npm - @pollen-robotics/reachy-mini-sdk - Versions diffs - 1.10.0 → 1.11.0-dev.0.main.ac7a186 - Mend

@pollen-robotics/reachy-mini-sdk 1.10.0 → 1.11.0-dev.0.main.ac7a186

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (18) hide show

package/dist/lib/imu.test.js +11 -0
package/dist/lib/imu.test.js.map +1 -1
package/dist/lib/reachy-mini.d.ts.map +1 -1
package/dist/lib/reachy-mini.js +4 -0
package/dist/lib/reachy-mini.js.map +1 -1
package/dist/lib/types.d.ts +5 -0
package/dist/lib/types.d.ts.map +1 -1
package/dist/lib/version.d.ts +1 -1
package/dist/lib/version.d.ts.map +1 -1
package/dist/lib/version.js +1 -1
package/dist/lib/version.js.map +1 -1
package/host/dist/chunks/{centralRest-uXNMidlL.js → centralRest-vcOOpQK6.js} +1 -1
package/host/dist/chunks/{index-Beu4GNzi.js → index-BrKBhTE0.js} +1 -1
package/host/dist/chunks/{mountHost-D6qt3s1W.js → mountHost-Csxr2fuq.js} +1 -1
package/host/dist/entry/auto.js +2 -2
package/host/dist/entry/embed.js +2 -2
package/host/dist/index.js +3 -3
package/package.json +1 -1

package/dist/lib/imu.test.js CHANGED Viewed

@@ -75,4 +75,15 @@ describe('getImu - degraded paths', () => {
         await expect(r.getImu()).rejects.toThrow(/Data channel not open/);
     });
 });
+describe('robotState.imu mirror', () => {
+    it('is set by a state frame and cleared again by imu: null', () => {
+        const { r, internals } = makeInstance();
+        internals._handleRobotMessage({ state: { imu: READING } });
+        expect(r.robotState.imu).toEqual(READING);
+        // The daemon nulls the field once its cache goes stale; the mirror
+        // must clear rather than serve a frozen reading.
+        internals._handleRobotMessage({ state: { imu: null } });
+        expect(r.robotState.imu).toBeUndefined();
+    });
+});
 //# sourceMappingURL=imu.test.js.map

