disco

reachy_mini_app_example/src/RobotManager.js

@@ -181,11 +181,14 @@ export class RobotManager {
         
         // Update antennas if available
         if (data.antennas_position && Array.isArray(data.antennas_position)) {
+            console.log('Updating antennas:', data.antennas_position);
             if (this.jointMap['left_antenna'] && data.antennas_position[0] !== undefined) {
-                this.jointMap['left_antenna'].setJointValue(data.antennas_position[0]);
+                console.log('Left antenna:', this.jointMap['left_antenna'], 'value:', -data.antennas_position[0]);
+                this.jointMap['left_antenna'].setJointValue(-data.antennas_position[0]);
             }
             if (this.jointMap['right_antenna'] && data.antennas_position[1] !== undefined) {
-                this.jointMap['right_antenna'].setJointValue(data.antennas_position[1]);
+                console.log('Right antenna:', this.jointMap['right_antenna'], 'value:', -data.antennas_position[1]);
+                this.jointMap['right_antenna'].setJointValue(-data.antennas_position[1]);
             }
         }
         
@@ -233,6 +236,9 @@ export class RobotManager {
                     this.baseHeadPosition.copy(localPosition);
                     this.baseHeadRotation.setFromQuaternion(localRotation);
                     
+                    // Remap antenna joints to point to the cloned head's joints instead of original
+                    this.remapAntennaJoints(child, this.clonedHead);
+                    
                     // Hide the original head and add the cloned head to the scene
                     child.visible = false;
                     this.robot.add(this.clonedHead);
@@ -243,6 +249,23 @@ export class RobotManager {
         }, 3000); // Wait 3 seconds for STL meshes to load
     }
     
+    remapAntennaJoints(originalHead, clonedHead) {
+        // Find antenna joints in the cloned head and update the joint map
+        console.log('Remapping antenna joints from original to cloned head...');
+        let remappedCount = 0;
+        clonedHead.traverse((child) => {
+            if (child.isURDFJoint && (child.name === 'left_antenna' || child.name === 'right_antenna')) {
+                // Update the joint map to point to the cloned version
+                console.log(`Found ${child.name} joint in cloned head:`, child);
+                this.jointMap[child.name] = child;
+                remappedCount++;
+                console.log(`✅ Remapped ${child.name} joint to cloned head`);
+            }
+        });
+        console.log(`Total antenna joints remapped: ${remappedCount}`);
+        console.log('Current joint map:', Object.keys(this.jointMap));
+    }
+    
     debugHeadMovement() {
         // Removed debug movement tracking for cleaner performance
     }

reachy_mini_app_example/src/SceneManager.js

@@ -76,26 +76,29 @@ export class SceneManager {
     
     setupLighting() {
         // Ambient light
-        const ambientLight = new THREE.AmbientLight(0xffffff, 0.4);
+        const ambientLight = new THREE.AmbientLight(0xffffff, 0.6);
         this.scene.add(ambientLight);
         
         // Directional light
-        const directionalLight = new THREE.DirectionalLight(0xffffff, 0.5);
-        directionalLight.position.set(1, 2, 1);
+        const directionalLight = new THREE.DirectionalLight(0xffffff, 0.7);
+        directionalLight.position.set(1, 0, 2);
         directionalLight.castShadow = true;
         this.scene.add(directionalLight);
         
-        // Spotlight to illuminate the robot nicely
-        const spotLight = new THREE.SpotLight(0xffffff, 1.5);
-        spotLight.position.set(0.5, 0.5, 0.5);
-        spotLight.angle = Math.PI / 4;
-        spotLight.penumbra = 0.3;
-        spotLight.decay = 2;
-        spotLight.distance = 3;
-        spotLight.castShadow = true;
-        spotLight.target.position.set(0, 0.1, 0);
-        this.scene.add(spotLight);
-        this.scene.add(spotLight.target);
+        // Disco spotlight! 🕺💃
+        this.discoSpotLight = new THREE.SpotLight(0xff0000, 2.0);
+        this.discoSpotLight.position.set(0.5, 0.8, 0.5);
+        this.discoSpotLight.angle = Math.PI / 3;
+        this.discoSpotLight.penumbra = 0.2;
+        this.discoSpotLight.decay = 1.5;
+        this.discoSpotLight.distance = 4;
+        this.discoSpotLight.castShadow = true;
+        this.discoSpotLight.target.position.set(0, 0.1, 0);
+        this.scene.add(this.discoSpotLight);
+        this.scene.add(this.discoSpotLight.target);
+        
+        // Setup disco beat
+        this.setupDiscoBeat();
     }
     
     onWindowResize() {
@@ -117,4 +120,57 @@ export class SceneManager {
         requestAnimationFrame(() => this.animate());
         this.render();
     }
+    
+    setupDiscoBeat() {
+        // Disco colors: red, green, blue, white, purple, orange
+        this.discoColors = [
+            0xff0000, // red
+            0x00ff00, // green  
+            0x0000ff, // blue
+            0xffffff, // white
+            0xff00ff, // purple/magenta
+            0xff8000, // orange
+            0x00ffff, // cyan
+            0xffff00  // yellow
+        ];
+        
+        this.currentColorIndex = 0;
+        this.beatTime = 0;
+        this.beatInterval = 120; // BPM - change color every 120 BPM (500ms)
+        
+        // Start the disco beat
+        this.discoInterval = setInterval(() => {
+            this.changeDiscoColor();
+        }, 60000 / this.beatInterval); // Convert BPM to milliseconds
+    }
+    
+    changeDiscoColor() {
+        if (!this.discoSpotLight) return;
+        
+        // Change to next color
+        this.currentColorIndex = (this.currentColorIndex + 1) % this.discoColors.length;
+        const newColor = this.discoColors[this.currentColorIndex];
+        
+        this.discoSpotLight.color.setHex(newColor);
+        
+        // Add some intensity variation for extra disco effect
+        const intensityVariation = 1.5 + Math.random() * 1.0; // 1.5 - 2.5
+        this.discoSpotLight.intensity = intensityVariation;
+        
+        // Slightly move the spotlight for dynamic effect
+        const angle = Date.now() * 0.001;
+        this.discoSpotLight.position.x = 0.5 + Math.sin(angle) * 0.2;
+        this.discoSpotLight.position.z = 0.5 + Math.cos(angle) * 0.2;
+    }
+    
+    stopDisco() {
+        if (this.discoInterval) {
+            clearInterval(this.discoInterval);
+            this.discoInterval = null;
+        }
+        if (this.discoSpotLight) {
+            this.discoSpotLight.color.setHex(0xffffff);
+            this.discoSpotLight.intensity = 1.0;
+        }
+    }
 }

reachy_mini_app_example/src/WebSocketManager.js

@@ -7,7 +7,7 @@ export class WebSocketManager {
         this.chartManager = chartManager;
         
         this.WS_URL = new URLSearchParams(location.search).get("ws")
-            || "ws://127.0.0.1:8000/api/state/ws/full";
+            || "ws://127.0.0.1:8000/api/state/ws/full?with_passive_joints=true&head_joints=true";
             
         this.robotClient = new RobotStateClient(this.WS_URL);
     }
@@ -34,6 +34,11 @@ export class WebSocketManager {
     }
     
     handleDataUpdate(data) {
+        // Log antenna data for debugging
+        if (data.antennas_position) {
+            console.log('Antenna positions received:', data.antennas_position);
+        }
+        
         // Update robot joints
         this.robotManager.updateJoints(data);