Enhance mujoco_server.py to include joint targets in state broadcasting and update UI synchronization

- Added joint targets retrieval in the broadcast_state function to improve control feedback.
- Updated the UI to synchronize joint sliders with joint targets instead of actual positions.
- Modified target position synchronization to reflect target values rather than actual end-effector positions, enhancing clarity in user controls.

mujoco_server.py

@@ -173,6 +173,7 @@ def broadcast_state():
             target_euler = env.get_target_orientation()
             gripper = env.get_gripper()
             joint_pos = env.get_joint_positions()
+            joint_targets = env.get_joint_targets()
             control_mode = env.get_control_mode()
             use_orientation = env.get_use_orientation()
 
@@ -186,6 +187,7 @@ def broadcast_state():
                     'target_orientation': {'roll': float(target_euler[0]), 'pitch': float(target_euler[1]), 'yaw': float(target_euler[2])},
                     'gripper': float(gripper),
                     'joint_positions': [float(j) for j in joint_pos],
+                    'joint_targets': [float(j) for j in joint_targets],
                     'control_mode': control_mode,
                     'use_orientation': use_orientation,
                     'steps': int(steps)
@@ -941,27 +943,42 @@ def index():
                                     ((255 - data.gripper) / 255 * 100).toFixed(0) + '% open';
                                 document.getElementById('arm_step_val').innerText = data.steps;
 
-                                // Update joint position display and sync sliders
+                                // Update joint position display (actual positions)
                                 if (data.joint_positions) {
                                     const jp = data.joint_positions;
                                     document.getElementById('joint_pos_display').innerText =
                                         jp.map(j => j.toFixed(2)).join(', ');
-                                    // Sync joint sliders with actual positions
+                                }
+
+                                // Sync joint sliders with joint targets (not actual positions)
+                                if (data.joint_targets) {
+                                    const jt = data.joint_targets;
                                     for (let i = 0; i < 6; i++) {
-                                        document.getElementById('joint_' + i).value = jp[i];
-                                        document.getElementById('joint_' + i + '_val').innerText = jp[i].toFixed(2);
+                                        document.getElementById('joint_' + i).value = jt[i];
+                                        document.getElementById('joint_' + i + '_val').innerText = jt[i].toFixed(2);
                                     }
                                 }
 
-                                // Sync IK target sliders with actual EE position
-                                if (data.end_effector) {
-                                    const ee = data.end_effector;
-                                    document.getElementById('target_x').value = ee.x;
-                                    document.getElementById('target_x_val').innerText = ee.x.toFixed(2);
-                                    document.getElementById('target_y').value = ee.y;
-                                    document.getElementById('target_y_val').innerText = ee.y.toFixed(2);
-                                    document.getElementById('target_z').value = ee.z;
-                                    document.getElementById('target_z_val').innerText = ee.z.toFixed(2);
+                                // Sync IK target sliders with target position (not actual EE)
+                                if (data.target) {
+                                    const target = data.target;
+                                    document.getElementById('target_x').value = target.x;
+                                    document.getElementById('target_x_val').innerText = target.x.toFixed(2);
+                                    document.getElementById('target_y').value = target.y;
+                                    document.getElementById('target_y_val').innerText = target.y.toFixed(2);
+                                    document.getElementById('target_z').value = target.z;
+                                    document.getElementById('target_z_val').innerText = target.z.toFixed(2);
+                                }
+
+                                // Sync orientation sliders with target orientation
+                                if (data.target_orientation) {
+                                    const ori = data.target_orientation;
+                                    document.getElementById('target_roll').value = ori.roll;
+                                    document.getElementById('target_roll_val').innerText = ori.roll.toFixed(2);
+                                    document.getElementById('target_pitch').value = ori.pitch;
+                                    document.getElementById('target_pitch_val').innerText = ori.pitch.toFixed(2);
+                                    document.getElementById('target_yaw').value = ori.yaw;
+                                    document.getElementById('target_yaw_val').innerText = ori.yaw.toFixed(2);
                                 }
 
                                 // Update control mode display