added the visualisation of the current robot state

.gitattributes

@@ -34,3 +34,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text

remote_control_space/app.py

@@ -15,6 +15,8 @@ import gradio as gr
 import numpy as np
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.responses import StreamingResponse
+from fastapi.staticfiles import StaticFiles
+import os
 import uvicorn
 from fastrtc import WebRTC, StreamHandler, get_cloudflare_turn_credentials
 from huggingface_hub import get_token
@@ -133,6 +135,11 @@ class GlobalState:
             duration=0.2,
         )
 
+        # Robot state (joint positions)
+        self.robot_state_lock = threading.Lock()
+        self.latest_robot_state: Optional[dict] = None
+        self.latest_robot_state_ts: float = 0.0
+
     # --- Connection management ---
 
     def set_robot_connection(self, ws: WebSocket, loop: asyncio.AbstractEventLoop) -> None:
@@ -249,6 +256,13 @@ class GlobalState:
     def get_connection_status(self) -> str:
         return "✅ Robot Connected" if self.robot_ws else "🔴 Waiting for Robot..."
 
+    # --- Robot state ---
+
+    def update_robot_state(self, data: dict) -> None:
+        with self.robot_state_lock:
+            self.latest_robot_state = data
+            self.latest_robot_state_ts = time.time()
+
     def get_latency_display(self) -> str:
         """Get formatted latency statistics for display."""
         video_stats = self.get_video_latency_stats()
@@ -461,6 +475,14 @@ def webrtc_video_generator():
 
 app = FastAPI()
 
+viz_dir = os.path.join(os.path.dirname(__file__), "dist")
+if os.path.exists(viz_dir):
+    app.mount(
+        "/viz",
+        StaticFiles(directory=viz_dir, html=True),
+        name="viz",
+    )
+
 
 @app.websocket("/robot")
 async def robot_endpoint(ws: WebSocket):
@@ -480,6 +502,46 @@ async def robot_endpoint(ws: WebSocket):
         state.clear_robot_connection()
 
 
+@app.websocket("/robot_state")
+async def robot_state_endpoint(ws: WebSocket):
+    """Endpoint for the Robot to publish joint state."""
+    await ws.accept()
+    print("[System] Robot State Connected")
+
+    try:
+        while True:
+            data = await ws.receive_json()
+            if isinstance(data, dict) and data.get("type") == "robot_state":
+                state.update_robot_state(data)
+    except (WebSocketDisconnect, Exception):
+        print("[System] Robot State Disconnected")
+
+
+@app.websocket("/joint_states")
+async def joint_states_endpoint(ws: WebSocket):
+    """Endpoint for the Browser to receive joint state."""
+    await ws.accept()
+    print("[System] Browser Joint State Connected")
+
+    try:
+        while True:
+            with state.robot_state_lock:
+                data = state.latest_robot_state
+
+            if data and (head_vals := data.get("head")):
+                payload = {
+                    "body_yaw": head_vals[0],
+                    "angles": head_vals[1:7],
+                    "antennas": data.get("antennas"),
+                    "timestamp": data.get("timestamp"),
+                }
+                await ws.send_json(payload)
+
+            await asyncio.sleep(0.03)
+    except (WebSocketDisconnect, Exception):
+        print("[System] Browser Joint State Disconnected")
+
+
 @app.get("/video_feed")
 def video_feed():
     return StreamingResponse(
@@ -1537,6 +1599,23 @@ with gr.Blocks(
     with gr.Row():
         # Left column - Controls
         with gr.Column(scale=1, min_width=280):
+            # Small visualization window
+            if os.path.exists(viz_dir):
+                gr.HTML(
+                    value="""
+                    <div style=\"border-radius: 8px; overflow: hidden;\">
+                        <iframe
+                            src=\"/viz/index.html\"
+                            style=\"width: 400px; height: 400px; border: none; border-radius: 8px;\"
+                            allow=\"autoplay; fullscreen\"
+                        ></iframe>
+                    </div>
+                    """,
+                    label="🤖 Reachy 3D",
+                )
+            else:
+                gr.Markdown("❌ Visualization not available")
+
             # Hidden pose state textbox - polls pose for JS gauges
             pose_state = gr.Textbox(
                 value=get_pose_string,
@@ -1687,6 +1766,32 @@ with gr.Blocks(
 
