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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Reachy Mini - Basic Example</title>
<style>
* { margin: 0; padding: 0; box-sizing: border-box; }
body {
font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', sans-serif;
padding: 40px 20px;
max-width: 600px;
margin: 0 auto;
background: #f5f5f5;
}
h1 {
font-size: 24px;
margin-bottom: 8px;
color: #333;
}
.subtitle {
color: #666;
margin-bottom: 32px;
font-size: 14px;
}
.card {
background: white;
border-radius: 12px;
padding: 24px;
margin-bottom: 16px;
box-shadow: 0 1px 3px rgba(0,0,0,0.1);
}
.card h2 {
font-size: 16px;
margin-bottom: 16px;
color: #333;
}
button {
width: 100%;
padding: 12px 20px;
font-size: 14px;
font-weight: 500;
border: none;
border-radius: 8px;
cursor: pointer;
transition: all 0.2s;
margin-bottom: 8px;
font-family: inherit;
}
.btn-primary {
background: #2563eb;
color: white;
}
.btn-primary:hover { background: #1d4ed8; }
.btn-primary:disabled { background: #93c5fd; cursor: not-allowed; }
.btn-success {
background: #16a34a;
color: white;
}
.btn-success:hover { background: #15803d; }
.btn-success:disabled { background: #86efac; cursor: not-allowed; }
.btn-danger {
background: #dc2626;
color: white;
}
.btn-danger:hover { background: #b91c1c; }
.btn-secondary {
background: #f3f4f6;
color: #374151;
border: 1px solid #e5e7eb;
}
.btn-secondary:hover { background: #e5e7eb; }
.btn-secondary:disabled { opacity: 0.5; cursor: not-allowed; }
.status {
display: inline-block;
padding: 4px 12px;
border-radius: 12px;
font-size: 12px;
font-weight: 500;
margin-bottom: 16px;
}
.status-disconnected {
background: #fee2e2;
color: #dc2626;
}
.status-connected {
background: #dcfce7;
color: #16a34a;
}
#output {
background: #f9fafb;
padding: 16px;
border-radius: 8px;
font-family: 'Monaco', 'Menlo', monospace;
font-size: 12px;
line-height: 1.6;
color: #374151;
max-height: 300px;
overflow-y: auto;
margin-top: 16px;
}
.output-line {
margin-bottom: 4px;
}
.note {
background: #fef3c7;
border: 1px solid #fde047;
padding: 12px;
border-radius: 8px;
font-size: 13px;
color: #854d0e;
margin-bottom: 16px;
}
</style>
</head>
<body>
<h1>🤖 Reachy Mini Control</h1>
<p class="subtitle">Basic control example</p>
<div class="note">
<strong>Note:</strong> Use Chrome or Edge browser. Make sure your Reachy Mini is connected via USB or the WebSocket server is running on localhost:8000.
</div>
<div class="card">
<h2>Connection</h2>
<div id="status-indicator" class="status status-disconnected">Disconnected</div>
<button id="btn-connect" class="btn-primary">Connect to Robot</button>
</div>
<div class="card">
<h2>Motor Control</h2>
<button id="btn-torque-on" class="btn-success" disabled>Enable Torque</button>
<button id="btn-torque-off" class="btn-secondary" disabled>Disable Torque</button>
</div>
<div class="card">
<h2>Kinematics Test</h2>
<button id="btn-fk" class="btn-secondary" disabled>Test Forward Kinematics</button>
<button id="btn-ik" class="btn-secondary" disabled>Test Inverse Kinematics</button>
</div>
<div class="card">
<h2>Recording</h2>
<button id="btn-record" class="btn-secondary" disabled>Record (10s)</button>
<button id="btn-replay" class="btn-secondary" disabled>Replay</button>
<button id="btn-stop" class="btn-danger" disabled>Stop</button>
</div>
<div class="card">
<h2>Console Output</h2>
<div id="output"></div>
</div>
<script type="module">
// Import WASM module and functions from unpkg (published version)
import init, {
connect,
torque_on,
torque_off,
forward_kinematics,
inverse_kinematics,
record,
replay,
stop
} from 'https://unpkg.com/reachy-mini@0.2.1/index.js';
// Elements
const btnConnect = document.getElementById('btn-connect');
const btnTorqueOn = document.getElementById('btn-torque-on');
const btnTorqueOff = document.getElementById('btn-torque-off');
const btnFK = document.getElementById('btn-fk');
const btnIK = document.getElementById('btn-ik');
const btnRecord = document.getElementById('btn-record');
const btnReplay = document.getElementById('btn-replay');
const btnStop = document.getElementById('btn-stop');
const statusIndicator = document.getElementById('status-indicator');
const output = document.getElementById('output');
let isConnected = false;
// Logging
function log(message, type = 'info') {
const line = document.createElement('div');
line.className = 'output-line';
const timestamp = new Date().toLocaleTimeString();
const icon = type === 'success' ? '✓' : type === 'error' ? '✗' : 'ℹ';
line.textContent = `[${timestamp}] ${icon} ${message}`;
output.appendChild(line);
output.scrollTop = output.scrollHeight;
}
// Initialize WASM (serial helpers auto-exposed to window!)
