removed the ifram update

Dockerfile

@@ -10,6 +10,7 @@ ENV PIP_ONLY_BINARY=:all:
 RUN apt-get update && apt-get install -y --no-install-recommends \
     libgl1-mesa-dev \
     libglib2.0-0 \
+    git \
  && rm -rf /var/lib/apt/lists/*
  
 RUN apt-get update && apt-get install -y --no-install-recommends \

README.md

@@ -17,11 +17,11 @@ This application provides an interactive 3D viewer for the Reachy Mini robot, al
 1. Clone this repository.
 2. build the Docker image using the provided Dockerfile.
 ```
-docker build -t robotics-visual-lab .
+docker build -t reachy-mini-live .
 ```
 3. Run the Docker container
 ```
-docker run -p 7860:7860 robotics-visual-lab
+docker run -p 7860:7860 reachy-mini-live
 ```
 4. Open your web browser and navigate to `http://localhost:7860` to access the app.
 

app.py

@@ -1,7 +1,9 @@
 import gradio as gr
 import numpy as np
 from robot import LiveReachyMini
-
+import logging
+logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(message)s")
+import time
 
 # keep one MeshCat session alive
 robot = LiveReachyMini()
@@ -81,16 +83,20 @@ with gr.Blocks(css=css, title="Reachy Mini - Interactive Viewer") as demo:
             ]
         
     # ---------- Callbacks ----------
-
+    last_call_time = time.time()
     def on_sliders(*vals):
+        global last_call_time
+        logging.debug("Time since last on_sliders call: {:.2f} ms".format(((time.time() -last_call_time) % 1e6)*1000))
+        last_call_time = time.time()
         """Apply first k slider values to robot joints."""
         robot.set_target(vals)
         # viewer iframe persists; nothing to update there
-        return gr.update()
+        dt = time.time() - last_call_time
+        logging.debug(f"on_sliders total took {dt*1000:.2f} ms")
 
     # Wire all sliders to the same handler (fixed signature via *vals)
     for s in sliders:
-        s.change(on_sliders, inputs=sliders, outputs=viewer, queue=True)
+        s.change(on_sliders, inputs=sliders, outputs=None, queue=False, stream_every=0.1)
 
     # On app load, configure sliders for the initial robot
     def _initial():

robot.py

@@ -3,6 +3,8 @@ import time
 
 import meshcat
 import meshcat.geometry as g
+import logging
+logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(message)s")
 
 import pinocchio as pin
 from pinocchio.visualize import MeshcatVisualizer
@@ -24,7 +26,7 @@ class LiveReachyMini:
     """
     def __init__(self):
         self.vis = meshcat.Visualizer(zmq_url="tcp://127.0.0.1:6001")
-        print(f"Zmq URL: {self.vis.window.zmq_url}, web URL: {self.vis.window.web_url}")
+        logging.info(f"Zmq URL: {self.vis.window.zmq_url}, web URL: {self.vis.window.web_url}")
 
 
         self.rdata = robot
@@ -63,7 +65,7 @@ class LiveReachyMini:
         try:
             self.viz.display(self.q)  
         except Exception as e:
-            print(f"Error setting robot joints: {e}")
+            logging.error(f"Error setting robot joints: {e}")
 
 
 
@@ -81,19 +83,19 @@ class LiveReachyMini:
         T_head = tf.translation_matrix((x, y, z)) @ tf.euler_matrix(
             r, p, yaw
         )
-        solver.ik(T_head, body_yaw=vals[0], no_iterations=32)
+        #T_head[2,3] += t  # add some vertical bobbing
+        solver.ik(T_head, body_yaw=vals[0], no_iterations=5)
         q = solver.robot_ik.state.q.copy()
         
         # set antennas
         q [ self.model.getJointId("left_antenna") + 6 -1 ] = vals[7]
         q [ self.model.getJointId("right_antenna") + 6 -1 ] = vals[8]
-                
+         
         try:
             self.viz.display(q)
             self.q = q
         except Exception as e:
-            print(f"Error setting robot joints: {e}")
-            
+            logging.error(f"Error setting robot joints: {e}")
 
     def neutral(self):
         self.q = pin.neutral(self.model)