         # Right column - Video
         with gr.Column(scale=3, elem_id="video-column"):
+            with gr.Row():
+                # Main video feed
+                with gr.Column():
+                    gr.Markdown("### 🎬 Robot Camera Feed", elem_id="video-title")
+                    if USE_VIDEO_WEBRTC:
+                        pass
+                    else:
+                        html_code = """
+                            <html>
+                            <body>
+                                <img src="/video_feed" style="width: 100%; max-width: 1080px; border-radius: 8px;">
+                            </body>
+                            </html>
+                            """
+                        gr.HTML(value=html_code, label="")
+
+            # Latency display below
+            latency_box = gr.Textbox(
+                value=state.get_latency_display,
+                every=1,
+                show_label=False,
+                container=False,
+                elem_id="latency-box",
+                lines=2,
+            )
+
             if USE_VIDEO_WEBRTC:
                 robot_video = WebRTC(
                     label="",
@@ -1702,25 +1807,6 @@ with gr.Blocks(
                     outputs=[robot_video],
                     trigger=listen_btn.click,
                 )
-            else:
-                html_code = """
-                    <html>
-                    <body>
-                        <img src="/video_feed" style="width: 100%; max-width: 1080px; border-radius: 8px;">
-                    </body>
-                    </html>
-                    """
-                gr.HTML(value=html_code, label="🎬 Robot Video")
-
-            # Latency display below video
-            latency_box = gr.Textbox(
-                value=state.get_latency_display,
-                every=1,
-                show_label=False,
-                container=False,
-                elem_id="latency-box",
-                lines=2,
-            )
 
     # Load keyboard handler
     demo.load(None, None, None, js=KEYBOARD_JS if USE_AUDIO_WEBRTC else APP_JS)

remote_control_space/dist/assets/kinematics_data.json

@@ -0,0 +1,272 @@
+{
+    "motor_arm_length": 0.04000000000000001,
+    "rod_length": 0.08499999999999995,
+    "head_z_offset": 0.177,
+    "passive_joint_kinematics": {
+        "t_xl330_in_platform_frame": [
+                [ 0.4822, -0.7068, -0.5177,  0.0206],
+                [ 0.1766, -0.5003,  0.8476, -0.0218],
+                [-0.8581, -0.5001, -0.1164, -0.0    ],
+                [ 0.0    ,  0.0    ,  0.0    ,  1.0    ]
+            ],
+        "orientation_offset_in_servo_arm_frame": [
+                [-0.13754,-0.0882156, 2.10349],   
+                [-3.14159, 5.37396e-16, -3.14159], 
+                [0.373569, 0.0882156, -1.0381],  
+                [-0.0860846, 0.0882156, 1.0381],
+                [0.123977, 0.0882156, -1.0381],
+                [3.0613, 0.0882156, 1.0381],
+                [3.14159, 2.10388e-17, 4.15523e-17] 
+            ],
+        "stewart_rod_direction_in_passive_frame":[
+                [1, 0, 0], 
+                [ 0.50606941, -0.85796418, -0.08826792],
+                [-1, 0, 0],  
+                [-1, 0, 0], 
+                [-1, 0, 0],
+                [-1, 0, 0] 
+            ]
+    },
+    "motors": [
+        {
+            "name": "stewart_1",
+            "branch_frame": "closing_1_2",
+            "offset": 0,
+            "solution": 0,
+            "T_motor_world": [
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+                    0.8660247915798898,
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+                    -2.298079077119539e-06,
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+                    0.03666015757925319
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "branch_position": [
+                0.020648178337122566,
+                0.021763723638894568,
+                1.0345743467476964e-07
+            ],
+            "limits": [
+                -0.8377580409572196, 1.3962634015955222
+            ]
+        },
+        {
+            "name": "stewart_2",
+            "branch_frame": "closing_2_2",
+            "offset": 0,
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+            "branch_frame": "closing_5_2",
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+            "branch_frame": "passive_7_link_y",
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+            "limits": [
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+            ]
+        }
+    ]
+}

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remote_control_space/dist/assets/urdf/assets/5w_speaker.part

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+    "suppressed": false,
+    "type": "Part"
+}

remote_control_space/dist/assets/urdf/assets/5w_speaker.stl

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remote_control_space/dist/assets/urdf/assets/antenna.part

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+    "name": "antenna <2>",
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+    "suppressed": false,
+    "type": "Part"
+}

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remote_control_space/dist/assets/urdf/assets/antenna_body_3dprint.part

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