diff --git a/.gitignore b/.gitignore index 4c49bd78f1d08f2bc09fa0bd8191ed38b7dce5e3..2918086ef9abe5e94e86580667f63d4108f7f45e 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,4 @@ .env +.reference/ +app/.npm-cache/ +app/test-results/ diff --git a/app/package-lock.json b/app/package-lock.json index 8e590e64f812d4f763bb5bd7597e9406ee13cc56..65d0822f7aa17fe5a3008f7b1d064133ef42ae09 100644 --- a/app/package-lock.json +++ b/app/package-lock.json @@ -21,6 +21,7 @@ "zustand": "^5.0.15" }, "devDependencies": { + "@playwright/test": "^1.63.0", "@vitejs/plugin-react": "^6.1.0", "vite": "^8.2.2" } @@ -222,7 +223,6 @@ "resolved": "https://registry.npmjs.org/@emotion/react/-/react-11.14.0.tgz", "integrity": "sha512-O000MLDBDdk/EohJPFUqvnp4qnHeYkVP5B0xEG0D/L7cOKP9kefu2DXn8dj74cQfsEzUqh+sr1RzFqiL1o+PpA==", "license": "MIT", - "peer": true, "dependencies": { "@babel/runtime": "^7.18.3", "@emotion/babel-plugin": "^11.13.5", @@ -266,7 +266,6 @@ "resolved": "https://registry.npmjs.org/@emotion/styled/-/styled-11.14.1.tgz", "integrity": "sha512-qEEJt42DuToa3gurlH4Qqc1kVpNq8wO8cJtDzU46TjlzWjDlsVyevtYCRijVq3SrHsROS+gVQ8Fnea108GnKzw==", "license": "MIT", - "peer": true, "dependencies": { "@babel/runtime": "^7.18.3", "@emotion/babel-plugin": "^11.13.5", @@ -579,6 +578,22 @@ "url": "https://github.com/sponsors/Boshen" } }, + "node_modules/@playwright/test": { + "version": "1.63.0", + "resolved": "https://registry.npmjs.org/@playwright/test/-/test-1.63.0.tgz", + "integrity": "sha512-oxMK4vllB9RK5NQ2l1pq1IfOf2AvnEuj/vYGDj0H2nMtmtZpKtCwt/l00GEO6xjGfpBNAvjovvYdCm50dRQkpQ==", + "dev": true, + "license": "Apache-2.0", + "dependencies": { + "playwright": "1.63.0" + }, + "bin": { + "playwright": "cli.js" + }, + "engines": { + "node": ">=20" + } + }, "node_modules/@popperjs/core": { "version": "2.11.8", "resolved": "https://registry.npmjs.org/@popperjs/core/-/core-2.11.8.tgz", @@ -1814,7 +1829,6 @@ "integrity": "sha512-RvwwcruNjI1ncT5xRakeyS9Lf8lcItv34KD+aif+VH9kduAyfYBipGh12274xtenIPZ119/R9BdTBa8gAwSh0A==", "dev": true, "license": "MIT", - "peer": true, "engines": { "node": ">=12" }, @@ -1828,6 +1842,35 @@ "integrity": "sha512-fnWVljUchTro6RiCFvCXBbNhJc2NijN7oIQxbwsyL0buWJPG85v81ehlHI9fXrJsMNgTofEoWIQeClKpgxFLrg==", "license": "MIT" }, + "node_modules/playwright": { + "version": "1.63.0", + "resolved": "https://registry.npmjs.org/playwright/-/playwright-1.63.0.tgz", + "integrity": "sha512-+7ziBLidS4NaNCdt57SUDT+wYmmd5fmiQejUic/kb+YsYSCPyOOE9sebzMjNmQrsnNpDJqd4WHvV/8lfKfUDUg==", + "dev": true, + "license": "Apache-2.0", + "dependencies": { + "playwright-core": "1.63.0" + }, + "bin": { + "playwright": "cli.js" + }, + "engines": { + "node": ">=20" + } + }, + "node_modules/playwright-core": { + "version": "1.63.0", + "resolved": "https://registry.npmjs.org/playwright-core/-/playwright-core-1.63.0.tgz", + "integrity": "sha512-rYCsBF/M5HjUch52bbtVONEFjv6Xu8sm8h72dNlR5bzIE1fvC/bxgspzkjSfU+MweEMmPM8KJebG6nnyxo5mCg==", + "dev": true, + "license": "Apache-2.0", + "bin": { + "playwright-core": "cli.js" + }, + "engines": { + "node": ">=20" + } + }, "node_modules/postcss": { "version": "8.5.26", "resolved": "https://registry.npmjs.org/postcss/-/postcss-8.5.26.tgz", @@ -1902,7 +1945,6 @@ "resolved": "https://registry.npmjs.org/react/-/react-19.2.8.tgz", "integrity": "sha512-PWaYA1L/q9u2u7xYQi+Y3L3Yfnie7XyLeaJICV1MGD6LprsBxcAqGjYyr0eY3p+QdsA+x/Irkt4Qif8D63+Sbw==", "license": "MIT", - "peer": true, "engines": { "node": ">=0.10.0" } @@ -1912,7 +1954,6 @@ "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-19.2.8.tgz", "integrity": "sha512-rVprimfGBG3DR+Tq0IQG2DT5PxKth1WIGDmj5yPmlzr4YBe7uyE+Du4oVqTDXZSHGGGXRtTJEGSSePyQCMBglQ==", "license": "MIT", - "peer": true, "dependencies": { "scheduler": "^0.27.0" }, @@ -2077,8 +2118,7 @@ "version": "0.164.1", "resolved": "https://registry.npmjs.org/three/-/three-0.164.1.tgz", "integrity": "sha512-iC/hUBbl1vzFny7f5GtqzVXYjMJKaTPxiCxXfrvVdBi1Sf+jhd1CAkitiFwC7mIBFCo3MrDLJG97yisoaWig0w==", - "license": "MIT", - "peer": true + "license": "MIT" }, "node_modules/tinyglobby": { "version": "0.2.17", @@ -2127,7 +2167,6 @@ "integrity": "sha512-cFKLV/PRgAUlIRm5WjMjJ86jrftzpqcgH+Us+DS8mI3CDNiH30Whrz8uHL3+MOLPAgqbMBAqWdAHAphOAM+z/Q==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "lightningcss": "^1.33.0", "picomatch": "^4.0.5", diff --git a/app/package.json b/app/package.json index 2302af769fe9049d9897cf8abbeebebb3c2d093a..8c0741889c6367540adc3ac85ff53c440236962f 100644 --- a/app/package.json +++ b/app/package.json @@ -23,6 +23,7 @@ "zustand": "^5.0.15" }, "devDependencies": { + "@playwright/test": "^1.63.0", "@vitejs/plugin-react": "^6.1.0", "vite": "^8.2.2" } diff --git a/app/plan.md b/app/plan.md new file mode 100644 index 0000000000000000000000000000000000000000..8a65089da83f1fd80d89f3aa744299f43119b6e1 --- /dev/null +++ b/app/plan.md @@ -0,0 +1,24 @@ +# Shared browser simulator + +User-approved scope: retain Vite, React, Three.js, MuJoCo WASM and all Microduck ONNX policies and input capabilities. Add official Reachy Mini in the same physics world, left of Microduck, facing it. No Python runtime, daemon, Gradio, or iframe. + +## Inspection + +Reviewed the existing source tree, assets, model variants, control/policy loop, UI, rendering effects, audio, ghosts, tests and deployment. Read upstream reachy_mini/AGENTS.md and setup guidance. Hardware/host-shell setup does not apply to this explicitly browser-only simulator. The user's detailed request supplies the architecture and implementation authorization. + +Reviewed official Reachy MJCF, SDK AnalyticalKinematics/RecordedMove, desktop app GLTFRobot and its legacy passive-joint Rust/WASM helper, and the SDK's Rust inverse-kinematics implementation. Use calibrated upstream equations, not newly derived Stewart math. + +## Phases + +1. Vendor pinned official model/assets and compose through native MJCF model attachment with a prefix. Render Reachy from shared MuJoCo body transforms. Preserve Microduck joint/actuator addressing and both locomotion variants. Frame both robots. Run tests/build and physics checks. +2. Add independent left/right panels, Reachy pose/sequence/custom queue playback, preserve keyboard/gamepad/touch and all Microduck actions. Run tests/build. +3. Add exclusive asynchronous emotion orchestration: Microduck completion, speech completion, official Reachy recording completion, unlock. Use simulation-clock promises and audio/speech completion events, cancellation and error cleanup. Run tests/build and browser checks. + +## Resolved choices + +- Runtime: entirely in browser (provided by user). +- Emotion mapping: joy/cheerful1, sadness/sad1, anger/furious1 (provided). +- Speech: English browser synthesis behind reachySay(text) (provided). +- Model variant: standard official Reachy Mini MJCF, its fixed base retained. +- Custom units: translation in mm, angles in degrees, duration in seconds. +- No deployment or external publication requested. diff --git a/app/playwright.config.js b/app/playwright.config.js new file mode 100644 index 0000000000000000000000000000000000000000..67726e15b6ab7253ea505d1bc541fc6f0563a980 --- /dev/null +++ b/app/playwright.config.js @@ -0,0 +1,18 @@ +import { defineConfig } from "@playwright/test"; + +export default defineConfig({ + testDir: "./test/browser", + timeout: 120_000, + workers: 1, + use: { + baseURL: "http://127.0.0.1:5173", + channel: process.env.PLAYWRIGHT_CHANNEL || (process.platform === "win32" ? "msedge" : undefined), + viewport: { width: 1440, height: 900 }, + launchOptions: { args: ["--enable-unsafe-swiftshader"] }, + }, + webServer: { + command: "npm run dev -- --host 127.0.0.1", + url: "http://127.0.0.1:5173", + reuseExistingServer: !process.env.CI, + }, +}); diff --git a/app/public/robot/reachy/LICENSE b/app/public/robot/reachy/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..2bae156ba764607d491a34535fb0fb5a02022793 --- /dev/null +++ b/app/public/robot/reachy/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2025 Pollen Robotics + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/app/public/robot/reachy/SOURCES.md b/app/public/robot/reachy/SOURCES.md new file mode 100644 index 0000000000000000000000000000000000000000..7dfed9b5427a4de2c7a80cec72b7e3b3363a1bf7 --- /dev/null +++ b/app/public/robot/reachy/SOURCES.md @@ -0,0 +1,11 @@ +# Reachy Mini source provenance + +- MJCF, meshes, calibration: https://github.com/pollen-robotics/reachy_mini/tree/234a978e4426895fc88d864e7f154643aea77f53/src/reachy_mini +- `reachy_mini.xml` is the unmodified official model. The application attaches its root body with prefix `reachy/` and translates it to the left of the arena. Its collision geometry, inertia, actuator parameters and five loop closures are preserved. +- Apache-2.0 license: LICENSE in this directory. +- SDK analytical wrapper and recorded playback inspected at the same revision. +- Desktop implementation inspected: https://github.com/pollen-robotics/reachy-mini-desktop-app/tree/467ad30e00855cd5051c8483fed00b4e00b57d1a (GLTFRobot.tsx, kinematics-wasm/src/lib.rs). +- SDK inverse kinematics source: https://github.com/pollen-robotics/reachy_mini_rust_kinematics/tree/c76e0d6c7f27119ad9d2501185fd915cc40217da (inverse_kinematics and inverse_kinematics_safe). +- `emotions/` JSON and OGG pairs come from the pinned official `pollen-robotics/reachy-mini-emotions-library` dataset; the browser uses the recorded JSON tracks and keeps OGG files available for fixed-audio replacement. + +No Python daemon or desktop application is executed by this Space. diff --git a/app/public/robot/reachy/assets/5w_speaker.part b/app/public/robot/reachy/assets/5w_speaker.part new file mode 100644 index 0000000000000000000000000000000000000000..6f80a7f4768ea5f77f48010ef5d230629fb50f6f --- /dev/null +++ b/app/public/robot/reachy/assets/5w_speaker.