytorch/" }, + { id: "art-vim", label: "Vim", category: "cat-tools", url: "/wiki/tools/vim/" }, + { id: "art-altium", label: "Altium CircuitMaker", category: "cat-tools", url: "/wiki/tools/altium-circuitmaker/" }, + { id: "art-solidworks", label: "SolidWorks", category: "cat-tools", url: "/wiki/tools/solidworks/" }, + { id: "art-tmux", label: "TMUX", category: "cat-tools", url: "/wiki/tools/tmux/" }, + { id: "art-udev", label: "udev Rules", category: "cat-tools", url: "/wiki/tools/udev-rules/" }, + { id: "art-ros-gui", label: "ROS GUI", category: "cat-tools", url: "/wiki/tools/ros-gui/" }, + { id: "art-rosbags-matlab", label: "Rosbags in Matlab", category: "cat-tools", url: "/wiki/tools/rosbags-matlab/" }, + { id: "art-viz-sim", label: "Visualization & Simulation", category: "cat-tools", url: "/wiki/tools/visualization-simulation/" }, + { id: "art-clion", label: "CLion IDE", category: "cat-tools", url: "/wiki/tools/clion/" }, + { id: "art-stream-rviz", label: "Stream Rviz Images", category: "cat-tools", url: "/wiki/tools/stream-rviz/" }, + { id: "art-roslibjs", label: "ROS JavaScript Library", category: "cat-tools", url: "/wiki/tools/roslibjs/" }, + { id: "art-mapviz", label: "MapViz ROS2", category: "cat-tools", url: "/wiki/planning/mapviz/" }, + { id: "art-gazebo-sim", label: "Gazebo Simulation", category: "cat-tools", url: "/wiki/tools/gazebo-simulation/" }, + { id: "art-code-editors", label: "VS Code & Vim Intro", category: "cat-tools", url: "/wiki/tools/code-editors-Introduction-to-vs-code-and-vim/" }, + { id: "art-qtcreator", label: "QtCreator with ROS", category: "cat-tools", url: "/wiki/tools/Qtcreator-ros/" }, + { id: "art-xarm-ros", label: "xarm_ros Guide", category: "cat-tools", url: "/wiki/tools/xarm-ros-guide/" }, + { id: "art-ipc-recorder", label: "ROS2 IPC Recorder", category: "cat-tools", url: "/wiki/tools/ros2-humble-ipc-recorder/" }, + { id: "art-docker-robotics", label: "Docker for Robotics", category: "cat-tools", url: "/wiki/tools/docker-for-robotics/" }, + + // ── Datasets ── + { id: "art-traffic-datasets", label: "Traffic Modelling Datasets", category: "cat-datasets", url: "/wiki/datasets/traffic-modelling-datasets/" }, + { id: "art-open-datasets", label: "Open-Source Datasets", category: "cat-datasets", url: "/wiki/datasets/open-source-datasets/" }, + + // ── Planning ── + { id: "art-planning-overview", label: "Planning Overview", category: "cat-planning", url: "/wiki/planning/planning-overview/" }, + { id: "art-astar", label: "A* Planner", category: "cat-planning", url: "/wiki/planning/astar_planning_implementation_guide/" }, + { id: "art-dynamic-astar", label: "Extensions to A*", category: "cat-planning", url: "/wiki/planning/non-a-star-planning/" }, + { id: "art-behavior-tree", label: "Behavior Trees", category: "cat-planning", url: "/wiki/planning/behavior-tree/" }, + { id: "art-specialized-planners", label: "PILZ & CHOMP Planners", category: "cat-planning", url: "/wiki/planning/pilz-chomp/" }, + { id: "art-coverage-planner", label: "Coverage Planner", category: "cat-planning", url: "/wiki/planning/coverage-planning-implementation-guide/" }, + { id: "art-resolved-rates", label: "Resolved Rates", category: "cat-planning", url: "/wiki/planning/resolved-rates/" }, + { id: "art-multi-robot", label: "Multi-Robot Planning", category: "cat-planning", url: "/wiki/planning/multi-robot-planning/" }, + { id: "art-rrt-prm", label: "RRT & PRM Variants", category: "cat-planning", url: "/wiki/planning/rrt-prm-planning/" }, + { id: "art-frenet", label: "Frenet Frame Planning", category: "cat-planning", url: "/wiki/planning/frenet-frame-planning/" }, + { id: "art-move-base-flex", label: "Move Base Flex", category: "cat-planning", url: "/wiki/planning/move-base-flex/" }, + { id: "art-chomp", label: "CHOMP Path Planning", category: "cat-planning", url: "/wiki/planning/chomp-planning/" }, + { id: "art-glop", label: "Google GLOP Optimizer", category: "cat-planning", url: "/wiki/planning/glop/" }, + { id: "art-advanced-moveit", label: "Advanced MoveIt", category: "cat-planning", url: "/wiki/planning/advanced-moveit-manipulator-planning/" } + ], + + // Cross-category semantic connections + edges: [ + // ── Sensing <-> State Estimation ── + { source: "art-camera-calib", target: "art-visual-servoing", label: "camera for visual control" }, + { source: "art-camera-imu-calib", target: "art-cartographer", label: "sensor calibration for SLAM" }, + { source: "art-realsense", target: "art-orb-slam2", label: "depth camera for SLAM" }, + { source: "art-pcl", target: "art-cartographer", label: "point clouds for SLAM" }, + { source: "art-adafruit-gps", target: "art-gps-lacking", label: "GPS sensing" }, + { source: "art-rtk-gps", target: "art-gps-lacking", label: "GPS technology" }, + { source: "art-fiducial-markers", target: "art-visual-servoing", label: "visual tracking" }, + { source: "art-delphi-radar", target: "art-sensor-fusion", label: "radar sensor fusion" }, + { source: "art-stereo-vision", target: "art-orb-slam2", label: "stereo for SLAM" }, + { source: "art-uwb-positioning", target: "art-gps-lacking", label: "indoor positioning" }, + + // ── Sensing internal connections ── + { source: "art-apriltags", target: "art-fiducial-markers", label: "fiducial detection" }, + { source: "art-stag", target: "art-fiducial-markers", label: "fiducial markers" }, + { source: "art-camera-calib", target: "art-handeye-calib", label: "calibration pipeline" }, + { source: "art-camera-calib", target: "art-camera-imu-calib", label: "calibration" }, + { source: "art-camera-calib", target: "art-photometric-calib", label: "camera calibration" }, + { source: "art-thermal-cameras", target: "art-thermal-perception", label: "thermal imaging pipeline" }, + { source: "art-thermal-cameras", target: "art-sensor-noise", label: "sensor noise" }, + { source: "art-apple-vision-sensing", target: "art-hololens", label: "AR/VR sensing" }, + + // ── Sensing <-> Machine Learning ── + { source: "art-yolo-ros", target: "art-cv-considerations", label: "vision detection" }, + { source: "art-trajectory-extract", target: "art-cv-considerations", label: "computer vision" }, + { source: "art-mediapipe", target: "art-cv-considerations", label: "ML vision" }, + { source: "art-yolo-ros", target: "art-realsense", label: "camera + detection" }, + + // ── Machine Learning <-> Reinforcement Learning ── + { source: "art-intro-rl", target: "art-rl-key-concepts", label: "RL foundations" }, + { source: "art-python-rl-libs", target: "art-rl-algorithms", label: "RL tools" }, + { source: "art-intro-rl", target: "art-policy-gradient", label: "RL methods" }, + { source: "art-intro-rl", target: "art-value-based-rl", label: "RL methods" }, + + // ── Machine Learning internal ── + { source: "art-diffusion", target: "art-grpo-diffusion", label: "diffusion policy" }, + { source: "art-darknet", target: "art-yolo-ros", label: "YOLO training" }, + { source: "art-darknet", target: "art-custom-semantic", label: "custom datasets" }, + { source: "art-imitation-learning", target: "art-diffusion", label: "learning from demonstration" }, + + // ── Planning <-> Actuation ── + { source: "art-advanced-moveit", target: "art-moveit-hebi", label: "MoveIt integration" }, + { source: "art-chomp", target: "art-moveit-hebi", label: "motion planning" }, + { source: "art-specialized-planners", target: "art-moveit-hebi", label: "CHOMP/PILZ planning" }, + { source: "art-planning-overview", target: "art-mpc", label: "control + planning" }, + { source: "art-move-base-flex", target: "art-pure-pursuit", label: "mobile robot control" }, + { source: "art-resolved-rates", target: "art-task-priority", label: "manipulator control" }, + + // ── Planning <-> State Estimation ── + { source: "art-planning-overview", target: "art-amcl", label: "navigation stack" }, + { source: "art-move-base-flex", target: "art-amcl", label: "ROS navigation" }, + { source: "art-sbpl-lattice", target: "art-planning-overview", label: "lattice planning" }, + { source: "art-astar", target: "art-dynamic-astar", label: "A* variants" }, + + // ── Planning <-> Manipulators ── + { source: "art-advanced-moveit", target: "art-kuka-moveit2", label: "MoveIt2 manipulator" }, + { source: "art-resolved-rates", target: "art-kuka-moveit2", label: "manipulator control" }, + { source: "art-chomp", target: "art-kuka-moveit2", label: "path planning" }, + + // ── Common Platforms <-> State Estimation ── + { source: "art-ros-navigation", target: "art-amcl", label: "ROS nav stack" }, + { source: "art-ros-mapping", target: "art-cartographer", label: "SLAM mapping" }, + { source: "art-ros2-husky-nav", target: "art-amcl", label: "robot navigation" }, + { source: "art-ros-cost-maps", target: "art-sbpl-lattice", label: "costmap planning" }, + + // ── Common Platforms <-> Planning ── + { source: "art-ros-global-planner", target: "art-planning-overview", label: "ROS planning" }, + { source: "art-ros-navigation", target: "art-move-base-flex", label: "navigation framework" }, + + // ── Common Platforms <-> Actuation ── + { source: "art-ur5e", target: "art-moveit-hebi", label: "robot arm control" }, + { source: "art-unitree-go1", target: "art-mpc", label: "locomotion control" }, + { source: "art-unitree-g1", target: "art-humanoid-robot", label: "humanoid platform" }, + { source: "art-rc-cars", target: "art-drive-by-wire", label: "vehicle control" }, + + // ── Computing <-> Machine Learning ── + { source: "art-gpu-setup", target: "art-distributed-pytorch", label: "GPU ML training" }, + { source: "art-jetson-orin", target: "art-yolov5-tensorrt", label: "Jetson deployment" }, + { source: "art-gpu-setup", target: "art-yolo-ros", label: "GPU for detection" }, + + // ── Computing <-> Actuation ── + { source: "art-arduino", target: "art-pid-arduino", label: "Arduino control" }, + { source: "art-arduino-components", target: "art-pid-arduino", label: "Arduino hardware" }, + + // ── Computing <-> Interfacing ── + { source: "art-arduino", target: "art-micro-ros", label: "microcontrollers" }, + + // ── Computing <-> Networking ── + { source: "art-jetson-orin", target: "art-gstreamer-jetson", label: "Jetson video" }, + { source: "art-sbcs", target: "art-wifi-hotspot", label: "SBC networking" }, + + // ── Computing <-> Common Platforms ── + { source: "art-nvidia-orin", target: "art-jetson-orin", label: "Nvidia hardware" }, + + // ── Simulation <-> Common Platforms ── + { source: "art-isaac-sim", target: "art-ros-intro", label: "ROS simulation" }, + { source: "art-ros-arch-design", target: "art-ros-intro", label: "ROS architecture" }, + { source: "art-gazebo-graspable", target: "art-ros-intro", label: "Gazebo + ROS" }, + + // ── Simulation <-> Planning ── + { source: "art-carla", target: "art-frenet", label: "autonomous driving" }, + { source: "art-autoware-ndt", target: "art-carla", label: "AV simulation" }, + + // ── Simulation <-> Tools ── + { source: "art-isaac-sim", target: "art-gazebo-sim", label: "simulation tools" }, + { source: "art-gazebo-graspable", target: "art-gazebo-sim", label: "Gazebo" }, + + // ── Tools <-> Common Platforms ── + { source: "art-gazebo-sim", target: "art-ros-intro", label: "ROS tools" }, + { source: "art-ros-gui", target: "art-ros-intro", label: "ROS visualization" }, + { source: "art-stream-rviz", target: "art-ros-intro", label: "ROS Rviz" }, + { source: "art-roslibjs", target: "art-ros-intro", label: "ROS web tools" }, + { source: "art-docker-robotics", target: "art-ros-intro", label: "Docker + ROS" }, + { source: "art-qtcreator", target: "art-ros-intro", label: "ROS IDE" }, + { source: "art-xarm-ros", target: "art-ur5e", label: "robot arm tools" }, + + // ── Tools <-> System Design ── + { source: "art-altium", target: "art-pcb-design", label: "PCB tools" }, + { source: "art-solidworks", target: "art-mech-design", label: "CAD tools" }, + + // ── Tools <-> Fabrication ── + { source: "art-solidworks", target: "art-machining", label: "CAD → manufacturing" }, + { source: "art-onshape", target: "art-solidworks", label: "CAD tools" }, + + // ── Tools <-> Computing ── + { source: "art-docker-pytorch", target: "art-gpu-setup", label: "ML infrastructure" }, + { source: "art-docker", target: "art-aws", label: "cloud containers" }, + + // ── Tools internal ── + { source: "art-docker", target: "art-docker-security", label: "Docker security" }, + { source: "art-docker", target: "art-docker-pytorch", label: "Docker ML" }, + { source: "art-docker", target: "art-docker-robotics", label: "Docker robotics" }, + { source: "art-vim", target: "art-code-editors", label: "code editors" }, + + // ── Networking <-> Common Platforms ── + { source: "art-ros-distributed", target: "art-ros-intro", label: "ROS networking" }, + { source: "art-rocon", target: "art-ros-intro", label: "multi-robot ROS" }, + + // ── System Design <-> Programming ── + { source: "art-fsm", target: "art-yasmin-sm", label: "state machines" }, + + // ── Interfacing <-> Common Platforms ── + { source: "art-ros-bridge", target: "art-ros-intro", label: "ROS bridge" }, + { source: "art-micro-ros", target: "art-ros2-custom-pkg", label: "ROS2 microcontrollers" }, + + // ── Interfacing <-> Sensing ── + { source: "art-apple-vp-interface", target: "art-apple-vision-sensing", label: "Apple Vision Pro" }, + { source: "art-apple-vp-interface", target: "art-hololens", label: "AR/VR interfaces" }, + + // ── Machine Learning <-> Robotics Project Guide ── + { source: "art-imitation-learning", target: "art-humanoid-robot", label: "humanoid learning" }, + { source: "art-diffusion", target: "art-humanoid-robot", label: "diffusion for robots" }, + + // ── Math <-> State Estimation ── + { source: "art-gaussian", target: "art-amcl", label: "probabilistic methods" }, + { source: "art-registration", target: "art-orb-slam2", label: "point registration" }, + { source: "art-registration", target: "art-pcl", label: "point cloud registration" }, + + // ── Math <-> Machine Learning ── + { source: "art-gaussian", target: "art-intro-rl", label: "probabilistic models" }, + + // ── Datasets <-> Sensing ── + { source: "art-traffic-datasets", target: "art-trajectory-extract", label: "traffic data" }, + + // ── Datasets <-> Machine Learning ── + { source: "art-open-datasets", target: "art-darknet", label: "training data" }, + { source: "art-open-datasets", target: "art-custom-semantic", label: "semantic data" }, + + // ── Fabrication internal ── + { source: "art-3d-print-considerations", target: "art-3d-printers", label: "3D printing" }, + { source: "art-machining", target: "art-rapid-proto", label: "prototyping" }, + { source: "art-turning", target: "art-milling", label: "machining processes" }, + { source: "art-machining", target: "art-turning", label: "machining" }, + { source: "art-machining", target: "art-milling", label: "machining" }, + { source: "art-3d-printers", target: "art-makerbot", label: "3D printer model" }, + { source: "art-3d-printers", target: "art-cubepro", label: "3D printer model" }, + { source: "art-3d-printers", target: "art-ultimaker", label: "3D printer model" }, + { source: "art-soldering", target: "art-pcb-design", label: "PCB assembly" }, + + // ── Fabrication <-> System Design ── + { source: "art-3d-print-considerations", target: "art-mech-design", label: "design for manufacturing" }, + + // ── RL internal ── + { source: "art-rl-algorithms", target: "art-policy-gradient", label: "RL algorithm type" }, + { source: "art-rl-algorithms", target: "art-value-based-rl", label: "RL algorithm type" }, + { source: "art-rl-key-concepts", target: "art-rl-algorithms", label: "RL foundations" }, + + // ── Project Guide internal ── + { source: "art-choose-robot", target: "art-make-robot", label: "robot selection" }, + { source: "art-choose-sim", target: "art-test-debug", label: "testing workflow" }, + { source: "art-robot-comm", target: "art-choose-language", label: "implementation" }, + + // ── Project Guide <-> Common Platforms ── + { source: "art-choose-sim", target: "art-gazebo-sim", label: "simulator choice" }, + { source: "art-choose-robot", target: "art-ros-intro", label: "ROS for robots" }, + + // ── Project Management <-> Common Platforms ── + { source: "art-drone-permits", target: "art-dji-breakdown", label: "drone regulations" }, + { source: "art-drone-permits", target: "art-pixhawk", label: "UAV operations" }, + + // ── State Estimation internal ── + { source: "art-cartographer", target: "art-orb-slam2", label: "SLAM methods" }, + { source: "art-g2o-pose", target: "art-orb-slam2", label: "pose optimization" }, + { source: "art-sensor-fusion", target: "art-amcl", label: "localization" }, + + // ── Common Platforms <-> Networking ── + { source: "art-ros-arduino", target: "art-arduino", label: "Arduino + ROS" }, + + // ── Simulation <-> State Estimation ── + { source: "art-autoware-ndt", target: "art-cartographer", label: "localization methods" }, + + // ── Computing <-> Common Platforms (via ROS2 tools) ── + { source: "art-vscode-ros2", target: "art-clion", label: "ROS IDEs" } + ] +}; diff --git a/assets/js/knowledge-graph.js b/assets/js/knowledge-graph.js new file mode 100644 index 00000000..84603913 --- /dev/null +++ b/assets/js/knowledge-graph.js @@ -0,0 +1,646 @@ +(function () { + "use strict"; + + if (typeof d3 === "undefined") { + var loader = document.getElementById("kg-loading"); + if (loader) loader.innerHTML = '

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'; + return; + } + + var data = window.GRAPH_DATA; + if (!data) { + var loader2 = document.getElementById("kg-loading"); + if (loader2) loader2.innerHTML = '

Graph data failed to load. Browse articles instead

'; + return; + } + + var prefersReducedMotion = window.matchMedia("(prefers-reduced-motion: reduce)").matches; + function dur(ms) { return prefersReducedMotion ? 0 : ms; } + var entryAnimationDone = prefersReducedMotion; + + var categoryMap = {}; + data.categories.forEach(function (c) { categoryMap[c.id] = c; }); + + // Build nodes + var nodes = []; + data.categories.forEach(function (c) { + nodes.push({ + id: c.id, label: c.label, type: "category", + color: c.color, url: c.url, articleCount: 0, radius: 0 + }); + }); + data.articles.forEach(function (a) { + var cat = categoryMap[a.category]; + nodes.push({ + id: a.id, label: a.label, type: "article", + color: cat ? cat.color : "#888", url: a.url, category: a.category + }); + var catNode = nodes.find(function (n) { return n.id === a.category; }); + if (catNode) catNode.articleCount++; + }); + nodes.forEach(function (n) { + if (n.type === "category") n.radius = Math.max(22, 10 + Math.sqrt(n.articleCount) * 8); + }); + + // Build links + var links = []; + data.articles.forEach(function (a) { + links.push({ source: a.category, target: a.id, type: "membership" }); + }); + data.edges.forEach(function (e) { + links.push({ source: e.source, target: e.target, type: "cross", label: e.label }); + }); + + var nodeMap = {}; + nodes.forEach(function (n) { nodeMap[n.id] = n; }); + + // Adjacency + edge labels for hover highlighting + var adjacency = {}; + var edgeLabels = {}; + function addAdj(a, b) { + if (!adjacency[a]) adjacency[a] = {}; + adjacency[a][b] = true; + } + function addEdgeLabel(a, b, label) { + if (!edgeLabels[a]) edgeLabels[a] = {}; + edgeLabels[a][b] = label; + } + links.forEach(function (l) { + var sid = typeof l.source === "object" ? l.source.id : l.source; + var tid = typeof l.target === "object" ? l.target.id : l.target; + addAdj(sid, tid); + addAdj(tid, sid); + if (l.label) { + addEdgeLabel(sid, tid, l.label); + addEdgeLabel(tid, sid, l.label); + } + }); + + // ── DOM setup ── + var container = document.getElementById("kg-container"); + var width = container.clientWidth; + var height = container.clientHeight; + + var svg = d3.select("#kg-svg") + .attr("width", width) + .attr("height", height) + .attr("role", "img") + .attr("aria-label", "Interactive knowledge graph showing " + data.articles.length + " articles across " + data.categories.length + " categories"); + + // Defs + var defs = svg.append("defs"); + + // Category glow filter only (removed article glow for performance) + var catGlow = defs.append("filter").attr("id", "cat-glow") + .attr("x", "-50%").attr("y", "-50%").attr("width", "200%").attr("height", "200%"); + catGlow.append("feGaussianBlur").attr("stdDeviation", "5").attr("result", "blur"); + catGlow.append("feComposite").attr("in", "SourceGraphic").attr("in2", "blur").attr("operator", "over"); + + var g = svg.append("g").attr("class", "kg-graph"); + + // Zoom + var zoom = d3.zoom() + .scaleExtent([0.15, 5]) + .on("zoom", function (event) { + g.attr("transform", event.transform); + currentZoom = event.transform.k; + updateLabelVisibility(); + }); + svg.call(zoom); + + var currentZoom = 1; + + // Groups (z-order) + var linkGroup = g.append("g").attr("class", "links"); + var nodeGroup = g.append("g").attr("class", "nodes"); + var labelGroup = g.append("g").attr("class", "labels"); + + // ── Force simulation ── + var simulation = d3.forceSimulation(nodes) + .force("link", d3.forceLink(links).id(function (d) { return d.id; }) + .distance(function (d) { + return d.type === "membership" ? 70 : 220; + }) + .strength(function (d) { + return d.type === "membership" ? 0.6 : 0.1; + }) + ) + .force("charge", d3.forceManyBody() + .strength(function (d) { return d.type === "category" ? -600 : -80; }) + ) + .force("center", d3.forceCenter(width / 2, height / 2)) + .force("collision", d3.forceCollide() + .radius(function (d) { return d.type === "category" ? d.radius + 8 : 10; }) + ) + .force("x", d3.forceX(width / 2).strength(0.02)) + .force("y", d3.forceY(height / 2).strength(0.02)) + .alphaDecay(0.018) + .alphaMin(0.005) + .velocityDecay(0.35); + + // ── Render links ── + var linkElements = linkGroup.selectAll("line") + .data(links) + .enter().append("line") + .attr("class", function (d) { return "kg-link kg-link-" + d.type; }) + .style("stroke", function (d) { + if (d.type === "membership") { + var cat = nodeMap[typeof d.source === "object" ? d.source.id : d.source]; + return cat ? cat.color : "#333"; + } + return "#555"; + }) + .style("stroke-width", function (d) { return d.type === "membership" ? 0.5 : 1; }) + .style("stroke-opacity", function (d) { return d.type === "membership" ? 0.12 : 0.25; }) + .style("opacity", 0); + + // ── Render nodes ── + var nodeElements = nodeGroup.selectAll("circle") + .data(nodes) + .enter().append("circle") + .attr("class", function (d) { return "kg-node kg-node-" + d.type; }) + .attr("r", 0) + .attr("tabindex", 0) + .attr("role", "link") + .attr("aria-label", function (d) { + return d.label + " (" + (d.type === "category" ? d.articleCount + " articles" : (categoryMap[d.category] || {}).label || "") + ")"; + }) + .style("fill", function (d) { return d.color; }) + .style("fill-opacity", function (d) { return d.type === "category" ? 0.9 : 0.7; }) + .style("stroke", function (d) { return d.type === "category" ? "#fff" : "none"; }) + .style("stroke-width", function (d) { return d.type === "category" ? 1.5 : 0; }) + .style("stroke-opacity", 0.3) + .style("cursor", "grab") + .style("filter", function (d) { return d.type === "category" ? "url(#cat-glow)" : "none"; }) + .style("opacity", 0) + .on("mouseover", handleMouseOver) + .on("mousemove", handleMouseMove) + .on("mouseout", handleMouseOut) + .on("click", handleClick) + .on("keydown", function (event, d) { + if (event.key === "Enter" || event.key === " ") { + event.preventDefault(); + handleClick(event, d); + } + }) + .on("focus", function (event, d) { handleMouseOver(event, d); }) + .on("blur", function () { handleMouseOut(); }) + .call(d3.drag() + .on("start", dragStart) + .on("drag", dragging) + .on("end", dragEnd) + ); + + // ── Render labels ── + var labelElements = labelGroup.selectAll("text") + .data(nodes) + .enter().append("text") + .attr("class", function (d) { return "kg-label kg-label-" + d.type; }) + .text(function (d) { return d.label; }) + .style("fill", "#e0e0e0") + .style("font-size", function (d) { return d.type === "category" ? "13px" : "9px"; }) + .style("font-weight", function (d) { return d.type === "category" ? "700" : "400"; }) + .style("text-anchor", "middle") + .style("pointer-events", "none") + .style("paint-order", "stroke") + .style("stroke", "rgba(10,14,23,0.85)") + .style("stroke-width", function (d) { return d.type === "category" ? "3px" : "2.5px"; }) + .style("opacity", 0) + .style("user-select", "none"); + + // ── Tick ── + var tickedOnce = false; + simulation.on("tick", function () { + linkElements + .attr("x1", function (d) { return d.source.x; }) + .attr("y1", function (d) { return d.source.y; }) + .attr("x2", function (d) { return d.target.x; }) + .attr("y2", function (d) { return d.target.y; }); + + nodeElements + .attr("cx", function (d) { return d.x; }) + .attr("cy", function (d) { return d.y; }); + + // Only update article labels when they're visible + labelElements.filter(function (d) { return d.type === "category"; }) + .attr("x", function (d) { return d.x; }) + .attr("y", function (d) { return d.y + d.radius + 16; }); + + if (currentZoom > 1.3 || isHighlighting) { + labelElements.filter(function (d) { return d.type === "article"; }) + .attr("x", function (d) { return d.x; }) + .attr("y", function (d) { return d.y + 14; }); + } + + if (!tickedOnce) { + tickedOnce = true; + var loader = document.getElementById("kg-loading"); + if (loader) setTimeout(function () { loader.classList.add("hidden"); }, 200); + } + }); + + // Pause simulation when tab is hidden + document.addEventListener("visibilitychange", function () { + if (document.hidden) simulation.stop(); + else simulation.alpha(0.1).restart(); + }); + + // ── Entry animation ── + if (prefersReducedMotion) { + nodeElements.style("opacity", 1).attr("r", function (d) { return d.type === "category" ? d.radius : 5; }); + labelElements.style("opacity", function (d) { return d.type === "category" ? 1 : 0; }); + linkElements.style("opacity", 1); + } else { + setTimeout(function () { + nodeElements.filter(function (d) { return d.type === "category"; }) + .transition().duration(800).ease(d3.easeQuadOut) + .style("opacity", 1) + .attr("r", function (d) { return d.radius; }); + labelElements.filter(function (d) { return d.type === "category"; }) + .transition().duration(800).ease(d3.easeQuadOut).style("opacity", 1); + }, 300); + + setTimeout(function () { + nodeElements.filter(function (d) { return d.type === "article"; }) + .transition().duration(1000).ease(d3.easeQuadOut) + .style("opacity", 1) + .attr("r", 5); + linkElements.filter(function (d) { return d.type === "membership"; }) + .transition().duration(1000).ease(d3.easeQuadOut).style("opacity", 1); + }, 800); + + setTimeout(function () { + linkElements.filter(function (d) { return d.type === "cross"; }) + .transition().duration(1200).ease(d3.easeQuadOut).style("opacity", 1); + }, 1500); + + setTimeout(function () { + entryAnimationDone = true; + updateLabelVisibility(); + }, 2800); + } + + // ── Interactions ── + var tooltip = document.getElementById("kg-tooltip"); + var isHighlighting = false; + + function positionTooltip(event) { + var tw = tooltip.offsetWidth || 180; + var th = tooltip.offsetHeight || 80; + var cx = event.clientX || event.pageX; + var cy = event.clientY || event.pageY; + var tx = Math.min(cx + 16, window.innerWidth - tw - 12); + var ty = Math.min(cy - 10, window.innerHeight - th - 12); + tooltip.style.left = Math.max(8, tx) + "px"; + tooltip.style.top = Math.max(8, ty) + "px"; + } + + function buildTooltipContent(d) { + var connected = adjacency[d.id] || {}; + var connCount = Object.keys(connected).length; + var catLabel = d.type === "category" ? d.label : (categoryMap[d.category] || {}).label || ""; + + var html = + '
' + escapeHtml(d.label) + '
' + + '
' + + (d.type === "category" ? d.articleCount + " articles" : escapeHtml(catLabel)) + + '
' + + '
' + connCount + ' connections
'; + + // Show cross-edge labels + var crossConns = []; + var myEdgeLabels = edgeLabels[d.id] || {}; + Object.keys(myEdgeLabels).forEach(function (targetId) { + var targetNode = nodeMap[targetId]; + if (targetNode && targetNode.type !== "category") { + crossConns.push({ name: targetNode.label, rel: myEdgeLabels[targetId] }); + } + }); + + if (crossConns.length > 0) { + html += '
'; + var shown = crossConns.slice(0, 5); + shown.forEach(function (c) { + html += '
→ ' + + escapeHtml(c.name) + ' (' + escapeHtml(c.rel) + ')
'; + }); + if (crossConns.length > 5) { + html += '
+' + (crossConns.length - 5) + ' more
'; + } + html += '
