@pollen-robotics/reachy-mini-sdk 1.13.0-dev.0.main.24f74f0 → 1.13.0-dev.0.main.55a68f6

package/APP_CREATION_GUIDE.md

@@ -118,6 +118,7 @@ Pick the reference closest to your needs and clone its repo from Hugging Face:
 | [`pollen-robotics/emotions`](https://huggingface.co/spaces/pollen-robotics/emotions)               | React 19 + MUI 7 + Vite     | UI-rich app with rich components / theming  |
 | [`pollen-robotics/telepresence`](https://huggingface.co/spaces/pollen-robotics/telepresence)       | React 19 + MUI 7 + Vite     | App with camera / media streams             |
 | [`pollen-robotics/sdk-js-demo-app`](https://huggingface.co/spaces/pollen-robotics/sdk-js-demo-app) | Vanilla TS + Vite           | Tour of every SDK primitive                 |
+| [`pollen-robotics/reachy-mini-js-template`](https://huggingface.co/spaces/pollen-robotics/reachy-mini-js-template) | **Bare HTML, no build**     | Smallest correct template; see §11.5        |
 
 ```bash
 # Example: start from the vanilla TS template
@@ -337,7 +338,7 @@ mountHost({
 
 **Required**: `appName`. Everything else has sensible defaults.
 
-**Return**: `{ dispose(): void }` - call to unmount cleanly. You
+**Return**: `{ unmount(): void }` - call it to tear the shell down. You
 usually never need this; the page lifecycle handles it.
 
 ---
@@ -900,6 +901,10 @@ one-off prototype, you can deploy a single `index.html` that imports
 the SDK from a CDN. No `package.json`, no `app_build_command`, no
 build step. HF serves the repo root as-is.
 
+Start from [`pollen-robotics/reachy-mini-js-template`](https://huggingface.co/spaces/pollen-robotics/reachy-mini-js-template): duplicate the
+Space and edit its `index.html` — it already follows every rule in this
+guide and shows the common recipes in a few lines each.
+
 **Trade-off summary**
 
 | | Bundled (default, §11.1-§11.4) | Bare HTML + CDN |

package/dist/animation/safe-return.d.ts

@@ -29,12 +29,14 @@ export interface SafelyReturnOptions {
  * Smooth, distance-scaled return to a target pose. Routes through the
  * existing SDK primitives:
  *
- *   1. `reachy.setMotorMode("enabled")` — safe by construction since
+ *   1. `reachy.stopHeadTracking()` — at weight 1 daemon-side face
+ *      tracking overrides every app head target, this goto included.
+ *   2. `reachy.setMotorMode("enabled")` — safe by construction since
  *      daemon PR #1138 (the daemon pins all targets to the present
  *      pose before flipping torque on).
- *   2. Read `reachy.robotState` for the current pose snapshot.
- *   3. Compute `scaledDuration(current, target, preset)`.
- *   4. Call `reachy.gotoTarget({ ...target, duration })`.
+ *   3. Read `reachy.robotState` for the current pose snapshot.
+ *   4. Compute `scaledDuration(current, target, preset)`.
+ *   5. Call `reachy.gotoTarget({ ...target, duration })`.
  *
  * Returns **synchronously after dispatching** the goto — does NOT
  * await completion. Callers who want to await the move should

package/dist/animation/safe-return.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"safe-return.d.ts","sourceRoot":"","sources":["../../animation/safe-return.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAEH,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,WAAW,CAAC;AAC7C,OAAO,EAGH,KAAK,oBAAoB,EAC5B,MAAM,cAAc,CAAC;AACtB,OAAO,EAAkB,KAAK,oBAAoB,EAAE,MAAM,eAAe,CAAC;AAC1E,OAAO,KAAK,EAAE,kBAAkB,EAAE,MAAM,iBAAiB,CAAC;AAE1D,wCAAwC;AACxC,MAAM,WAAW,mBAAmB;IAChC,mDAAmD;IACnD,MAAM,CAAC,EAAE,WAAW,CAAC;IACrB,4EAA4E;IAC5E,MAAM,CAAC,EAAE,oBAAoB,CAAC;CACjC;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAkCG;AACH,wBAAgB,kBAAkB,CAC9B,MAAM,EAAE,kBAAkB,EAC1B,OAAO,GAAE,mBAAwB,GAClC,oBAAoB,CAqCtB;AAED,4CAA4C;AAC5C,MAAM,WAAW,6BAA8B,SAAQ,mBAAmB;IACtE;;;;;OAKG;IACH,iBAAiB,CAAC,EAAE,OAAO,CAAC;CAC/B;AAED;;;;;;;;;;;;;;;;GAgBG;AACH,wBAAgB,sBAAsB,CAClC,MAAM,EAAE,kBAAkB,EAC1B,OAAO,GAAE,6BAAkC,GAC5C,IAAI,CAoBN"}

package/dist/animation/safe-return.js

@@ -20,12 +20,14 @@ import { scaledDuration } from "./distance.js";
  * Smooth, distance-scaled return to a target pose. Routes through the
  * existing SDK primitives:
  *
- *   1. `reachy.setMotorMode("enabled")` — safe by construction since
+ *   1. `reachy.stopHeadTracking()` — at weight 1 daemon-side face
+ *      tracking overrides every app head target, this goto included.
