Implement client-side duration control for Spaces deployment

README.md

@@ -67,9 +67,9 @@ uv run python app.py
 ## Current Limitations
 
 - Sound and picture actions are not yet implemented in execution
-- **On HuggingFace Spaces**: Due to browser security policies (HTTPS → HTTP localhost), movement durations may not be fully respected. For accurate timing, run the demo locally.
-  - Spaces version uses WebSocket fallback which moves faster than specified durations
-  - Local version uses REST API `/goto` endpoint with proper duration support
+- **On HuggingFace Spaces**: Due to browser security policies (HTTPS → HTTP localhost), the demo uses a WebSocket fallback instead of the REST API `/goto` endpoint.
+  - Timing is approximated by repeatedly sending the target position over the specified duration
+  - For smoother interpolated movements with proper minimum-jerk trajectories, run the demo locally
 
 ## Deployment to HuggingFace Spaces
 

frontend/app.js

@@ -405,23 +405,30 @@ async function executeIRAction(action) {
         await sleep(action.duration * 1000 + 100);
 
     } catch (fetchError) {
-        // Fallback to WebSocket (for Spaces deployment)
-        // Note: This won't respect duration perfectly - movements will be fast
-        console.warn('Using WebSocket fallback (duration may not be accurate):', fetchError.message);
+        // Fallback to WebSocket with client-side interpolation (for Spaces deployment)
+        console.warn('Using WebSocket interpolation fallback for duration:', fetchError.message);
 
         if (!state.robotWs || state.robotWs.readyState !== WebSocket.OPEN) {
             throw new Error('Robot WebSocket not connected');
         }
 
-        const wsMessage = {};
-        if (head_pose) wsMessage.target_head_pose = head_pose;
-        if (action.antennas) wsMessage.target_antennas = action.antennas;
-        if (action.body_yaw !== null) wsMessage.target_body_yaw = action.body_yaw;
+        // Simulate duration by sending intermediate targets
+        // Send updates at 10Hz (every 100ms) for smooth movement
+        const updateInterval = 100; // ms
+        const numSteps = Math.max(1, Math.floor((action.duration * 1000) / updateInterval));
 
-        state.robotWs.send(JSON.stringify(wsMessage));
+        for (let step = 0; step <= numSteps; step++) {
+            const wsMessage = {};
+            if (head_pose) wsMessage.target_head_pose = head_pose;
+            if (action.antennas) wsMessage.target_antennas = action.antennas;
+            if (action.body_yaw !== null) wsMessage.target_body_yaw = action.body_yaw;
 
-        // Wait for duration even though robot may move faster
-        await sleep(action.duration * 1000);
+            state.robotWs.send(JSON.stringify(wsMessage));
+
+            if (step < numSteps) {
+                await sleep(updateInterval);
+            }
+        }
     }
 }