'; + } + + return html; + } + + function escapeHtml(str) { + var div = document.createElement("div"); + div.textContent = str; + return div.innerHTML; + } + + function handleMouseOver(event, d) { + if (!entryAnimationDone) return; + isHighlighting = true; + var connected = adjacency[d.id] || {}; + + nodeElements + .transition().duration(dur(200)).ease(d3.easeQuadOut) + .style("opacity", function (n) { + if (n.id === d.id) return 1; + if (connected[n.id]) return 1; + return 0.08; + }) + .attr("r", function (n) { + if (n.id === d.id) { + return n.type === "category" ? n.radius * 1.15 : 8; + } + return n.type === "category" ? n.radius : 5; + }); + + linkElements + .transition().duration(dur(200)).ease(d3.easeQuadOut) + .style("opacity", function (l) { + var sid = l.source.id, tid = l.target.id; + if (sid === d.id || tid === d.id) return 1; + return 0.03; + }) + .style("stroke-opacity", function (l) { + var sid = l.source.id, tid = l.target.id; + if (sid === d.id || tid === d.id) return 0.7; + return 0.05; + }) + .style("stroke-width", function (l) { + var sid = l.source.id, tid = l.target.id; + if (sid === d.id || tid === d.id) return l.type === "cross" ? 2.5 : 1.2; + return l.type === "membership" ? 0.5 : 1; + }); + + labelElements + .transition().duration(dur(200)).ease(d3.easeQuadOut) + .style("opacity", function (n) { + if (n.id === d.id) return 1; + if (connected[n.id]) return 1; + return 0.05; + }); + + tooltip.innerHTML = buildTooltipContent(d); + tooltip.style.display = "block"; + positionTooltip(event); + } + + function handleMouseMove(event) { + if (tooltip.style.display === "block") positionTooltip(event); + } + + function handleMouseOut() { + if (!entryAnimationDone) return; + isHighlighting = false; + nodeElements + .transition().duration(dur(250)).ease(d3.easeQuadOut) + .style("opacity", function (n) { + if (n.type === "category") return activeCategories[n.id] ? 1 : 0; + return activeCategories[n.category] ? 1 : 0; + }) + .attr("r", function (d) { return d.type === "category" ? d.radius : 5; }); + linkElements + .transition().duration(dur(250)).ease(d3.easeQuadOut) + .style("opacity", function (l) { + var s = l.source, t = l.target; + var sVis = s.type === "category" ? activeCategories[s.id] : activeCategories[s.category]; + var tVis = t.type === "category" ? activeCategories[t.id] : activeCategories[t.category]; + return (sVis && tVis) ? 1 : 0; + }) + .style("stroke-opacity", function (d) { return d.type === "membership" ? 0.12 : 0.25; }) + .style("stroke-width", function (d) { return d.type === "membership" ? 0.5 : 1; }); + labelElements + .transition().duration(dur(250)).ease(d3.easeQuadOut) + .style("opacity", function (d) { + if (d.type === "category") return activeCategories[d.id] ? 1 : 0; + if (!activeCategories[d.category]) return 0; + return computeArticleLabelOpacity(); + }); + tooltip.style.display = "none"; + } + + // Gradual label fade instead of hard threshold + function computeArticleLabelOpacity() { + if (currentZoom < 1.3) return 0; + if (currentZoom > 2.2) return 0.9; + return (currentZoom - 1.3) / (2.2 - 1.3) * 0.9; + } + + var isDragging = false; + + function handleClick(event, d) { + if (isDragging) return; + if (d.url) window.open(d.url, "_self"); + } + + // Drag + function dragStart(event, d) { + isDragging = false; + if (!event.active) simulation.alphaTarget(0.15).restart(); + d.fx = d.x; + d.fy = d.y; + d3.select(this).style("cursor", "grabbing"); + } + function dragging(event, d) { + isDragging = true; + d.fx = event.x; + d.fy = event.y; + } + function dragEnd(event, d) { + if (!event.active) simulation.alphaTarget(0); + d.fx = null; + d.fy = null; + d3.select(this).style("cursor", "grab"); + setTimeout(function () { isDragging = false; }, 50); + } + + // Label visibility based on zoom + function updateLabelVisibility() { + if (isHighlighting) return; + var artOpacity = computeArticleLabelOpacity(); + labelElements.style("opacity", function (d) { + if (d.type === "category") return 1; + return artOpacity; + }); + } + + // ── Search ── + var searchInput = document.getElementById("kg-search"); + var searchClear = document.getElementById("kg-search-clear"); + var searchNoResults = document.getElementById("kg-search-no-results"); + + searchInput.addEventListener("input", function () { + var q = this.value.toLowerCase().trim(); + searchClear.style.display = q ? "block" : "none"; + if (!q) { + handleMouseOut(); + if (searchNoResults) searchNoResults.style.display = "none"; + return; + } + var matches = {}; + var matchCount = 0; + nodes.forEach(function (n) { + if (n.label.toLowerCase().indexOf(q) !== -1) { + matches[n.id] = true; + matchCount++; + } + }); + + if (searchNoResults) { + searchNoResults.style.display = matchCount === 0 ? "block" : "none"; + } + + isHighlighting = true; + nodeElements + .transition().duration(dur(150)) + .style("opacity", function (n) { return matches[n.id] ? 1 : 0.06; }); + linkElements + .transition().duration(dur(150)) + .style("opacity", 0.03); + labelElements + .transition().duration(dur(150)) + .style("opacity", function (n) { return matches[n.id] ? 1 : 0.03; }); + }); + + searchInput.addEventListener("keydown", function (e) { + if (e.key === "Enter") { + var q = this.value.toLowerCase().trim(); + if (!q) return; + var match = nodes.find(function (n) { + return n.label.toLowerCase().indexOf(q) !