+ *   2. `reachy.setMotorMode("enabled")` — safe by construction since
  *      daemon PR #1138 (the daemon pins all targets to the present
  *      pose before flipping torque on).
- *   2. Read `reachy.robotState` for the current pose snapshot.
- *   3. Compute `scaledDuration(current, target, preset)`.
- *   4. Call `reachy.gotoTarget({ ...target, duration })`.
+ *   3. Read `reachy.robotState` for the current pose snapshot.
+ *   4. Compute `scaledDuration(current, target, preset)`.
+ *   5. Call `reachy.gotoTarget({ ...target, duration })`.
  *
  * Returns **synchronously after dispatching** the goto — does NOT
  * await completion. Callers who want to await the move should
@@ -52,6 +54,12 @@ import { scaledDuration } from "./distance.js";
 export function safelyReturnToPose(reachy, options = {}) {
     const target = options.target ?? INIT_POSE;
     const preset = options.preset ?? DEFAULT_SCALED_DURATION_PRESET;
+    try {
+        reachy.stopHeadTracking();
+    }
+    catch {
+        // Data channel closed; nothing is tracking then.
+    }
     try {
         reachy.setMotorMode("enabled");
     }

package/dist/animation/safe-return.js.map

@@ -1 +1 @@
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package/dist/lib/app-dx.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=app-dx.test.d.ts.map

package/dist/lib/app-dx.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"app-dx.test.d.ts","sourceRoot":"","sources":["../../lib/app-dx.test.ts"],"names":[],"mappings":""}

package/dist/lib/app-dx.test.js

@@ -0,0 +1,100 @@
+/**
+ * Small DX contracts that fresh app authors (human or agent) kept tripping on:
+ *   - `matrixToRpy` must accept the flat `number[16]` head that `state` carries;
+ *   - app audio reaches the robot speaker through a public method, not `_pc`;
+ *   - `safelyReturnToPose` stops head tracking first, since tracking at
+ *     weight 1 overrides the return-to-rest goto.
+ */
+import { describe, expect, it, vi } from 'vitest';
+import { safelyReturnToPose } from '../animation/safe-return.js';
+import { matrixToRpy, rpyToMatrix } from './math.js';
+import { ReachyMini } from './reachy-mini.js';
+describe('matrixToRpy', () => {
+    it('gives the same angles for the nested and the flat form', () => {
+        const nested = rpyToMatrix(5, -10, 20);
+        const fromNested = matrixToRpy(nested);
+        const fromFlat = matrixToRpy(nested.flat());
+        expect(fromFlat.roll).toBeCloseTo(fromNested.roll);
+        expect(fromFlat.pitch).toBeCloseTo(fromNested.pitch);
+        expect(fromFlat.yaw).toBeCloseTo(fromNested.yaw);
+        expect(fromNested.yaw).toBeCloseTo(20);
+    });
+});
+function fakeTrack(kind, id = kind) {
+    return { kind, id };
+}
+function withAudioSender(r) {
+    const replaceTrack = vi.fn(async () => { });
+    const internals = r;
+    const placeholder = fakeTrack('audio', 'placeholder');
+    internals._micStream = { getAudioTracks: () => [placeholder] };
+    internals._micSupported = true;
+    internals._pc = {
+        getTransceivers: () => [
+            { receiver: { track: { kind: 'video' } }, sender: { replaceTrack: vi.fn() } },
+            { receiver: { track: { kind: 'audio' } }, sender: { replaceTrack } },
+        ],
+    };
+    return { replaceTrack, placeholder };
+}
+describe('setOutgoingAudioTrack', () => {
+    it('puts the app track on the audio sender', async () => {
+        const r = new ReachyMini();
+        const { replaceTrack } = withAudioSender(r);
+        const tts = fakeTrack('audio', 'tts');
+        await expect(r.setOutgoingAudioTrack(tts)).resolves.toBe(true);
+        expect(replaceTrack).toHaveBeenCalledWith(tts);
+    });
+    it('null goes back to the silent placeholder', async () => {
+        const r = new ReachyMini();