try {
await init();
log('WASM module loaded successfully', 'success');
} catch (err) {
log(`Failed to load WASM module: ${err.message}`, 'error');
log('Please make sure you are running this from a local server (not file://)', 'error');
}
// Connection
btnConnect.addEventListener('click', async () => {
try {
btnConnect.disabled = true;
btnConnect.textContent = 'Connecting...';
log('Attempting to connect to Reachy Mini...');
await connect();
isConnected = true;
statusIndicator.textContent = 'Connected';
statusIndicator.className = 'status status-connected';
btnConnect.textContent = 'Connected';
// Enable other buttons
[btnTorqueOn, btnTorqueOff, btnFK, btnIK, btnRecord, btnReplay, btnStop].forEach(btn => {
btn.disabled = false;
});
log('Successfully connected to Reachy Mini!', 'success');
} catch (err) {
btnConnect.disabled = false;
btnConnect.textContent = 'Connect to Robot';
log(`Connection failed: ${err.message}`, 'error');
}
});
// Torque Control
btnTorqueOn.addEventListener('click', async () => {
try {
log('Enabling torque...');
await torque_on();
log('Torque enabled', 'success');
} catch (err) {
log(`Error: ${err.message}`, 'error');
}
});
btnTorqueOff.addEventListener('click', async () => {
try {
log('Disabling torque...');
await torque_off();
log('Torque disabled', 'success');
} catch (err) {
log(`Error: ${err.message}`, 'error');
}
});
// Forward Kinematics
btnFK.addEventListener('click', () => {
try {
log('Testing forward kinematics...');
const angles = [0, 0, 0, 0, 0, 0, 0, 0]; // All motors at 0 degrees
const pose = forward_kinematics(angles);
log(`Input angles: [${angles.join(', ')}]`);
log(`Output pose [x, y, z, roll, pitch, yaw]: [${pose.map(v => v.toFixed(2)).join(', ')}]`, 'success');
} catch (err) {
log(`Error: ${err.message}`, 'error');
}
});
// Inverse Kinematics
btnIK.addEventListener('click', () => {
try {
log('Testing inverse kinematics...');
const pose = [0, 0, 0, 0, 0, 0]; // x, y, z, roll, pitch, yaw
const joints = inverse_kinematics(pose);
log(`Input pose [x, y, z, roll, pitch, yaw]: [${pose.join(', ')}]`);
log(`Output joints (degrees): [${joints.map(v => v.toFixed(2)).join(', ')}]`, 'success');
} catch (err) {
log(`Error: ${err.message}`, 'error');
}
});
// Recording
btnRecord.addEventListener('click', async () => {
try {
log('Recording movement for 10 seconds...');
btnRecord.disabled = true;
await record();
btnRecord.disabled = false;
log('Recording complete', 'success');
} catch (err) {
btnRecord.disabled = false;
log(`Error: ${err.message}`, 'error');
}
});
btnReplay.addEventListener('click', async () => {
try {
log('Replaying recorded movement...');
btnReplay.disabled = true;
await replay();
btnReplay.disabled = false;
log('Replay complete', 'success');
} catch (err) {
btnReplay.disabled = false;
log(`Error: ${err.message}`, 'error');
}
});
btnStop.addEventListener('click', async () => {
try {
log('Stopping current operation...');
await stop();
log('Stopped', 'success');
} catch (err) {
log(`Error: ${err.message}`, 'error');
}
});
log('Ready to connect. Click "Connect to Robot" to begin.');
</script>
</body>
</html>
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