== -1; + }); + if (match && match.x != null) { + svg.transition().duration(dur(750)).ease(d3.easeCubicOut).call( + zoom.transform, + d3.zoomIdentity.translate(width / 2, height / 2).scale(2.5).translate(-match.x, -match.y) + ); + } + } + if (e.key === "Escape") { + this.value = ""; + searchClear.style.display = "none"; + if (searchNoResults) searchNoResults.style.display = "none"; + handleMouseOut(); + } + }); + + searchClear.addEventListener("click", function () { + searchInput.value = ""; + searchClear.style.display = "none"; + if (searchNoResults) searchNoResults.style.display = "none"; + handleMouseOut(); + searchInput.focus(); + }); + + // ── Category Filters ── + var filterContainer = document.getElementById("kg-filters"); + var activeCategories = {}; + data.categories.forEach(function (c) { activeCategories[c.id] = true; }); + + data.categories.forEach(function (c) { + var pill = document.createElement("button"); + pill.className = "kg-filter-pill active"; + pill.style.setProperty("--pill-color", c.color); + pill.setAttribute("data-cat", c.id); + pill.setAttribute("aria-pressed", "true"); + pill.textContent = c.label; + pill.addEventListener("click", function () { + activeCategories[c.id] = !activeCategories[c.id]; + this.classList.toggle("active", activeCategories[c.id]); + this.setAttribute("aria-pressed", activeCategories[c.id] ? "true" : "false"); + applyFilters(); + }); + filterContainer.appendChild(pill); + }); + + function applyFilters() { + nodeElements.style("display", function (n) { + if (n.type === "category") return activeCategories[n.id] ? null : "none"; + return activeCategories[n.category] ? null : "none"; + }); + labelElements.style("display", function (n) { + if (n.type === "category") return activeCategories[n.id] ? null : "none"; + return activeCategories[n.category] ? null : "none"; + }); + linkElements.style("display", function (l) { + var s = l.source, t = l.target; + var sVis = s.type === "category" ? activeCategories[s.id] : activeCategories[s.category]; + var tVis = t.type === "category" ? activeCategories[t.id] : activeCategories[t.category]; + return (sVis && tVis) ? null : "none"; + }); + simulation.alpha(0.3).restart(); + } + + // Reset filters + document.getElementById("kg-reset-filters").addEventListener("click", function () { + data.categories.forEach(function (c) { activeCategories[c.id] = true; }); + var pills = filterContainer.querySelectorAll(".kg-filter-pill"); + pills.forEach(function (p) { + p.classList.add("active"); + p.setAttribute("aria-pressed", "true"); + }); + applyFilters(); + svg.transition().duration(dur(750)).ease(d3.easeCubicOut).call( + zoom.transform, + d3.zoomIdentity.translate(0, 0).scale(1) + ); + }); + + // ── Stats ── + var articleCount = data.articles.length; + var catCount = data.categories.length; + var crossEdges = data.edges.length; + var statsEl = document.getElementById("kg-stats"); + statsEl.setAttribute("role", "status"); + statsEl.innerHTML = + '' + catCount + ' categories•' + + '' + articleCount + ' articles•' + + '' + crossEdges + ' connections•' + + 'Click node to navigate • Scroll to zoom • Drag to pan'; + + // ── Resize (debounced) ── + var resizeTimer; + window.addEventListener("resize", function () { + clearTimeout(resizeTimer); + resizeTimer = setTimeout(function () { + width = container.clientWidth; + height = container.clientHeight; + svg.attr("width", width).attr("height", height); + simulation.force("center", d3.forceCenter(width / 2, height / 2)); + simulation.force("x", d3.forceX(width / 2).strength(0.02)); + simulation.force("y", d3.forceY(height / 2).strength(0.02)); + simulation.alpha(0.3).restart(); + }, 150); + }); + + // ── Legend ── + var legendContent = document.getElementById("kg-legend-content"); + data.categories.forEach(function (c) { + var item = document.createElement("div"); + item.className = "kg-legend-item"; + item.innerHTML = '' + + '' + escapeHtml(c.label) + ''; + legendContent.appendChild(item); + }); + + var legendToggle = document.getElementById("kg-legend-toggle"); + legendToggle.setAttribute("aria-expanded", "true"); + legendToggle.addEventListener("click", function () { + var panel = document.getElementById("kg-legend"); + panel.classList.toggle("collapsed"); + var isCollapsed = panel.classList.contains("collapsed"); + this.textContent = isCollapsed ? "Legend" : "Hide"; + this.setAttribute("aria-expanded", isCollapsed ? "false" : "true"); + }); + + // Touch dismiss for tooltip + svg.on("touchstart", function (event) { + if (!event.target.classList || !event.target.classList.contains("kg-node")) { + handleMouseOut(); + } + }, { passive: true }); +})(); diff --git a/wiki/knowledge-graph/index.html b/wiki/knowledge-graph/index.html new file mode 100644 index 00000000..5df2de6b --- /dev/null +++ b/wiki/knowledge-graph/index.html @@ -0,0 +1,432 @@ +--- +layout: default +title: Knowledge Graph +--- + + + +
+ +
+ +
Initializing Knowledge Graph...
+
+ + + + + +
+ +
+ + +
No matching articles found
+ + + + + +
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