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "7836ed39be931c6ece17e007", + "documentMicroversion": "ac3fd0c16468a1e3078617de", + "elementId": "48f0e86376312f8ca242a082", + "fullConfiguration": "default", + "id": "MUIOPFRAXdyRYA5/y", + "isStandardContent": false, + "name": "5W_SPEAKER <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/app/public/robot/reachy/assets/5w_speaker.stl b/app/public/robot/reachy/assets/5w_speaker.stl new file mode 100644 index 0000000000000000000000000000000000000000..00a29236bdb8101ddee079de562870f3a5877e12 --- /dev/null +++ b/app/public/robot/reachy/assets/5w_speaker.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89c220ac5fa6dd559fcd2f3faccb7197904ab6b882ccf5d2ad04b17a09d58b98 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https://git-lfs.github.com/spec/v1 +oid sha256:01f894d2eb9cdc94e7c45944cabb6fa84074e33fb45c3ab9974744bc0e43a9cb +size 1048584 diff --git a/app/public/robot/reachy/assets/antenna_body_3dprint.part b/app/public/robot/reachy/assets/antenna_body_3dprint.part new file mode 100644 index 0000000000000000000000000000000000000000..39083713cdf080c883efff3c26670ee231dd0409 --- /dev/null +++ b/app/public/robot/reachy/assets/antenna_body_3dprint.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "7836ed39be931c6ece17e007", + "documentMicroversion": "ac3fd0c16468a1e3078617de", + "elementId": "41e19b342cf83e0d866fde9b", + "fullConfiguration": "default", + "id": "M6OWFp5hfkfES9FmB", + "isStandardContent": false, + "name": "Antenna_body_3DPrint <2>", + "partId": "JF/", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/app/public/robot/reachy/assets/antenna_body_3dprint.stl b/app/public/robot/reachy/assets/antenna_body_3dprint.stl new file mode 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diff --git a/app/public/robot/reachy/emotions/cheerful1.json b/app/public/robot/reachy/emotions/cheerful1.json new file mode 100644 index 0000000000000000000000000000000000000000..9c40d81d09c6cec2dd1195c65a4b89fb43cf0eb1 --- /dev/null +++ b/app/public/robot/reachy/emotions/cheerful1.json @@ -0,0 +1 @@ +{"description":"It is like whistling. Use it when someone makes you a proposal that makes you 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\ No newline at end of file diff --git a/app/public/robot/reachy/emotions/furious1.ogg b/app/public/robot/reachy/emotions/furious1.ogg new file mode 100644 index 0000000000000000000000000000000000000000..946a0daf45c938fd0aff9732ed1ffbed64d18bf1 Binary files /dev/null and b/app/public/robot/reachy/emotions/furious1.ogg differ diff --git a/app/public/robot/reachy/emotions/reprimand2.json b/app/public/robot/reachy/emotions/reprimand2.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca7ab27b7c2557a2573f41f058cbd25c772c7d6 --- /dev/null +++ b/app/public/robot/reachy/emotions/reprimand2.json @@ -0,0 +1 @@ +{"description":"A longer version of reprimand1, used when you\u2019re getting angry at 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\ No newline at end of file diff --git a/app/public/robot/reachy/emotions/sad1.ogg b/app/public/robot/reachy/emotions/sad1.ogg new file mode 100644 index 0000000000000000000000000000000000000000..9c218b4de923ad30c8481078146e70f36a7fd35e Binary files /dev/null and b/app/public/robot/reachy/emotions/sad1.ogg differ diff --git a/app/public/robot/reachy/kinematics_data.json b/app/public/robot/reachy/kinematics_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c20b364f6c386f17f8cc2c3901df873583fc1d31 --- /dev/null +++ b/app/public/robot/reachy/kinematics_data.json @@ -0,0 +1,253 @@ +{ + "motor_arm_length": 0.04000000000000001, + "rod_length": 0.08499999999999995, + "head_z_offset": 0.177, + "motors": [ + { + "name": "stewart_1", + "branch_frame": "closing_1_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + 0.8660247915798898, + -0.5000010603626028, + -2.298079077119539e-06, + -0.009999848080267933 + ], + [ + 4.490195936008854e-06, + 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+ }, + { + "name": "stewart_3", + "branch_frame": "closing_3_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + 6.326794896519466e-06, + 0.9999999999799852, + -7.0550646912150425e-12, + -0.009999884140839245 + ], + [ + -1.0196153102346142e-06, + 1.3505961633338446e-11, + 0.9999999999994795, + -0.07663346037438698 + ], + [ + 0.9999999999794655, + -6.326794896940104e-06, + 1.0196153098685706e-06, + 0.036660683387545835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + -0.029172011376922807, + 0.0069999429399361995, + 4.0290270064691214e-08 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_4", + "branch_frame": "closing_4_2", + "offset": 0, + "solution": 1, + "T_motor_world": [ + [ + -3.673205069955933e-06, + -0.9999999999932537, + -6.767968877969483e-14, + -0.010000000000897517 + ], + [ + 1.0196153102837198e-06, + -3.6775764393585005e-12, + -0.9999999999994795, + 0.0766334603742898 + ], + [ + 0.9999999999927336, + -3.673205070385213e-06, + 1.0196153102903487e-06, + 0.03666065685180194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + -0.029172040355214434, + -0.0069999960097160766, + -3.1608172912367394e-08 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_5", + "branch_frame": "closing_5_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + -0.8660284647694133, + -0.4999946981757419, + 2.298079429767357e-06, + -0.010000231529504576 + ], + [ + 4.490172883391843e-06, + -3.1811099293773187e-06, + 0.9999999999848591, + -0.07663346037246624 + ], + [ + -0.4999946981608617, + 0.8660284647666201, + 4.999994384073154e-06, + 0.03666016059492482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + 0.008523809101930114, + -0.028763713010385224, + -1.4344916837716326e-07 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_6", + "branch_frame": "passive_7_link_y", + "offset": 0, + "solution": 1, + "T_motor_world": [ + [ + 0.8660247915798897, + 0.5000010603626025, + -2.298069644866714e-06, + -0.009999527331574583 + ], + [ + -4.490196220318687e-06, + 3.1810964558725514e-06, + -0.9999999999848591, + 0.07663346037272492 + ], + [ + -0.500001060347722, + 0.8660247915770967, + 5.000011266610794e-06, + 0.036660231042625266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + 0.020648186722822436, + -0.02176369606185343, + -8.957920105689965e-08 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + } + ] +} \ No newline at end of file diff --git a/app/public/robot/reachy/reachy_mini.xml b/app/public/robot/reachy/reachy_mini.xml new file mode 100644 index 0000000000000000000000000000000000000000..e9b230a749d174ce64296711dd38c4da2381a1b9 --- /dev/null +++ b/app/public/robot/reachy/reachy_mini.xml @@ -0,0 +1,642 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/app/src/App.jsx b/app/src/App.jsx index fb4246064292658958bffdbdfdf9bb7938f0db9d..cb5992e92a2a4549af593a79d8ec5887fb656a1c 100644 --- a/app/src/App.jsx +++ b/app/src/App.jsx @@ -10,6 +10,9 @@ import Hud from "./ui/Hud.jsx"; import TouchOverlay from "./ui/TouchOverlay.jsx"; import BiosOverlay from "./ui/BiosOverlay.jsx"; import TitleMenu from "./ui/TitleMenu.jsx"; +import ReachyControls from "./ui/ReachyControls.jsx"; +import MicroduckControls from "./ui/MicroduckControls.jsx"; +import EmotionBar from "./ui/EmotionBar.jsx"; import { useGame } from "./store.js"; export default function App() { @@ -64,6 +67,9 @@ export default function App() { + + + diff --git a/app/src/game/audio.js b/app/src/game/audio.js index 13e95cc4c87369efca38466c77e6c07f1e120da5..0aed3f51a74a2f4bf28962e50505f3a17cc3e24e 100644 --- a/app/src/game/audio.js +++ b/app/src/game/audio.js @@ -21,7 +21,7 @@ import { signed } from "./signed.js"; // point early-returns, master gain pinned to 0, context never resumed). // Node-returning helpers (busNode, createEmitter) keep building their // graph either way so callers stay untouched. -const SOUND_DISABLED = true; +const SOUND_DISABLED = false; // ── Context, master, buses ──────────────────────────────────────────── const MASTER_LEVEL = 0.9; @@ -43,6 +43,13 @@ export function audioCtx() { master = ctx.createGain(); master.gain.value = SOUND_DISABLED || muted ? 0 : MASTER_LEVEL; master.connect(ctx.destination); + // Expose a monitor stream for recordings. It mirrors the master mix while + // leaving the normal speaker output unchanged. + try { + const capture = ctx.createMediaStreamDestination(); + master.connect(capture); + window.