fix antenna movement button

hand_tracker_v2/main.py

@@ -48,7 +48,7 @@ class HandTrackerV2(ReachyMiniApp):
 
         self.show_img = False
         self.track_mode = True
-        self.antenna_mode = True
+        self.antenna_tracking = True
         self.preferred_side = "Left"
         self.antenna_mode = "Same Movement"
 
@@ -77,7 +77,7 @@ class HandTrackerV2(ReachyMiniApp):
             if state.tracking is not None:
                 self.track_mode = state.tracking
             if state.antenna is not None:
-                self.antenna_mode = state.antenna
+                self.antenna_tracking = state.antenna
             if state.preferred_side is not None:
                 print("Preferred side set to:", state.preferred_side)
                 self.preferred_side = state.preferred_side
@@ -173,11 +173,8 @@ class HandTrackerV2(ReachyMiniApp):
             rightmost_hand = min(hands, key=lambda h: h["palm"][0])
             leftmost_hand = max(hands, key=lambda h: h["palm"][0])
             if self.preferred_side == "Left":
-                print(self.preferred_side)
                 self.hand_pos = np.array(leftmost_hand["palm"])
             else:
-                print(self.preferred_side)
-
                 self.hand_pos = np.array(rightmost_hand["palm"])
             self.left_antenna_angle = - finger_orientation_deg(
                 rightmost_hand["index_mcp"], rightmost_hand["index_tip"]
@@ -227,7 +224,7 @@ class HandTrackerV2(ReachyMiniApp):
             t0 = time.time()
             time_since_last_hand = time.time() - self.last_hand_seen
 
-            if time_since_last_hand > self.idle_timeout or (not self.track_mode and not self.antenna_mode):
+            if time_since_last_hand > self.idle_timeout or (not self.track_mode and not self.antenna_tracking):
                 if not self.is_idle:
                     print("Entering IDLE mode")
                     self.previous_antenna_angles = reachy_mini.get_present_antenna_joint_positions()
@@ -290,7 +287,7 @@ class HandTrackerV2(ReachyMiniApp):
                     head_pose[:3, :3] = R.from_euler("xyz", euler_rot).as_matrix()
                     head_pose[:3, 3][2] = error[1] * kz
 
-                if not self.antenna_mode:
+                if not self.antenna_tracking:
                     antennas = self.previous_antenna_angles.copy()
                 else:
                     # Antennas