package/dist/lib/imu.test.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/reachy-mini.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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1	+ {"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAmCH,OAAO,KAAK,EACR,uBAAuB,EACvB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EAEjB,UAAU,EACV,OAAO,EACP,YAAY,EACZ,kBAAkB,EAClB,QAAQ,EACR,eAAe,EACf,cAAc,EACd,wBAAwB,EAExB,kBAAkB,EAClB,iBAAiB,EACjB,cAAc,EACd,SAAS,EACT,UAAU,EAEV,wBAAwB,EACxB,oBAAoB,EACpB,mBAAmB,EACnB,kBAAkB,EACrB,MAAM,YAAY,CAAC;AASpB,YAAY,EAAE,mBAAmB,EAAE,CAAC;AAyDpC,qBAAa,UAAW,SAAQ,WAAY,YAAW,kBAAkB;IAGrE,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgB;IAC1C,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAAS;IACpD,OAAO,CAAC,iBAAiB,CAAU;IACnC,OAAO,CAAC,mBAAmB,CAAU;IAGrC,OAAO,CAAC,MAAM,CAA8D;IAC5E,OAAO,CAAC,OAAO,CAAmB;IAClC,OAAO,CAAC,WAAW,CAAkB;IAIrC,OAAO,CAAC,YAAY,CAAuB;IAG3C,OAAO,CAAC,gBAAgB,CAAK;IAM7B,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,QAAQ,CAAC,mBAAmB,CAAgB;IAGpD,OAAO,CAAC,MAAM,CAAuB;IACrC,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,aAAa,CAA8B;IAGnD,OAAO,CAAC,mBAAmB,CAAgC;IAG3D,GAAG,EAAE,iBAAiB,GAAG,IAAI,CAAQ;IACrC,OAAO,CAAC,GAAG,CAA+B;IAC1C,OAAO,CAAC,UAAU,CAAuB;IACzC,OAAO,CAAC,gBAAgB,CAAuB;IAC/C,OAAO,CAAC,iBAAiB,CAA8C;IAGvE,UAAU,EAAE,WAAW,GAAG,IAAI,CAAQ;IACtC,OAAO,CAAC,SAAS,CAAQ;IACzB,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,aAAa,CAAS;IAG9B,OAAO,CAAC,iBAAiB,CAA+C;IACxE,OAAO,CAAC,qBAAqB,CAA+C;IAK5E,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAwB;IAGjD,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAiC;IACjE,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAA0C;IAKrF,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAqE;IAGnG,OAAO,CAAC,mBAAmB,CAAuB;IAClD,OAAO,CAAC,oBAAoB,CAAuB;IAGnD,OAAO,CAAC,eAAe,CAA6B;IACpD,OAAO,CAAC,cAAc,CAAuC;IAC7D,OAAO,CAAC,aAAa,CAAS;IAC9B,OAAO,CAAC,OAAO,CAAS;IAOxB,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAoB;IAGhD,OAAO,CAAC,aAAa,CAAiC;gBAE1C,OAAO,GAAE,iBAAsB;IAyC3C,IAAI,KAAK,IAAI,cAAc,GAAG,WAAW,GAAG,WAAW,CAAwB;IAC/E,IAAI,MAAM,IAAI,SAAS,EAAE,CAAyB;IAClD,IAAI,UAAU,IAAI,UAAU,CAA6B;IACzD,IAAI,QAAQ,IAAI,MAAM,GAAG,IAAI,CAA2B;IACxD,IAAI,eAAe,IAAI,OAAO,CAA0B;IACxD,IAAI,YAAY,IAAI,OAAO,CAA+B;IAC1D,IAAI,QAAQ,IAAI,OAAO,CAA2B;IAClD,IAAI,UAAU,IAAI,OAAO,CAA6B;IACtD,IAAI,kBAAkB,IAAI,MAAM,GAAG,IAAI,CAAqC;IAC5E,IAAI,UAAU,IAAI,OAAO,CAA8C;IACvE;;;;;OAKG;IACH,IAAI,cAAc,IAAI,iBAAiB,GAAG,IAAI,CAAqB;IAEnE;;;;;;OAMG;IACH,IAAI,UAAU,IAAI,MAAM,CAAwB;IAEhD;0CACsC;IACtC,MAAM,KAAK,OAAO,IAAI,MAAM,CAAwB;IAEpD;;;;;OAKG;IACH,eAAe,IAAI,IAAI;IAmBjB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC;IA6ChC,KAAK,CAAC,OAAO,CAAC,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAiBlD,MAAM,IAAI,IAAI;IASR,OAAO,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IA0EtC,WAAW,CAAC,OAAO,GAAE,kBAAuB,GAAG,OAAO,CAAC,iBAAiB,CAAC;YA8EjE,iBAAiB;IA+C/B,OAAO,CAAC,mBAAmB;IAkBrB,YAAY,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;YASpC,qBAAqB;IA6JnC;;;;;;;;;;OAUG;IACH,OAAO,CAAC,eAAe;IA4BvB,OAAO,CAAC,oBAAoB;IAoBtB,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAoBlC,UAAU,IAAI,IAAI;IAqBlB;;;;;;;;;;;;OAYG;IACH,gBAAgB,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAIxC;;;;;;;;;;OAUG;IACH,OAAO,CAAC,kBAAkB;IAc1B;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA0CG;IACH,SAAS,CACL,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,GAAE;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAA;KAAO,GAC/F,OAAO;IAiCV,UAAU,CACN,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,EAClC;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAA;KAAE,GAClF,OAAO;IAuCV,aAAa,CAAC,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,OAAO;IAIzE,cAAc,CAAC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,OAAO;IAI1D,aAAa,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO;IAItC,SAAS,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO;IAIhC,gBAAgB,CACZ,QAAQ,EAAE,MAAM,EAChB,EACI,OAAO,EACP,mBAAmB,GACtB,GAAE;QAAE,OAAO,CAAC,EAAE,MAAM,CAAC;QAAC,mBAAmB,CAAC,EAAE,MAAM,CAAA;KAAO,GAC3D,OAAO;IAWV;;;;;OAKG;IACH,QAAQ,IAAI,OAAO;IAInB,cAAc,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO;IAIxC;;;;;;;;;OASG;IACH,qBAAqB,CACjB,OAAO,EAAE,MAAM,EACf,EAAE,SAAkB,EAAE,GAAE;QAAE,SAAS,CAAC,EAAE,MAAM,CAAA;KAAO,GACpD,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAmB1B,kBAAkB,IAAI,OAAO;IAI7B,iBAAiB,CAAC,MAAM,SAAM,GAAG,OAAO;IAYxC,gBAAgB,IAAI,OAAO;IAI3B,cAAc,IAAI,OAAO,CAAC,UAAU,GAAG,IAAI,CAAC;IAI5C;;;;;;;;;;;;;OAaG;IACH,iBAAiB,CACb,EAAE,UAAkB,EAAE,UAAU,EAAE,GAAE,wBAA6B,GAClE,OAAO;IAKV,YAAY,CAAC,IAAI,EAAE,SAAS,GAAG,UAAU,GAAG,sBAAsB,GAAG,OAAO;IAI5E,cAAc,CAAC,EAAE,EAAE,OAAO,EAAE,GAAG,GAAE,MAAM,EAAE,GAAG,IAAW,GAAG,OAAO;IAIjE,MAAM,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpE,SAAS,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAIvE,OAAO,CAAC,2BAA2B;IAUnC,OAAO,IAAI,OAAO;IAKZ,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,OAAO,CAAC;IAkDrD;;;;OAIG;IACH,UAAU,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIpC,aAAa,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIvC;;;;OAIG;IACH,MAAM,IAAI,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAIjC,SAAS,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAInC,SAAS,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAIjD,mBAAmB,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAI7C,mBAAmB,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAI3D;;;;;;OAMG;IACH,cAAc,IAAI,OAAO,CAAC,OAAO,GAAG,IAAI,CAAC;IAOzC;;;OAGG;IACH,cAAc,CAAC,WAAW,EAAE,OAAO,GAAG,OAAO,CAAC,OAAO,G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package/dist/lib/reachy-mini.js CHANGED Viewed