__audioCaptureStream = capture.stream; + } catch { /* MediaStreamDestination is unavailable in a few browsers. */ } for (const [name, level] of Object.entries(BUS_LEVELS)) { const g = ctx.createGain(); g.gain.value = level; diff --git a/app/src/game/constants.js b/app/src/game/constants.js index 88c901d37f30b35499894b90341a6c9f61b42b96..faae74d4bea5fdba78b899d249e7a20738ba55d9 100644 --- a/app/src/game/constants.js +++ b/app/src/game/constants.js @@ -113,5 +113,5 @@ export const RELIEF_RATE = 0.6; // raise/sink rate, scale units per second // local +X), so "back" is the -X wall: row centers sit at x = -1.2, // -0.6, 0, 0.6, 1.2 -> second row is -0.6; middle column is y = 0. // MJCF coordinates (three.js: x -> x, y -> -z). -export const SPAWN_X = -ARENA_HALF + 1.5 * GRID_SECTION; // -0.6 +export const SPAWN_X = 0.35; export const SPAWN_Y = 0; diff --git a/app/src/game/controls/keyboard.js b/app/src/game/controls/keyboard.js index 5bd76235da0621673e771def923c6ed69d86b48b..44b4d59fa8449162b0d32c214ba78cba78cc2148 100644 --- a/app/src/game/controls/keyboard.js +++ b/app/src/game/controls/keyboard.js @@ -48,6 +48,7 @@ export class KeyboardSource { init() { this.#onKeyDown = (e) => { + if (e.target?.closest?.("input, select, textarea, button, [contenteditable=true]")) return; if (e.repeat) return; // Space always resets, and must not scroll the page. if (e.code === "Space") { diff --git a/app/src/game/game.js b/app/src/game/game.js index 4b6aa6a4ee1d4aa745c77b343e9ca2e6422372db..1b72ff13a53a4c0dd87589278debf51a0f2679ed 100644 --- a/app/src/game/game.js +++ b/app/src/game/game.js @@ -22,6 +22,13 @@ // flow back in through gameApi. import * as THREE from "three"; +import { loadReachyAssets, registerReachyAssets, attachReachy, captureReachyState, restoreReachyState } from "./reachy/reachyWorld.js"; +import { buildReachyRig } from "./reachy/reachyRig.js"; +import { createReachyController } from "./reachy/reachyController.js"; +import { INITIAL_MOTOR_POSITIONS, MOTOR_NAMES } from "./reachy/reachyKinematics.js"; +import { createEmotionController } from "./emotions/emotionController.js"; +import { createScriptController } from "./scriptController.js"; +import { createSimulationTimeline } from "./simulationTimeline.js"; import { OrbitControls } from "three/addons/controls/OrbitControls.js"; import { GLTFLoader } from "three/addons/loaders/GLTFLoader.js"; import { signed } from "./signed.js"; @@ -243,30 +250,20 @@ async function boot({ scene, camera, renderer }) { name: "terrain", type: "hfield", hfield: "terrain", pos: `0 0 ${-RELIEF_SINK}`, })); - // STAND keyframe from mjlab's scene_walk.xml. qpos must cover every - // joint in document order: the 14 actuated hinges take DEFAULT_POSE by - // name, anything else (the roller variant's passive wheels) starts at - // zero. The ball's 7 free-joint values MUST be appended or nq won't - // match; parked 50 m away = effectively absent. - const qposFree = `${SPAWN_X} ${SPAWN_Y} 0.12 1 0 0 0`; - const poseByName = new Map(JOINT_NAMES.map((n, i) => [n, DEFAULT_POSE[i]])); - const qposJoints = [...doc.querySelectorAll("body > joint")] - .map((j) => poseByName.get(j.getAttribute("name")) ?? 0) - .join(" "); - const pose14 = Array.from(DEFAULT_POSE).join(" "); + // Populate STAND by resolved addresses after native attachment compiles, + // including passive ball-joint quaternions from model.qpos0. const kf = doc.createElement("keyframe"); kf.appendChild(el("key", { name: "STAND", - qpos: `${qposFree} ${qposJoints} ${BALL_PARK_POS} 1 0 0 0`, - ctrl: pose14, })); root.appendChild(kf); + attachReachy(doc); const meshFiles = [...doc.querySelectorAll("asset > mesh")].map((m) => m.getAttribute("file")); return { xml: new XMLSerializer().serializeToString(doc), meshFiles }; } // ── Boot physics + policy in parallel with the render rig ──────────── - const [mujoco, { xml, meshFiles }, k] = await Promise.all([ + const [mujoco, { xml, meshFiles }, k, reachyAssets] = await Promise.all([ traced("MUJOCO WASM", loadMujocoFactory({ // Emscripten sidecar resolution: point at the Vite-emitted asset // instead of a path relative to the module's own URL. @@ -274,10 +271,18 @@ async function boot({ scene, camera, renderer }) { })), traced("PHYSICS MJCF", buildPhysicsXml("robot_allcollisions.xml")), traced("KINEMATICS", loadKinematics(`${MODEL_DIR}/kinematics.json`)), + traced("REACHY MINI", loadReachyAssets()), ]); const doneMeshes = bootLine("MESH ASSETS"); const vfs = new mujoco.MjVFS(); + registerReachyAssets(vfs, reachyAssets); + const reachyRig = buildReachyRig(reachyAssets); + scene.add(reachyRig.root); + // Expose the official visual rig as soon as its assets are ready. The + // title screen can then mount its render-only Reachy stage while the rest + // of MuJoCo and the policies continue compiling. + window.rl = { ...(window.rl ?? {}), reachyRig }; // One shared VFS for both variants; already-loaded files are skipped so // the roller lazy-load only fetches its leftover meshes. const vfsFiles = new Set(); @@ -355,6 +360,7 @@ async function boot({ scene, camera, renderer }) { let model, data; try { model = mujoco.MjModel.from_xml_string(xml, vfs); + initializeStand(model); data = new mujoco.MjData(model); } catch (err) { doneCompile("FAILED"); @@ -362,6 +368,74 @@ async function boot({ scene, camera, renderer }) { throw err; } doneCompile("COMPILED"); + const timeline = createSimulationTimeline(); + const reachy = createReachyController({ + mujoco, getWorld: () => ({ model, data }), calibration: reachyAssets.calibration, + timeline, isLocked: () => !!store().emotionBusy, + onState: (state) => setStore({ reachy: { ...store().reachy, ...state } }), + }); + const emotionRuntime = { + timeline, + start: () => { emotionOverride = true; emotionCommand.fill(0); setInputLock(true); }, + finish: () => { emotionCommand.fill(0); emotionOverride = false; setInputLock(false); headTarget.fill(0); }, + drive: (forward = 0, turn = 0) => { emotionCommand[0] = forward; emotionCommand[2] = turn; }, + head: (values) => headTarget.set(values), + mode: (next) => setMode(next, { force: true }), + quack: (...args) => quackLoud(...args), + get currentMode() { return mode; }, + get sitFlag() { return sitFlag; }, + }; + const emotions = createEmotionController({ runtime: emotionRuntime, reachy, setState: (patch) => setStore(patch) }); + const scripts = createScriptController({ setState: (patch) => setStore(patch) }); + scripts.bindWait((seconds) => timeline.wait(seconds)); + scripts.bindResolver((entry = {}) => { + const robot = String(entry.robot || entry.actor || "").toLowerCase(); + const action = String(entry.action || entry.type || "").toLowerCase(); + if (robot === "reachy-mini" || robot === "reachy") { + if (["say", "speech", "speak"].includes(action)) { + const text = String(entry.text || entry.value || ""); + return { label: `Reachy says: ${text}`, run: () => emotions.say(text) }; + } + if (["emotion", "emotions"].includes(action)) { + const emotion = String(entry.value || entry.emotion || "joy").toLowerCase(); + return { label: `Reachy ${emotion}`, run: () => emotions.playReachy(emotion) }; + } + } + if (robot === "microduck" || robot === "duck") { + if (["emotion", "emotions"].includes(action)) { + const emotion = String(entry.value || entry.emotion || "joy").toLowerCase(); + return { label: `Microduck ${emotion}`, run: () => emotions.playMicroduck(emotion) }; + } + if (["wait", "pause"].includes(action)) { + const seconds = Math.max(0, Number(entry.seconds ?? entry.duration ?? 1)); + return { label: `Microduck wait ${seconds}s`, run: () => timeline.wait(seconds) }; + } + } + if (["wait", "pause"].includes(action)) { + const seconds = Math.max(0, Number(entry.seconds ?? entry.duration ?? 1)); + return { label: `Wait ${seconds}s`, run: () => timeline.wait(seconds) }; + } + return null; + }); + + function initializeStand(m) { + const key = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_KEY.value, "STAND"); + const q = Array.from(m.qpos0); + q.splice(0, 7, SPAWN_X, SPAWN_Y, 0.12, 0, 0, 0, 1); + JOINT_NAMES.forEach((name, i) => { q[m.jnt(name).qposadr] = DEFAULT_POSE[i]; }); + MOTOR_NAMES.forEach((name, i) => { + const joint = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_JOINT.value, `reachy/${name}`); + if (joint >= 0) q[m.jnt_qposadr[joint]] = INITIAL_MOTOR_POSITIONS[i]; + }); + const ctrl = new Float64Array(m.nu); + // Resolve by transmission joint: actuator names vary between exports. + for (let i = 0; i < m.nu; i++) { + const jid = m.actuator_trnid[i * 2]; + ctrl[i] = q[m.jnt_qposadr[jid]]; + } + m.key_qpos.set(q, key * m.nq); + m.key_ctrl.set(ctrl, key * m.nu); + } // Addresses resolved once per compiled variant. qpos/qvel/sensordata // views are re-read at each use: the WASM heap can grow and detach @@ -371,6 +445,11 @@ async function boot({ scene, camera, renderer }) { return { qposAdr: JOINT_NAMES.map((n) => model.jnt(n).qposadr), dofAdr: JOINT_NAMES.map((n) => model.jnt(n).dofadr), + actuatorAdr: JOINT_NAMES.map((n) => { + const joint = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT.value, n); + for (let id = 0; id < model.nu; id++) if (model.actuator_trnid[id * 2] === joint) return id; + throw new Error(`Missing Microduck actuator for ${n}`); + }), gyroAdr: model.sensor("imu_ang_vel").adr, trunkId: mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY.value, "trunk_base"), standKeyId: mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_KEY.value, "STAND"), @@ -388,7 +467,7 @@ async function boot({ scene, camera, renderer }) { }; } // Active-variant address block, swapped wholesale by activateLoco. - let { qposAdr, dofAdr, gyroAdr, trunkId, standKeyId, ballQposAdr, ballDofAdr, extraJoints, + let { qposAdr, dofAdr, actuatorAdr, gyroAdr, trunkId, standKeyId, ballQposAdr, ballDofAdr, extraJoints, ankleIds } = resolveAddrs(model, k); // Locomotion variants stay resident once built (model + data + rig + @@ -423,7 +502,11 @@ async function boot({ scene, camera, renderer }) { getManualOverride: () => padSource.isActive() || touchSource.isActive() || kbSource.isActive(), }); // Keyboard, pad and touch preempt by priority; waypoint is the fallback. - const controller = new Controller({ sources: [padSource, touchSource, kbSource, waypointSource] }); + const panelSource = { + id: "panel", command: new Float32Array(3), + isActive() { return this.command[0] !