Document timing limitation on Spaces, simplify fallback

README.md

@@ -67,9 +67,10 @@ uv run python app.py
 ## Current Limitations
 
 - Sound and picture actions are not yet implemented in execution
-- **On HuggingFace Spaces**: Due to browser security policies (HTTPS → HTTP localhost), the demo uses a WebSocket fallback instead of the REST API `/goto` endpoint.
-  - Timing is approximated by repeatedly sending the target position over the specified duration
-  - For smoother interpolated movements with proper minimum-jerk trajectories, run the demo locally
+- **Movement timing on HuggingFace Spaces**: Due to browser security (HTTPS cannot fetch `http://localhost`), the Space version cannot use the robot's `/goto` endpoint which supports duration control.
+  - **On Spaces**: Robot moves to each target as fast as possible (instant), but script execution pauses for the specified duration before the next move
+  - **Locally**: Robot moves smoothly with proper duration and minimum-jerk interpolation
+  - **Recommendation**: For demos requiring accurate movement timing, run locally
 
 ## Deployment to HuggingFace Spaces
 

frontend/app.js

@@ -405,30 +405,24 @@ async function executeIRAction(action) {
         await sleep(action.duration * 1000 + 100);
 
     } catch (fetchError) {
-        // Fallback to WebSocket with client-side interpolation (for Spaces deployment)
-        console.warn('Using WebSocket interpolation fallback for duration:', fetchError.message);
+        // Fallback to WebSocket (for Spaces deployment - HTTPS can't fetch localhost)
+        // Note: This won't respect durations - robot moves as fast as possible
+        console.warn('Using WebSocket fallback - durations not supported:', fetchError.message);
 
         if (!state.robotWs || state.robotWs.readyState !== WebSocket.OPEN) {
             throw new Error('Robot WebSocket not connected');
         }
 
-        // Simulate duration by sending intermediate targets
-        // Send updates at 10Hz (every 100ms) for smooth movement
-        const updateInterval = 100; // ms
-        const numSteps = Math.max(1, Math.floor((action.duration * 1000) / updateInterval));
+        const wsMessage = {};
+        if (head_pose) wsMessage.target_head_pose = head_pose;
+        if (action.antennas) wsMessage.target_antennas = action.antennas;
+        if (action.body_yaw !== null) wsMessage.target_body_yaw = action.body_yaw;
 
-        for (let step = 0; step <= numSteps; step++) {
-            const wsMessage = {};
-            if (head_pose) wsMessage.target_head_pose = head_pose;
-            if (action.antennas) wsMessage.target_antennas = action.antennas;
-            if (action.body_yaw !== null) wsMessage.target_body_yaw = action.body_yaw;
+        state.robotWs.send(JSON.stringify(wsMessage));
 
-            state.robotWs.send(JSON.stringify(wsMessage));
-
-            if (step < numSteps) {
-                await sleep(updateInterval);
-            }
-        }
+        // Wait for specified duration to maintain script timing
+        // (robot moves fast, but at least script execution pauses correctly)
+        await sleep(action.duration * 1000);
     }
 }