@@ -1903,6 +1903,10 @@ export class ReachyMini extends EventTarget {
             // that by clearing our mirror so stale angles don't linger.
             if ('doa' in s)
                 this._robotState.doa = s.doa ?? undefined;
+            // Same for the IMU: the daemon sends null once its 0.5 s cache
+            // goes stale, so a frozen last reading must not linger either.
+            if ('imu' in s)
+                this._robotState.imu = s.imu ?? undefined;
             this._emit('state', { ...this._robotState });
         }
         if (data.error) {

package/dist/lib/reachy-mini.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/lib/types.d.ts CHANGED Viewed

@@ -95,6 +95,11 @@ export interface RobotState {
      * (or no reading yet). Refreshed by the daemon at ~10 Hz.
      */
     doa?: DoA;
+    /**
+     * Latest IMU reading, or absent on robots without one (Lite, simulator)
+     * and while the daemon's cached reading is stale.
+     */
+    imu?: ImuData;
 }
 /** SDK constructor options. */
 export interface ReachyMiniOptions {

package/dist/lib/types.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/lib/version.d.ts CHANGED Viewed

@@ -1,2 +1,2 @@
-export declare const SDK_VERSION = "1.10.0";
+export declare const SDK_VERSION = "1.11.0-dev.0.main.ac7a186";
 //# sourceMappingURL=version.d.ts.map

package/dist/lib/version.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"version.d.ts","sourceRoot":"","sources":["../../lib/version.ts"],"names":[],"mappings":"AAGA,eAAO,MAAM,WAAW,~~WAAW~~,CAAC"}
1	+ {"version":3,"file":"version.d.ts","sourceRoot":"","sources":["../../lib/version.ts"],"names":[],"mappings":"AAGA,eAAO,MAAM,WAAW,8BAA8B,CAAC"}

package/dist/lib/version.js CHANGED Viewed

@@ -1,5 +1,5 @@
 // AUTO-GENERATED by scripts/gen-version.mjs — DO NOT EDIT.
 // Source of truth is the `version` field in package.json (bumped by CI at
 // release). Regenerated by the `prebuild:sdk` npm lifecycle hook.
-export const SDK_VERSION = "1.10.0";
+export const SDK_VERSION = "1.11.0-dev.0.main.ac7a186";
 //# sourceMappingURL=version.js.map

package/dist/lib/version.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"version.js","sourceRoot":"","sources":["../../lib/version.ts"],"names":[],"mappings":"AAAA,2DAA2D;AAC3D,0EAA0E;AAC1E,kEAAkE;AAClE,MAAM,CAAC,MAAM,WAAW,GAAG,~~QAAQ~~,CAAC"}
1	+ {"version":3,"file":"version.js","sourceRoot":"","sources":["../../lib/version.ts"],"names":[],"mappings":"AAAA,2DAA2D;AAC3D,0EAA0E;AAC1E,kEAAkE;AAClE,MAAM,CAAC,MAAM,WAAW,GAAG,2BAA2B,CAAC"}

package/host/dist/chunks/{centralRest-uXNMidlL.js → centralRest-vcOOpQK6.js} RENAMED Viewed