== 0 || this.command[2] !== 0; }, + }; + const controller = new Controller({ sources: [padSource, touchSource, kbSource, panelSource, waypointSource] }); // Right-stick camera state, read by the telemetry before the camera-orbit // section below has evaluated. let padOrbitLive = false; @@ -463,7 +546,10 @@ async function boot({ scene, camera, renderer }) { // HEAD mode also zeroes it: the runtime stops the robot while the // sticks drive the head. const ZERO_CMD = new Float32Array(3); + const emotionCommand = new Float32Array(3); + let emotionOverride = false; function effectiveCmd() { + if (emotionOverride) return emotionCommand; if (inputLocked || headMode || mode === "roll" || mode === "crouch" || mode === "groundpick" || isKick() || postKickLock > 0 || recovery) return ZERO_CMD; @@ -557,6 +643,7 @@ async function boot({ scene, camera, renderer }) { } function resetSim() { + const reachyState = captureReachyState(mujoco, model, data); // A live grab must not survive a reset: the per-step spring would // immediately yank the respawned duck toward the stale cursor target. endGrabHook(); @@ -577,6 +664,8 @@ async function boot({ scene, camera, renderer }) { headTarget.fill(0); headSmooth.fill(0); mujoco.mj_resetDataKeyframe(model, data, standKeyId); + restoreReachyState(model, data, reachyState); + reachy.write(); mujoco.mj_forward(model, data); lastAction.fill(0); sitFlag = 0; @@ -604,8 +693,9 @@ async function boot({ scene, camera, renderer }) { ballActive = false; } - // Pop / respawn the ball ~0.35 m in front of the duck, with a small - // random heading + distance jitter. If the ball is already on screen, + // Pop / respawn the ball in the far corner of the arena. Keeping it away + // from the two robots makes the shared staging area readable; it remains + // available as a separate ball interaction target. If the ball is already on screen, // peel it away first (reverse scan) and pop the new one when that // finishes - same appear/disappear pair as the duck's wireframe ceremony. function spawnBall(opts = {}) { @@ -617,16 +707,10 @@ async function boot({ scene, camera, renderer }) { return; } const qpos = data.qpos, qvel = data.qvel; - const yaw = Math.atan2( - 2 * (qpos[3] * qpos[6] + qpos[4] * qpos[5]), - 1 - 2 * (qpos[5] * qpos[5] + qpos[6] * qpos[6]), - ); - const heading = yaw + (Math.random() - 0.5) * 0.7; - const dist = 0.35 + (Math.random() - 0.5) * 0.1; const lim = ARENA_HALF - BALL_RADIUS - 0.05; const clamp = (v) => Math.min(lim, Math.max(-lim, v)); - qpos[ballQposAdr] = clamp(qpos[0] + Math.cos(heading) * dist); - qpos[ballQposAdr + 1] = clamp(qpos[1] + Math.sin(heading) * dist); + qpos[ballQposAdr] = clamp(0.95 + (Math.random() - 0.5) * 0.12); + qpos[ballQposAdr + 1] = clamp(0.75 + (Math.random() - 0.5) * 0.12); qpos[ballQposAdr + 2] = BALL_RADIUS + 0.02; qpos[ballQposAdr + 3] = 1; qpos[ballQposAdr + 4] = 0; @@ -860,18 +944,22 @@ async function boot({ scene, camera, renderer }) { } async function controlStep() { + const stepModel = model; + timeline.tick(CTRL_DT); driveRelief(CTRL_DT); // kinematic terrain, written before the physics steps // Settle phase: ctrl frozen on the pose held at the fall (approximates // the runtime's limp beat), physics keeps stepping, no inference. if (recovery?.state !== "fallen") { const feeds = { obs: new ort.Tensor("float32", buildObs(), [1, OBS_SIZE]) }; const out = await activeSession().run(feeds); + if (model !== stepModel) return; // a locomotion switch occurred during inference const act = out.actions.data; lastAction.set(act); const ctrl = data.ctrl; - for (let j = 0; j < NUM_JOINTS; j++) ctrl[j] = DEFAULT_POSE[j] + act[j] * ACTION_SCALE; + for (let j = 0; j < NUM_JOINTS; j++) ctrl[actuatorAdr[j]] = DEFAULT_POSE[j] + act[j] * ACTION_SCALE; } for (let s = 0; s < DECIMATION; s++) { + reachy.write(); applyGrabForce(); // mouse perturbation, fresh velocity every substep mujoco.mj_step(model, data); } @@ -1080,7 +1168,7 @@ async function boot({ scene, camera, renderer }) { let trunkGroup = rig.bodies.get("trunk_base"); locos.legs = { model, data, rig, trunkGroup, - qposAdr, dofAdr, gyroAdr, trunkId, standKeyId, ballQposAdr, ballDofAdr, extraJoints, + qposAdr, dofAdr, actuatorAdr, gyroAdr, trunkId, standKeyId, ballQposAdr, ballDofAdr, extraJoints, ankleIds, }; // ── Locomotion variant switching (legs <-> rollers) ────────────────── @@ -1102,6 +1190,7 @@ async function boot({ scene, camera, renderer }) { sessions.drive = sDrive; sessions.crouch = sCrouch; const rModel = mujoco.MjModel.from_xml_string(rXml, vfs); + initializeStand(rModel); const rData = new mujoco.MjData(rModel); locos.rollers = { model: rModel, data: rData, rig: rRig, trunkGroup: rRig.bodies.get("trunk_base"), @@ -1133,15 +1222,17 @@ async function boot({ scene, camera, renderer }) { } function activateLoco(name) { + const reachyState = captureReachyState(mujoco, model, data); const L = locos[name]; loco = name; scene.remove(rig.placer); - ({ model, data, rig, trunkGroup, qposAdr, dofAdr, gyroAdr, trunkId, + ({ model, data, rig, trunkGroup, qposAdr, dofAdr, actuatorAdr, gyroAdr, trunkId, standKeyId, ballQposAdr, ballDofAdr, extraJoints, ankleIds } = L); // The rig may have been built (or last shown) under another colourway. applyVariant(rig, currentVariant); scene.add(rig.placer); setStore({ loco: name }); + restoreReachyState(model, data, reachyState); resetSim(); } @@ -1244,7 +1335,7 @@ async function boot({ scene, camera, renderer }) { // ── Camera: orbit controls + chase cam + reset glide ───────────────── const controls = new OrbitControls(camera, renderer.domElement); - controls.target.set(SPAWN_X, 0, -SPAWN_Y); // orbit around the spawn cell + controls.target.set(0, 0.15, 0); controls.enableDamping = true; controls.dampingFactor = 0.08; controls.minDistance = 0.25; @@ -1256,7 +1347,7 @@ async function boot({ scene, camera, renderer }) { // orbit target keeps easing to the trunk in syncRig. Implemented by // overwriting camera.position AFTER controls.update() so we never fight // OrbitControls' own spherical bookkeeping. - let chaseCam = true; + let chaseCam = false; const CHASE_PITCH = 0.42; // rad above horizontal, keeps the floor in view const CHASE_EASE = 0.05; const _chasePos = new THREE.Vector3(); @@ -1348,6 +1439,12 @@ async function boot({ scene, camera, renderer }) { const _camFrom = new THREE.Vector3(), _camTo = new THREE.Vector3(); const _tgtFrom = new THREE.Vector3(), _tgtTo = new THREE.Vector3(); function startCameraReset() { + if (!chaseCam) { + camera.position.set(0, 0.85, 1.8); + controls.target.set(0, 0.15, 0); + camera.lookAt(controls.target); + return; + } const qpos = data.qpos; const yaw = duckYaw(qpos); chaseHeldYaw = yaw; @@ -1489,6 +1586,7 @@ async function boot({ scene, camera, renderer }) { const _target = new THREE.Vector3(); const _follow = new THREE.Vector3(); function syncRig() { + reachyRig.sync(mujoco, model, data); const qpos = data.qpos; trunkGroup.position.set(qpos[0], qpos[1], qpos[2]); trunkGroup.quaternion.set(qpos[4], qpos[5], qpos[6], qpos[3]); @@ -1501,7 +1599,7 @@ async function boot({ scene, camera, renderer }) { // camera by the same delta, so the camera-to-duck distance and viewing // angle stay constant while the duck walks. Paused while the reset // glide owns the camera. - if (camResetT0 === null) { + if (camResetT0 === null && chaseCam) { _target.set(qpos[0], qpos[2], -qpos[1]); _follow.copy(_target).sub(controls.target); // Horizontal follow at the usual rate; vertical much slower so the @@ -1981,6 +2079,28 @@ async function boot({ scene, camera, renderer }) { // ── Public surface for the React UI ────────────────────────────────── Object.assign(gameApi, { + reachy, + setDrive: (forward, turn) => { + const [fwd, back, ang] = velLims(); + panelSource.command[0] = inputLocked ? 0 : forward >= 0 ? Math.min(1, forward) * fwd : Math.min(1, -forward) * back; + panelSource.command[2] = inputLocked ? 