Add fallback for Spaces deployment with duration limitation

README.md

@@ -67,6 +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
 
 ## Deployment to HuggingFace Spaces
 

frontend/app.js

@@ -355,27 +355,21 @@ function matrixToEulerXYZ(rotMatrix) {
     }
 }
 
-// Execute a single IR action (send to robot using /goto endpoint)
+// Execute a single IR action (send to robot)
 async function executeIRAction(action) {
     if (!state.robotConnected) {
         throw new Error('Robot not connected');
     }
 
-    const gotoRequest = {
-        duration: action.duration,
-        interpolation: action.interpolation || 'minjerk'
-    };
-
+    // Extract pose data
+    let head_pose = null;
     if (action.head_pose) {
-        // Extract translation from 4x4 matrix
         const x = action.head_pose[0][3];
         const y = action.head_pose[1][3];
         const z = action.head_pose[2][3];
-
-        // Extract rotation (euler angles) from 3x3 rotation matrix portion
         const euler = matrixToEulerXYZ(action.head_pose);
 
-        gotoRequest.head_pose = {
+        head_pose = {
             x: x,
             y: y,
             z: z,
@@ -385,16 +379,18 @@ async function executeIRAction(action) {
         };
     }
 
-    if (action.antennas) {
-        gotoRequest.antennas = action.antennas;
-    }
+    // Try using /goto endpoint (works locally, respects duration)
+    // Falls back to WebSocket if fetch fails (e.g., on HuggingFace Spaces HTTPS -> HTTP localhost)
+    try {
+        const gotoRequest = {
+            duration: action.duration,
+            interpolation: action.interpolation || 'minjerk'
+        };
 
-    if (action.body_yaw !== null) {
-        gotoRequest.body_yaw = action.body_yaw;
-    }
+        if (head_pose) gotoRequest.head_pose = head_pose;
+        if (action.antennas) gotoRequest.antennas = action.antennas;
+        if (action.body_yaw !== null) gotoRequest.body_yaw = action.body_yaw;
 
-    // Send POST request to /goto endpoint with duration
-    try {
         const response = await fetch('http://localhost:8000/api/move/goto', {
             method: 'POST',
             headers: { 'Content-Type': 'application/json' },
@@ -402,18 +398,30 @@ async function executeIRAction(action) {
         });
 
         if (!response.ok) {
-            const error = await response.json();
-            throw new Error(error.detail || 'Failed to execute movement');
+            throw new Error('goto endpoint failed');
         }
 
-        const result = await response.json();
-
-        // Wait for the movement to complete (duration + small buffer)
+        // Wait for movement to complete
         await sleep(action.duration * 1000 + 100);
 
-        return result;
-    } catch (error) {
-        throw new Error(`Robot movement failed: ${error.message}`);
+    } 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);
+
+        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;
+
+        state.robotWs.send(JSON.stringify(wsMessage));
+
+        // Wait for duration even though robot may move faster
+        await sleep(action.duration * 1000);
     }
 }