@@ -2164,7 +2164,7 @@ class He extends EventTarget {
         }
         if (e.state && (t || Date.now() - this._lastPoseFrameAt >= Q)) {
           const n = e.state;
-          n.head_pose && (this._robotState.head = n.head_pose.flat()), n.antennas && (this._robotState.antennas = [n.antennas[0], n.antennas[1]]), n.head_joint_positions && (this._robotState.head_joint_positions = n.head_joint_positions), typeof n.body_yaw == "number" && (this._robotState.body_yaw = n.body_yaw), n.motor_mode && (this._robotState.motor_mode = n.motor_mode), typeof n.is_move_running == "boolean" && (this._robotState.is_move_running = n.is_move_running), n.face_target && (this._robotState.face_target = n.face_target), "doa" in n && (this._robotState.doa = n.doa ?? void 0), this._emit("state", { ...this._robotState });
+          n.head_pose && (this._robotState.head = n.head_pose.flat()), n.antennas && (this._robotState.antennas = [n.antennas[0], n.antennas[1]]), n.head_joint_positions && (this._robotState.head_joint_positions = n.head_joint_positions), typeof n.body_yaw == "number" && (this._robotState.body_yaw = n.body_yaw), n.motor_mode && (this._robotState.motor_mode = n.motor_mode), typeof n.is_move_running == "boolean" && (this._robotState.is_move_running = n.is_move_running), n.face_target && (this._robotState.face_target = n.face_target), "doa" in n && (this._robotState.doa = n.doa ?? void 0), "imu" in n && (this._robotState.imu = n.imu ?? void 0), this._emit("state", { ...this._robotState });
         }
         e.error && this._emit("error", { source: "robot", error: e.error }), this._pending.matchBroadcast(e);
       }

package/host/dist/chunks/{index-Beu4GNzi.js → index-BrKBhTE0.js} RENAMED Viewed

@@ -1,5 +1,5 @@
 import { decodeCredsFromHash as $, PROTOCOL_VERSION as y, PROTOCOL_SOURCE as b, isProtocolMessage as D } from "../lib/protocol.js";
-import { p as L, a as J, c as G } from "./centralRest-uXNMidlL.js";
+import { p as L, a as J, c as G } from "./centralRest-vcOOpQK6.js";
 const Y = "@pollen-robotics/reachy-mini-sdk", Z = `https://registry.npmjs.org/${Y}/latest`, V = "reachy.sdkLatestRelease.v1", F = "reachy.sdkStalenessDismissed.v1", Q = 360 * 60 * 1e3, v = "reachy-sdk-outdated-overlay";
 function X() {
   try {

package/host/dist/chunks/{mountHost-D6qt3s1W.js → mountHost-Csxr2fuq.js} RENAMED Viewed

@@ -1,4 +1,4 @@
-import { c as Xs, f as rx, a as ux, d as cx, s as sx, M as ev } from "./centralRest-uXNMidlL.js";
+import { c as Xs, f as rx, a as ux, d as cx, s as sx, M as ev } from "./centralRest-vcOOpQK6.js";
 import { isProtocolMessage as fx, PROTOCOL_VERSION as eu, PROTOCOL_SOURCE as tu, encodeCredsToHash as dx } from "../lib/protocol.js";
 function px(o, u) {
   for (var f = 0; f < u.length; f++) {

package/host/dist/entry/auto.js CHANGED Viewed

@@ -1,5 +1,5 @@
-import { R as i } from "../chunks/centralRest-uXNMidlL.js";
-import { m as n } from "../chunks/mountHost-D6qt3s1W.js";
+import { R as i } from "../chunks/centralRest-vcOOpQK6.js";
+import { m as n } from "../chunks/mountHost-Csxr2fuq.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHost = { mountHost: n });
 export {
   n as mountHost

package/host/dist/entry/embed.js CHANGED Viewed

@@ -1,5 +1,5 @@
-import { R as i } from "../chunks/centralRest-uXNMidlL.js";
-import { a as n, c as o } from "../chunks/index-Beu4GNzi.js";
+import { R as i } from "../chunks/centralRest-vcOOpQK6.js";
+import { a as n, c as o } from "../chunks/index-BrKBhTE0.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHostEmbed = { connectToHost: o, connectToHostCredsOnly: n });
 export {
   o as connectToHost,

package/host/dist/index.js CHANGED Viewed

@@ -1,6 +1,6 @@
-import { R as o } from "./chunks/centralRest-uXNMidlL.js";
-import { R as i, m as a } from "./chunks/mountHost-D6qt3s1W.js";
-import { c as r, a as c } from "./chunks/index-Beu4GNzi.js";
+import { R as o } from "./chunks/centralRest-vcOOpQK6.js";
+import { R as i, m as a } from "./chunks/mountHost-Csxr2fuq.js";
+import { c as r, a as c } from "./chunks/index-BrKBhTE0.js";
 import { PROTOCOL_VERSION as m, decodeCredsFromHash as w, encodeCredsToHash as h, isProtocolMessage as y } from "./lib/protocol.js";
 typeof window < "u" && !window.ReachyMini && (window.ReachyMini = o, window.dispatchEvent(new Event("reachymini:ready")));
 export {

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@pollen-robotics/reachy-mini-sdk",
-  "version": "1.10.0",
+  "version": "1.11.0-dev.0.main.ac7a186",
   "description": "Browser SDK for controlling a Reachy Mini robot over WebRTC, plus an optional Hugging Face Spaces host shell (OAuth + robot picker + iframe bridge) exposed via the ./host subpath.",
   "type": "module",
   "main": "./dist/reachy-mini-sdk.js",