0 : Math.max(-1, Math.min(1, turn)) * ang; + }, + setMode, + triggerRoll, + triggerKick, + triggerCrouch, + triggerGroundPick, + toggleHeadMode, + quack: quackLoud, + toggleCamera: () => { chaseCam = !chaseCam; }, + sharedCamera: () => { chaseCam = false; startCameraReset(); }, + setHead: (values) => { if (!inputLocked) headTarget.set(values); }, + emotionRuntime, + playEmotion: (emotion) => emotions.play(emotion), + playMicroduckEmotion: (emotion) => emotions.playMicroduck(emotion), + playReachyEmotion: (emotion) => emotions.playReachy(emotion), + reachySay: (text) => emotions.say(text), + script: scripts, frame, setVariant: (name) => { if (!VARIANTS[name] || name === currentVariant) return; @@ -2003,7 +2123,8 @@ async function boot({ scene, camera, renderer }) { window.rl = { get model() { return model; }, get data() { return data; }, - mujoco, camera, controls, + mujoco, camera, controls, reachyRig, + reachy, timeline, get mode() { return mode; }, get sitFlag() { return sitFlag; }, buildObs, cmd, @@ -2068,6 +2189,13 @@ async function boot({ scene, camera, renderer }) { // Broadcast this duck's pose and render up to 3 other visitors live as // translucent ducks. Fire-and-forget: any failure just means no ghosts. const r3 = (x) => Math.round(x * 1000) / 1000; + // Ghost networking is opt-in. Public relay replay can contain stale + // visitors from another tab/session, which looks like duplicate Microducks + // in a local simulator. Add ?ghosts=1 when multiplayer ghosts are desired. + if (new URLSearchParams(location.search).get("ghosts") !== "1") { + ghosts = { update() {}, peerCount: () => 0, ghostCount: () => 0, debug: () => [], mapDots: () => [], destroy() {} }; + return; + } try { // Ghosts only join once the entrance has fully played: the world (and // this duck) must stay hidden until then, translucent peers included. diff --git a/app/src/game/reachy/reachyKinematics.js b/app/src/game/reachy/reachyKinematics.js new file mode 100644 index 0000000000000000000000000000000000000000..077a4e40aff146ab67605162d91f558809f4a444 --- /dev/null +++ b/app/src/game/reachy/reachyKinematics.js @@ -0,0 +1,75 @@ +import { Matrix4, Vector3, Quaternion, Euler } from "three"; + +// The official SDK's initial head pose is the identity transform. +export const HOME = Object.freeze({ x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0, leftAntenna: 0, rightAntenna: 0, bodyYaw: 0 }); +// Exact initial joint target from pollen-robotics/reachy_mini. Using this +// calibrated target avoids the collapsed Stewart pose that results from +// starting all seven head joints at zero. +export const INITIAL_MOTOR_POSITIONS = Object.freeze([ + 0, 0.6265471361608501, -0.6265425506844697, 0.6265402507582232, + -0.6265361796605959, 0.6265371961549003, -0.6265392354557596, + -0.1745, 0.1745, +]); +export const MOTOR_NAMES = ["yaw_body", "stewart_1", "stewart_2", "stewart_3", "stewart_4", "stewart_5", "stewart_6", "right_antenna", "left_antenna"]; +const rad = Math.PI / 180; +const wrap = (a) => a - 2 * Math.PI * Math.floor((a + Math.PI) / (2 * Math.PI)); +const clamp = (v, lo, hi) => Math.max(lo, Math.min(hi, v)); + +export function poseToTarget(pose) { + const p = { ...HOME, ...pose }; + if (!Object.values(p).every(Number.isFinite)) throw new Error("Pose values must be finite numbers"); + const head = new Matrix4().makeRotationFromEuler(new Euler(p.roll * rad, p.pitch * rad, p.yaw * rad, "ZYX")); + head.setPosition(p.x / 1000, p.y / 1000, p.z / 1000); + return { head, antennas: [p.rightAntenna * rad, p.leftAntenna * rad], bodyYaw: p.bodyYaw * rad }; +} + +export function interpolateTarget(a, b, t) { + const pa = new Vector3(), pb = new Vector3(), qa = new Quaternion(), qb = new Quaternion(), scale = new Vector3(); + a.head.decompose(pa, qa, scale); + b.head.decompose(pb, qb, scale); + return { + head: new Matrix4().compose(pa.lerp(pb, t), qa.slerp(qb, t), new Vector3(1, 1, 1)), + antennas: a.antennas.map((v, i) => v + (b.antennas[i] - v) * t), + bodyYaw: a.bodyYaw + (b.bodyYaw - a.bodyYaw) * t, + }; +} + +// Browser port of the OFFICIAL SDK's AnalyticalKinematics.ik and the Rust +// inverse_kinematics_safe / inverse_kinematics equations, using its unmodified +// kinematics_data.json calibration. Source revisions: robot/reachy/SOURCES.md. +// Passive joints are simulated by the official MJCF's loop closures. +export function createReachyKinematics(calibration) { + // Keep the official Rust SDK multiplication order exactly. Its calibration + // field is named T_motor_world, but the branch calculation consumes that + // matrix directly before applying the target platform pose. + const motors = calibration.motors.map((m) => ({ ...m, transform: new Matrix4().set(...m.T_motor_world.flat()) })); + const rs = calibration.motor_arm_length, rp = calibration.rod_length; + return function inverseKinematics(target) { + const pose = target.head.clone(); + pose.elements[14] += calibration.head_z_offset; + const e = pose.elements; + const currentYaw = Math.atan2(e[4], e[0]); + let bodyYaw = -target.bodyYaw; + bodyYaw = currentYaw + clamp(bodyYaw - currentYaw, -65 * rad, 65 * rad); + bodyYaw = -clamp(bodyYaw, -160 * rad, 160 * rad); + pose.premultiply(new Matrix4().makeRotationZ(-bodyYaw)); + const joints = motors.map((motor) => { + const p = new Vector3(...motor.branch_position).applyMatrix4(pose).applyMatrix4(motor.transform); + const px = p.x, py = p.y, pz = p.z; + const x = px ** 2 + 2 * px * rs + py ** 2 + pz ** 2 - rp ** 2 + rs ** 2; + const discriminant = -(px ** 4) - 2 * px ** 2 * py ** 2 - 2 * px ** 2 * pz ** 2 + + 2 * px ** 2 * rp ** 2 + 2 * px ** 2 * rs ** 2 - py ** 4 + - 2 * py ** 2 * pz ** 2 + 2 * py ** 2 * rp ** 2 + 2 * py ** 2 * rs ** 2 + - pz ** 4 + 2 * pz ** 2 * rp ** 2 - 2 * pz ** 2 * rs ** 2 + - rp ** 4 + 2 * rp ** 2 * rs ** 2 - rs ** 4; + // Keep the browser simulator alive at the edge of the recorded + // workspace. The native SDK rejects these poses; MuJoCo's joint limits + // provide the safe physical clamp for a visual/browser-only target. + const y = 2 * py * rs + (motor.solution ? 1 : -1) * Math.sqrt(Math.max(0, discriminant)); + return wrap(2 * Math.atan2(y, x)); + }); + const result = [bodyYaw, ...joints, ...target.antennas]; + if (!result.every(Number.isFinite)) throw new Error("Invalid Reachy kinematics result"); + return result; + }; +} diff --git a/app/src/game/reachy/reachyMoves.js b/app/src/game/reachy/reachyMoves.js new file mode 100644 index 0000000000000000000000000000000000000000..b2553f6757056fe193547d073366e31ec92eaa14 --- /dev/null +++ b/app/src/game/reachy/reachyMoves.js @@ -0,0 +1,19 @@ +import { HOME } from "./reachyKinematics.js"; + +export const POSES = { + Home: HOME, + "Look Left": { yaw: 25 }, "Look Right": { yaw: -25 }, + "Look Up": { pitch: -15 }, "Look Down": { pitch: 15 }, + "Tilt Left": { roll: -15 }, "Tilt Right": { roll: 15 }, + Curious: { roll: -12, yaw: 12, z: 5, leftAntenna: 25, rightAntenna: -15 }, + Excited: { z: 12, pitch: -8, leftAntenna: 30, rightAntenna: -30 }, + Shy: { pitch: 16, z: -10, yaw: -12, leftAntenna: -20, rightAntenna: 20 }, +}; +const move = (pose, duration = 0.65) => ({ pose: { ...HOME, ...pose }, duration }); +export const SEQUENCES = { + Wave: [move({ leftAntenna: 50 }), move({ leftAntenna: -30 }), move({ leftAntenna: 50 }), move({ leftAntenna: -30 }), move(HOME)], + Nod: [move({ pitch: 15 }), move({ pitch: -10 }), move({ pitch: 15 }), move(HOME)], + "Excited Dance": [move(POSES.Excited), move({ z: 5, roll: -12, rightAntenna: 30 }), move({ z: 12, roll: 12, leftAntenna: -30 }), move(POSES.Excited), move(HOME)], + "Look Around": [move(POSES["Look Left"], 1), move(POSES["Look Up"], 0.8), move(POSES["Look Right"], 1), move(HOME)], + "Curious Peek": [move(POSES.Shy), move({ x: 12, z: 8, yaw: 20, roll: -12 }, 1.1), move(POSES.Curious), move(HOME)], +}; diff --git a/app/src/game/reachy/reachyRig.js b/app/src/game/reachy/reachyRig.js new file mode 100644 index 0000000000000000000000000000000000000000..b7a4ad473d5fc3a07923429f4688e703231c71f5 --- /dev/null +++ b/app/src/game/reachy/reachyRig.js @@ -0,0 +1,77 @@ +import * as THREE from "three"; +import { STLLoader } from "three/addons/loaders/STLLoader.js"; +import { REACHY_PREFIX } from "./reachyWorld.js"; + + +const numbers = (element, key, fallback) => element.hasAttribute(key) + ? element.getAttribute(key).trim().split(/\s+/).map(Number) : fallback; + +export function buildReachyRig(assets) { + const root = new THREE.Group(); + root.name = "Reachy Mini"; + root.rotation.x = -Math.PI / 2; + const geometry = new Map(); + const material = new Map(); + const bodies = []; + const loader = new STLLoader(); + for (const mesh of assets.document.querySelectorAll("asset > mesh")) { + const file = mesh.getAttribute("file"); + const name = mesh.getAttribute("name") ?? file.split("/").pop().replace(/\.stl$/i, ""); + const bytes = assets.meshes.get(file); + geometry.set(name, loader.parse(bytes.buffer.slice(bytes.byteOffset, bytes.byteOffset + bytes.byteLength))); + } + for (const mat of assets.document.querySelectorAll("asset > material")) { + const rgba = numbers(mat, "rgba", [1, 1, 1, 1]); + // The official model uses very bright white plastics. In the browser's + // neutral studio lighting that washes out the head and body, so shade + // light materials slightly while preserving the darker electronics and + // accent colours from the MJCF. + const color = new THREE.Color(...rgba.slice(0, 3)); + if (color.r > 0.82 && color.g > 0.82 && color.b > 0.82) color.multiplyScalar(0.72); + else if (color.r < 0.75 && color.g < 0.75 && color.b < 0.75 && Math.max(color.r, color.g, color.b) > 0.02) color.multiplyScalar(0.62); + material.set(mat.getAttribute("name"), new THREE.MeshStandardMaterial({ + color, roughness: 0.4, + transparent: rgba[3] < 1, opacity: rgba[3], + })); + } + for (const body of assets.document.querySelectorAll("worldbody body")) { + if (!body.hasAttribute("name")) continue; // unnamed intermediate joint frames have no visuals + const group = new THREE.Group(); + const name = REACHY_PREFIX + body.getAttribute("name"); + group.name = name; + // All groups use MuJoCo world transforms; no duplicate JS joint solver. + root.add(group); + bodies.push({ name, group, id: -1 }); + for (const geom of [...body.children].filter((el) => el.tagName === "geom" && el.getAttribute("class") === "visual")) { + const mesh = new THREE.Mesh(geometry.get(geom.getAttribute("mesh")), material.get(geom.getAttribute("material"))); + mesh.position.fromArray(numbers(geom, "pos", [0, 0, 0])); + const [w, x, y, z] = numbers(geom, "quat", [1, 0, 0, 0]); + mesh.quaternion.set(x, y, z, w).normalize(); + group.add(mesh); + } + } + let boundModel; + return { + root, + sync(mujoco, model, data) { + if (model !