# Reachy Mini Simple Control Panel

A lightweight, static HTML/JS control panel for Reachy Mini robot using WebSockets for real-time control.

## Features

- **Real-time WebSocket Control**: Instant response using WebSocket streaming
- **Wake Up / Go to Sleep**: Movement command buttons
- **Task Space Control**: Real-time head pose control (X, Y, Z, Roll, Pitch, Yaw)
- **Body & Antennas**: Control body yaw and antenna positions
- **Auto-reconnect**: Automatically reconnects if connection is lost
- **No Dependencies**: Pure HTML/CSS/JavaScript

## How to Use

### Option 1: Open Directly (Simple)

Just open `index.html` in your web browser:

```bash
open index.html  # macOS
xdg-open index.html  # Linux
start index.html  # Windows
```

**Note**: The robot daemon must be running on `localhost:8000`

### Option 2: Serve with Python (Recommended for HuggingFace Spaces)

```bash
python server.py
```

Then open http://localhost:7860 in your browser.

### Option 3: Serve with any HTTP server

```bash
# Using Python 3
python3 -m http.server 7860

# Using Node.js
npx http-server -p 7860

# Using PHP
php -S localhost:7860
```

## Requirements

- Reachy Mini daemon running on `localhost:8000`
- Modern web browser with WebSocket support
- Motors must be enabled before using wake/sleep commands

## Architecture

This app uses:
- **WebSocket** (`ws://localhost:8000/api/move/ws/set_target`) for real-time pose streaming
- **HTTP POST** for wake_up and goto_sleep commands
- Pure client-side JavaScript (no backend needed)

The app automatically connects to the robot when loaded and reconnects if the connection is lost.

## Deployment on HuggingFace Spaces

1. Copy `index.html`, `app.js`, and `server.py` to your Space
2. Set SDK to `gradio` with sdk_version `6.0.0` (only needed for the server)
3. Or use `static` SDK if HF supports it
4. Users will need to have the robot daemon accessible from their machine

## Technical Details

- **Slider Updates**: Use `input` event for real-time updates
- **Auto-reconnect**: WebSocket reconnects every 2 seconds if disconnected
- **State Management**: Client-side state tracking prevents feedback loops
- **Error Handling**: Graceful error messages and automatic recovery