== boundModel) { + for (const body of bodies) { + body.id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY.value, body.name); + if (body.id < 0) throw new Error(`Missing shared-world body ${body.name}`); + } + boundModel = model; + } + const positions = data.xpos, quats = data.xquat; + for (const { id, group } of bodies) { + group.position.fromArray(positions, id * 3); + const q = id * 4; + group.quaternion.set(quats[q + 1], quats[q + 2], quats[q + 3], quats[q]); + } + }, + dispose() { + root.removeFromParent(); + for (const g of geometry.values()) g.dispose(); + for (const m of material.values()) m.dispose(); + }, + }; +} diff --git a/app/src/game/reachy/reachyWorld.js b/app/src/game/reachy/reachyWorld.js new file mode 100644 index 0000000000000000000000000000000000000000..3fc17a99f7327a52e1cde2dc47c7c8d9b8556aad --- /dev/null +++ b/app/src/game/reachy/reachyWorld.js @@ -0,0 +1,72 @@ +import { signed } from "../signed.js"; + +export const REACHY_PREFIX = "reachy/"; +export const REACHY_POSITION = [-0.35, 0, 0]; +export const REACHY_MODEL_FILE = "reachy/reachy_mini.xml"; + +export async function loadReachyAssets() { + const response = await fetch(signed("./robot/reachy/reachy_mini.xml")); + if (!response.ok) throw new Error(`Reachy MJCF: HTTP ${response.status}`); + const xml = await response.text(); + const document = new DOMParser().parseFromString(xml, "text/xml"); + if (document.querySelector("parsererror")) throw new Error("Invalid Reachy MJCF"); + const meshes = new Map(); + await Promise.all([...document.querySelectorAll("asset > mesh")].map(async (mesh) => { + const file = mesh.getAttribute("file"); + const r = await fetch(signed(`./robot/reachy/assets/${file}`)); + if (!r.ok) throw new Error(`Reachy mesh ${file}: HTTP ${r.status}`); + const bytes = new Uint8Array(await r.arrayBuffer()); + if (new TextDecoder().decode(bytes.subarray(0, 40)).startsWith("version https://git-lfs")) { + throw new Error(`Reachy mesh ${file} is a Git LFS pointer; run git lfs pull`); + } + meshes.set(file, bytes); + })); + const calibrationResponse = await fetch(signed("./robot/reachy/kinematics_data.json")); + if (!calibrationResponse.ok) throw new Error("Reachy calibration could not be loaded"); + return { xml, document, meshes, calibration: await calibrationResponse.json() }; +} + +export function registerReachyAssets(vfs, assets) { + vfs.addBuffer(REACHY_MODEL_FILE, new TextEncoder().encode(assets.xml)); + for (const [file, bytes] of assets.meshes) vfs.addBuffer(`reachy/assets/${file}`, bytes); +} + +// Native attachment prefixes defaults, assets, actuators, joints, and loop +// closure references together. Microduck remains first in the kinematic tree. +export function attachReachy(doc) { + const asset = doc.createElement("model"); + asset.setAttribute("name", "reachy_model"); + asset.setAttribute("file", REACHY_MODEL_FILE); + doc.querySelector("asset").appendChild(asset); + const frame = doc.createElement("frame"); + frame.setAttribute("pos", REACHY_POSITION.join(" ")); + const attach = doc.createElement("attach"); + attach.setAttribute("model", "reachy_model"); + attach.setAttribute("body", "body_foot_3dprint"); + attach.setAttribute("prefix", REACHY_PREFIX); + frame.appendChild(attach); + doc.querySelector("worldbody").appendChild(frame); +} + +// Preserve all Reachy scalar and ball joints across Microduck reset/switch. +export function captureReachyState(mujoco, model, data) { + const state = []; + for (let id = 0; id < model.njnt; id++) { + const name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_JOINT.value, id); + if (!name?.startsWith(REACHY_PREFIX)) continue; + const type = model.jnt_type[id]; + const nq = type === 0 ? 7 : type === 1 ? 4 : 1; + const nv = type === 0 ? 6 : type === 1 ? 3 : 1; + const q = model.jnt_qposadr[id], v = model.jnt_dofadr[id]; + state.push({ name, qpos: Array.from(data.qpos.slice(q, q + nq)), qvel: Array.from(data.qvel.slice(v, v + nv)) }); + } + return state; +} + +export function restoreReachyState(model, data, state) { + for (const joint of state) { + const j = model.jnt(joint.name); + data.qpos.set(joint.qpos, j.qposadr); + data.qvel.set(joint.qvel, j.dofadr); + } +} diff --git a/app/src/game/simulationTimeline.js b/app/src/game/simulationTimeline.js new file mode 100644 index 0000000000000000000000000000000000000000..31426c1ccdb9ceb977c3fe98fd35ef8811a97280 --- /dev/null +++ b/app/src/game/simulationTimeline.js @@ -0,0 +1,39 @@ +export const abortError = () => new DOMException("Playback stopped", "AbortError"); + +// Promises advance only when physics advances. No wall-clock callbacks are +// used to guess when a robot, posture transition, or recorded motion finishes. +export function createSimulationTimeline() { + const jobs = new Set(); + function run({ duration, update = () => {}, until, maxDuration = Infinity, signal }) { + if (signal?.aborted) return Promise.reject(abortError()); + return new Promise((resolve, reject) => { + const job = { elapsed: 0, duration, update, until, maxDuration }; + const finish = (error) => { + jobs.delete(job); + signal?.removeEventListener("abort", abort); + error ? reject(error) : resolve(); + }; + const abort = () => finish(abortError()); + job.finish = finish; + signal?.addEventListener("abort", abort, { once: true }); + jobs.add(job); + }); + } + return { + run, + wait: (duration, signal) => run({ duration, signal }), + until: (until, maxDuration, signal) => run({ until, maxDuration, signal }), + tick(dt) { + for (const job of [...jobs]) { + try { + job.elapsed += dt; + const t = job.duration === undefined ? job.elapsed : Math.min(job.elapsed, job.duration); + job.update(t); + if (job.until ? job.until(job.elapsed) : job.elapsed + 1e-9 >= job.duration) job.finish(); + else if (job.elapsed >= job.maxDuration) job.finish(new Error("Robot did not finish its movement")); + } catch (e) { job.finish(e); } + } + }, + cancel() { for (const job of [...jobs]) job.finish(abortError()); }, + }; +} diff --git a/app/src/scene/GameCanvas.jsx b/app/src/scene/GameCanvas.jsx index 6b44e4564a7055a9e2b12f61d5d24831f9f2ca73..d96ec67089606b0e32876f8abe092bda4f420348 100644 --- a/app/src/scene/GameCanvas.jsx +++ b/app/src/scene/GameCanvas.jsx @@ -16,8 +16,8 @@ function Game() { const { scene, camera, gl } = useThree(); useEffect(() => { - scene.background = new THREE.Color(0x08080c); - gl.setClearColor(0x08080c, 1); + scene.background = new THREE.Color(0x20242f); + gl.setClearColor(0x20242f, 1); const pmrem = new THREE.PMREMGenerator(gl); scene.environment = pmrem.fromScene(new RoomEnvironment()).texture; scene.environmentIntensity = 0.45; @@ -51,7 +51,7 @@ export default function GameCanvas() { fov: 40, near: 0.02, far: 30, - position: [SPAWN_X + 0.55, 0.35, -SPAWN_Y + 0.7], + position: [0, 0.85, 1.8], }} > diff --git a/app/src/store.js b/app/src/store.js index 34452dfc445d12cee1bec1147496f244d5059227..07aead94fd5cc9f1517a23052ddceade5e73792e 100644 --- a/app/src/store.js +++ b/app/src/store.js @@ -32,6 +32,15 @@ export const useGame = create( padConnected: false, touchMode: false, ballActive: false, + reachy: { playing: false, queue: [], speed: 1, error: null }, + emotionBusy: false, + emotionStage: null, + emotionError: null, + scriptRecording: false, + scriptPlaying: false, + scriptParallel: false, + scriptActions: [], + savedScripts: [], // Throttled telemetry block (4 Hz), bottom-right OSD telemetry: { fps: 0, ctrlHz: 0, speed: 0, odo: 0, peers: 0 }, })), @@ -52,6 +61,7 @@ if (typeof window !== "undefined") { // playBios), so no reactivity is needed and log spam never re-renders React. // Entries: { label, status, raw, halt, progress } - status null = pending. export const bootLog = []; +if (typeof window !== "undefined") window.__bootLog = bootLog; export const bootLine = (label) => { const entry = { label, status: null, raw: false, progress: null }; diff --git a/app/src/ui/Hud.jsx b/app/src/ui/Hud.jsx index afc69bbfcab82c7e9d7cb7147ac0955e80b0adcb..265a1be88058ca971c02e98130392eb826553b15 100644 --- a/app/src/ui/Hud.jsx +++ b/app/src/ui/Hud.jsx @@ -295,21 +295,20 @@ export function PreorderButton({ sx }) { ); } -function Quickbar() { +export function Quickbar() { const variant = useGame((s) => s.variant); const locoWant = useGame((s) => s.locoWant); return ( @@ -413,7 +412,7 @@ function Quickbar() { // Mute / unmute panel: same cartouche language as the other groups. The // toggle ramps audio.js's master gain (~50 ms) and persists; unmuting // plays the HUD click as confirmation (muting stays silent, obviously). -function SoundToggle() { +export function SoundToggle() { const [muted, setMutedState] = useState(isMuted); const toggle = () => { const next = !muted; @@ -517,7 +516,6 @@ export default function Hud() { {!touchMode && ( <> - diff --git a/app/src/ui/MenuReachy.jsx b/app/src/ui/MenuReachy.jsx new file mode 100644 index 0000000000000000000000000000000000000000..8095457d130467643ebf094623e377e160d3c792 --- /dev/null +++ b/app/src/ui/MenuReachy.jsx @@ -0,0 +1,176 @@ +// Title-screen stage using the same official Reachy Mini MJCF rig that the +// simulator renders. The game has already booted before the title is shown, +// so this is a render-only clone of the live rig: no second physics world is +// created and no invented illustration is used. +import { useEffect, useRef } from "react"; +import Box from "@mui/material/Box"; +import * as THREE from "three"; +import { RoomEnvironment } from "three/addons/environments/RoomEnvironment.js"; + +let stagePromise = null; +let stageReady = false; + +export const isMenuReachyReady = () => stageReady; +export const preloadMenuReachy = () => { + if (!stagePromise) { + stagePromise = new Promise((resolve, reject) => { + const started = performance.now(); + const wait = () => { + const root = window.rl?.reachyRig?.root; + if (root) { + stageReady = true; + resolve(buildStage(root)); + return; + } + // The shared MuJoCo world may still be compiling when the title + // preloader starts. Give the official rig enough time to arrive so + // the Reachy stage is not silently replaced by an empty panel. + if (performance.now() - started > 30000) { + stageReady = true; + reject(new Error("Reachy Mini title rig was not ready")); + return; + } + requestAnimationFrame(wait); + }; + wait(); + }); + } + return stagePromise; +}; + +function buildStage(sourceRoot) { + const scene = new THREE.Scene(); + const camera = new THREE.PerspectiveCamera(30, 1, 0.02, 20); + camera.position.set(0, 0.28, 0.95); + camera.lookAt(0, 0.25, 0); + const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true }); + renderer.setClearColor(0x000000, 0); + renderer.setPixelRatio(Math.min(2, window.devicePixelRatio)); + renderer.toneMapping = THREE.ACESFilmicToneMapping; + const el = renderer.domElement; + el.style.position = "absolute"; + el.style.inset = "0"; + el.style.width = "100%"; + el.style.height = "100%"; + el.style.opacity = "0"; + el.style.transition = "opacity .45s ease"; + + const pmrem = new THREE.PMREMGenerator(renderer); + scene.environment = pmrem.fromScene(new RoomEnvironment()).texture; + scene.environmentIntensity = 0.35; + scene.add(new THREE.HemisphereLight(0xffffff, 0x24232b, 1.8)); + const key = new THREE.DirectionalLight(0xffffff, 2.1); + key.position.set(2, 4, 3); + scene.add(key); + const rim = new THREE.DirectionalLight(0xffb366, 0.8); + rim.position.set(-2, 3, -2); + scene.add(rim); + + const rig = sourceRoot.clone(true); + rig.scale.setScalar(1.15); + rig.traverse((node) => { if (node.isMesh) node.frustumCulled = false; }); + scene.add(rig); + const bounds = new THREE.Box3().setFromObject(rig); + const center = bounds.getCenter(new THREE.Vector3()); + rig.position.x -= center.x; + rig.position.y -= bounds.min.y; + rig.position.z -= center.z; + // Fit the official model to its narrow half of the title stage instead of + // relying on a hand-tuned camera distance. This keeps the whole robot + // visible even when the MJCF mesh bounds change between releases. + const fitted = new THREE.Box3().setFromObject(rig); + const fittedCenter = fitted.getCenter(new THREE.Vector3()); + const radius = fitted.getSize(new THREE.Vector3()).length() * 0.5; + camera.position.set(fittedCenter.x, fittedCenter.y + radius * 0.08, fittedCenter.z + Math.max(0.8, radius * 2.8)); + camera.lookAt(fittedCenter); + rig.updateMatrixWorld(true); + + const sourceByName = new Map(); + // Meshes have an empty Three.js name. Do not map/copy those entries: the + // live pose only belongs to the named MuJoCo body groups, while mesh-local + // transforms must stay exactly as authored in the official MJCF rig. + sourceRoot.traverse((node) => { if (node.name) sourceByName.set(node.name, node); }); + const head = [...rig.children].flatMap((node) => { + const found = []; + node.traverse((child) => { if (child.name.endsWith("/xl_330")) found.push(child); }); + return found; + })[0] ?? rig.getObjectByName("reachy/xl_330"); + const leftAntenna = rig.getObjectByName("reachy/dc15_a01_horn_dummy_8"); + const rightAntenna = rig.getObjectByName("reachy/dc15_a01_horn_dummy_7"); + const headBase = new THREE.Quaternion(); + const leftBase = new THREE.Quaternion(); + const rightBase = new THREE.Quaternion(); + const copyLivePose = () => rig.traverse((node) => { + const source = node.name ? sourceByName.get(node.name) : null; + if (!source || node === rig) return; + node.position.copy(source.position); + node.quaternion.copy(source.quaternion); + }); + + let mount = null; + let raf = 0; + let previous = 0; + const loop = (now) => { + raf = requestAnimationFrame(loop); + copyLivePose(); + if (head) { + headBase.copy(head.quaternion); + head.quaternion.multiply(new THREE.Quaternion().setFromEuler(new THREE.Euler( + Math.sin(now * 0.0011) * 0.08, + Math.sin(now * 0.0008) * 0.18, + 0, + ))); + } + if (leftAntenna && rightAntenna) { + leftBase.copy(leftAntenna.quaternion); + rightBase.copy(rightAntenna.quaternion); + const antennaWave = Math.sin(now * 0.0022) * 0.28; + leftAntenna.quaternion.multiply(new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), antennaWave)); + rightAntenna.quaternion.multiply(new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), -antennaWave)); + } + renderer.render(scene, camera); + previous = now; + if (el.style.opacity === "0") el.style.opacity = "1"; + }; + const resize = () => { + if (!mount) return; + const width = mount.clientWidth, height = mount.clientHeight; + if (!width || !height) return; + camera.aspect = width / height; + camera.updateProjectionMatrix(); + renderer.setSize(width, height); + }; + const observer = new ResizeObserver(resize); + return { + attach(host) { + if (mount) this.detach(); + mount = host; + mount.appendChild(el); + observer.observe(mount); + resize(); + previous = performance.now(); + raf = requestAnimationFrame(loop); + }, + detach() { + cancelAnimationFrame(raf); + observer.disconnect(); + el.remove(); + mount = null; + }, + }; +} + +export default function MenuReachy({ sx }) { + const hostRef = useRef(null); + useEffect(() => { + let disposed = false; + preloadMenuReachy().then((stage) => { + if (!disposed && hostRef.current) stage.attach(hostRef.current); + }).catch((error) => console.warn("menu Reachy disabled:", error)); + return () => { + disposed = true; + stagePromise?.then((stage) => stage.detach()).catch(() => {}); + }; + }, []); + return ; +} diff --git a/app/src/ui/MicroduckControls.jsx b/app/src/ui/MicroduckControls.jsx new file mode 100644 index 0000000000000000000000000000000000000000..6e5993e48d1ff62da5aec51845a0b99b4c07ee3b --- /dev/null +++ b/app/src/ui/MicroduckControls.jsx @@ -0,0 +1,51 @@ +import { useState } from "react"; +import { gameApi, useGame } from "../store.js"; +import { Quickbar, SoundToggle } from "./Hud.jsx"; +import SimulatorPanel from "./SimulatorPanel.jsx"; + +export default function MicroduckControls() { + const loco = useGame((s) => s.loco); + const mode = useGame((s) => s.modeLabel); + const locked = useGame((s) => s.emotionBusy || s.locoSwitching || s.scriptPlaying); + const recording = useGame((s) => s.scriptRecording); + const [head, setHead] = useState([0, 0, 0, 0]); + const release = () => gameApi.setDrive?.(0, 0); + const drive = (e, forward, turn) => { + e.currentTarget.setPointerCapture(e.pointerId); + if (recording) gameApi.script?.add(`${forward > 0 ? "Forward" : forward < 0 ? "Backwards" : turn > 0 ? "Turn left" : "Turn right"}`, async () => { gameApi.setDrive?.(forward, turn); await gameApi.script.wait(1); gameApi.setDrive?.(0, 0); }); + else gameApi.setDrive?.(forward, turn); + }; + const action = (label, fn) => recording ? gameApi.script?.add(label, async () => { await fn(); await gameApi.script.wait(0.4); }) : fn(); + return +

{mode} · {loco}

+
+ Move · hold to drive +
{[["Forward", 1, 0], ["Backwards", -1, 0], ["Turn left", 0, 1], ["Turn right", 0, -1]].map(([label, forward, turn]) => )}
+ Actions +
+ + + + + + + + + + +
+ Emotions +
{[["joy", "Happy"], ["sadness", "Sad"], ["anger", "Angry"]].map(([id, label]) => )}
+ Head + + {["Neck pitch", "Head pitch", "Head yaw", "Head roll"].map((label, i) => )} + + Appearance & locomotion + + Camera +
+
+ +
Keyboard & gamepad

Arrows / WASD / ZQSD: walk and turn. Q/E: kicks. F: alternate kicks. R: sit/stand or crouch. G: ground pick. M: legs/rollers. Space: reset. C: chase camera. Drag: orbit. Scroll: zoom.

Gamepad: left stick moves; right stick orbits; Y controls head; LB/RB kick; X or D-pad down sits; A picks; hold D-pad up switches mode; RT quacks; LT wheee; R3 chase; Menu pauses.

+ ; +} diff --git a/app/src/ui/ReachyControls.jsx b/app/src/ui/ReachyControls.jsx new file mode 100644 index 0000000000000000000000000000000000000000..fc3b6f3a59ddc9aee76afd6ec43ba240e2dffbdd --- /dev/null +++ b/app/src/ui/ReachyControls.jsx @@ -0,0 +1,57 @@ +import { useState } from "react"; +import { gameApi, useGame } from "../store.js"; +import { HOME } from "../game/reachy/reachyKinematics.js"; +import { POSES, SEQUENCES } from "../game/reachy/reachyMoves.js"; +import SimulatorPanel from "./SimulatorPanel.jsx"; + +const FIELDS = [ + ["x", "x (mm)", -20, 20], ["y", "y (mm)", -20, 20], ["z", "z (mm)", -30, 20], + ["roll", "Roll (°)", -25, 25], ["pitch", "Pitch (°)", -25, 25], ["yaw", "Yaw (°)", -45, 45], + ["leftAntenna", "Left antenna (°)", -90, 90], ["rightAntenna", "Right antenna (°)", -90, 90], +]; + +export default function ReachyControls() { + const [pose, setPose] = useState({ ...HOME }); + const [duration, setDuration] = useState(1); + const [error, setError] = useState(null); + const reachy = useGame((s) => s.reachy); + const locked = useGame((s) => s.emotionBusy || s.scriptPlaying); + const recording = useGame((s) => s.scriptRecording); + const [speech, setSpeech] = useState(""); + const act = async (fn) => { + setError(null); + try { await fn(gameApi.reachy); } + catch (e) { if (e.name !== "AbortError") setError(e.message); } + }; + const action = (label, fn) => recording ? gameApi.script?.add(label, () => act(fn)) : act(fn); + return +
+ Poses +
{Object.entries(POSES).map(([name, p]) => )}
+ Sequences +
{Object.entries(SEQUENCES).map(([name, sequence]) => )}
+ Emotions +
{[["joy", "Happy"], ["sadness", "Sad"], ["anger", "Angry"]].map(([id, label]) => )}
+
+
+ Custom pose + {FIELDS.map(([key, label, min, max]) => )} + + +
+ + + + +
+
+
+ Text to speech + setSpeech(e.target.value)} /> + +
+

{reachy.playing ? "Playing · " : ""}{reachy.queue.length} queued

+ {reachy.queue.length > 0 &&
    {reachy.queue.map((label, i) =>
  1. {label}
    2. )}
} + {(error || reachy.error) &&

{error || reachy.error}

} + ; +} diff --git a/app/src/ui/SimulatorPanel.jsx b/app/src/ui/SimulatorPanel.jsx new file mode 100644 index 0000000000000000000000000000000000000000..66867f81ef610cc588113c10dbb0c5cfbe1629a4 --- /dev/null +++ b/app/src/ui/SimulatorPanel.jsx @@ -0,0 +1,13 @@ +import { useState } from "react"; +import { useGame } from "../store.js"; +import "./simulator.css"; + +export default function SimulatorPanel({ side, title, children }) { + const visible = useGame((s) => s.entered && s.bootDone && !s.menuOpen && !s.biosVisible); + const [open, setOpen] = useState(() => window.innerWidth >= 900); + if (!visible) return null; + return ; +} diff --git a/app/src/ui/TitleMenu.jsx b/app/src/ui/TitleMenu.jsx index bb2445f68ab1e18c79bbb05c1b8f4e396a90de17..c3d5a213301c7fe27e441a1f32270f7e1017c4ba 100644 --- a/app/src/ui/TitleMenu.jsx +++ b/app/src/ui/TitleMenu.jsx @@ -665,7 +665,7 @@ export default function TitleMenu() { }} > - + diff --git a/app/test/browser/emotion.spec.js b/app/test/browser/emotion.spec.js new file mode 100644 index 0000000000000000000000000000000000000000..ce91735e05883c83a1bbfc5baa6407b9c8ac730e --- /dev/null +++ b/app/test/browser/emotion.spec.js @@ -0,0 +1,16 @@ +import { test, expect } from "@playwright/test"; + +test("emotion bar owns the full sequential playback", async ({ page }) => { + await page.goto("/?boot=1"); + await page.waitForFunction(() => window.__store?.getState().bootDone && window.__gameApi.playEmotion); + await page.evaluate(() => window.__gameApi.startEntrance()); + await page.waitForFunction(() => window.rl && !window.rl.inputLocked); + const result = await page.evaluate(async () => { + const first = window.__gameApi.playEmotion("joy"); + const second = window.__gameApi.playEmotion("anger"); + await first; + return { same: first === second, busy: window.__store.getState().emotionBusy, stage: window.__store.getState().emotionStage }; + }); + expect(result.busy).toBe(false); + expect(result.stage).toBe(null); +}); diff --git a/app/test/browser/home.spec.js b/app/test/browser/home.spec.js new file mode 100644 index 0000000000000000000000000000000000000000..c38e58069ac660340bc5196ccd779b2fa69a7d57 --- /dev/null +++ b/app/test/browser/home.spec.js @@ -0,0 +1,9 @@ +import { test, expect } from "@playwright/test"; + +test("home page presents the official Reachy Mini stage", async ({ page }) => { + await page.goto("/"); + await page.waitForFunction(() => window.__store?.getState().bootDone); + await expect(page.getByText("Reachy Mini", { exact: true }).first()).toBeVisible({ timeout: 20_000 }); + await expect(page.getByLabel("Reachy Mini")).toBeVisible({ timeout: 20_000 }); + expect(await page.locator("img[src*='reachy-microduck-hero']").count()).toBe(0); +}); diff --git a/app/test/browser/shared-world.spec.js b/app/test/browser/shared-world.spec.js new file mode 100644 index 0000000000000000000000000000000000000000..685f7a7d785580d717e5937d4abed270b26e3229 --- /dev/null +++ b/app/test/browser/shared-world.spec.js @@ -0,0 +1,32 @@ +import { test, expect } from "@playwright/test"; + +test("both robots share a stable world in both Microduck variants", async ({ page }) => { + const errors = []; + page.on("pageerror", (e) => errors.push(e.message)); + await page.goto("/?boot=1"); + await page.waitForFunction(() => window.__store?.getState().bootDone || window.__store?.getState().bootFailed); + const boot = await page.evaluate(() => ({ ...window.__store.getState(), bootLog: window.__bootLog, errors: window.__ghostErr })); + expect(boot.bootFailed, JSON.stringify(boot) + errors.join("\n")).toBe(false); + await page.evaluate(() => window.__gameApi.startEntrance?.()); + await page.waitForFunction(() => window.rl && !window.rl.inputLocked); + const state = () => page.evaluate(() => { + const { model: m, data: d, mujoco: mj } = window.rl; + const reachy = mj.mj_name2id(m, mj.mjtObj.mjOBJ_BODY.value, "reachy/body_foot_3dprint"); + return { reachy, x: d.xpos[reachy * 3], duckX: d.qpos[0], finite: Array.from(d.qpos).every(Number.isFinite), nq: m.nq, nu: m.nu, neq: m.neq, obs: window.rl.buildObs().length }; + }); + let s = await state(); + expect(s.reachy).toBeGreaterThan(0); + expect(s.x).toBeLessThan(s.duckX); + expect(s.nu).toBe(23); + expect(s.neq).toBeGreaterThanOrEqual(5); + expect(s.obs).toBe(61); + expect(s.finite).toBe(true); + await page.screenshot({ path: "test-results/shared-world.png" }); + await page.evaluate(() => window.__gameApi.requestLoco("rollers")); + await page.waitForFunction(() => window.rl.loco === "rollers" && !window.rl.inputLocked); + expect((await state()).finite).toBe(true); + await page.evaluate(() => window.__gameApi.requestLoco("legs")); + await page.waitForFunction(() => window.rl.loco === "legs" && !window.rl.inputLocked); + expect((await state()).finite).toBe(true); + expect(errors).toEqual([]); +});