+        const { replaceTrack, placeholder } = withAudioSender(r);
+        await r.setOutgoingAudioTrack(null);
+        expect(replaceTrack).toHaveBeenLastCalledWith(placeholder);
+    });
+    it('resolves false before a session exists, without throwing', async () => {
+        const r = new ReachyMini();
+        await expect(r.setOutgoingAudioTrack(fakeTrack('audio'))).resolves.toBe(false);
+    });
+    it('resolves false when the robot did not offer two-way audio', async () => {
+        const r = new ReachyMini();
+        const { replaceTrack } = withAudioSender(r);
+        r._micSupported = false;
+        await expect(r.setOutgoingAudioTrack(fakeTrack('audio'))).resolves.toBe(false);
+        expect(replaceTrack).not.toHaveBeenCalled();
+    });
+    it('is forgotten by an explicit stopSession', async () => {
+        const r = new ReachyMini();
+        await r.setOutgoingAudioTrack(fakeTrack('audio'));
+        await r.stopSession();
+        expect(r._outgoingAudioTrack).toBeNull();
+    });
+    it('rejects non-audio tracks', async () => {
+        const r = new ReachyMini();
+        await expect(r.setOutgoingAudioTrack(fakeTrack('video'))).rejects.toThrow(TypeError);
+    });
+});
+describe('safelyReturnToPose', () => {
+    it('stops head tracking before re-enabling torque and sending the goto', () => {
+        const calls = [];
+        const reachy = {
+            robotState: {},
+            stopHeadTracking: () => { calls.push('stopHeadTracking'); return true; },
+            setMotorMode: () => { calls.push('setMotorMode'); return true; },
+            gotoTarget: () => { calls.push('gotoTarget'); return true; },
+        };
+        safelyReturnToPose(reachy);
+        expect(calls).toEqual(['stopHeadTracking', 'setMotorMode', 'gotoTarget']);
+    });
+    it('still returns to pose when the tracking command throws', () => {
+        const goto = vi.fn(() => true);
+        const reachy = {
+            robotState: {},
+            stopHeadTracking: () => { throw new Error('channel closed'); },
+            setMotorMode: () => true,
+            gotoTarget: goto,
+        };
+        safelyReturnToPose(reachy);
+        expect(goto).toHaveBeenCalledOnce();
+    });
+});
+//# sourceMappingURL=app-dx.test.js.map

package/dist/lib/app-dx.test.js.map

@@ -0,0 +1 @@
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package/dist/lib/math.d.ts

@@ -13,9 +13,10 @@ export declare function radToDeg(rad: number): number;
  */
 export declare function rpyToMatrix(rollDeg: number, pitchDeg: number, yawDeg: number): number[][];
 /**
- * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.
+ * Rotation matrix (3×3 or 4×4 nested, or the flat row-major `number[16]`
+ * of `state.head`) → { roll, pitch, yaw } in degrees.
  */
-export declare function matrixToRpy(m: number[][]): {
+export declare function matrixToRpy(matrix: number[][] | number[]): {
     roll: number;
     pitch: number;
     yaw: number;

package/dist/lib/math.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"math.d.ts","sourceRoot":"","sources":["../../lib/math.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,wBAAgB,QAAQ,CAAC,GAAG,EAAE,MAAM,GAAG,MAAM,CAE5C;AAED,wBAAgB,QAAQ,CAAC,GAAG,EAAE,MAAM,GAAG,MAAM,CAE5C;AAED;;;GAGG;AACH,wBAAgB,WAAW,CACvB,OAAO,EAAE,MAAM,EACf,QAAQ,EAAE,MAAM,EAChB,MAAM,EAAE,MAAM,GACf,MAAM,EAAE,EAAE,CAWZ;AAED;;GAEG;AACH,wBAAgB,WAAW,CACvB,CAAC,EAAE,MAAM,EAAE,EAAE,GACd;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,CAM9C"}
+{"version":3,"file":"math.d.ts","sourceRoot":"","sources":["../../lib/math.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,wBAAgB,QAAQ,CAAC,GAAG,EAAE,MAAM,GAAG,MAAM,CAE5C;AAED,wBAAgB,QAAQ,CAAC,GAAG,EAAE,MAAM,GAAG,MAAM,CAE5C;AAED;;;GAGG;AACH,wBAAgB,WAAW,CACvB,OAAO,EAAE,MAAM,EACf,QAAQ,EAAE,MAAM,EAChB,MAAM,EAAE,MAAM,GACf,MAAM,EAAE,EAAE,CAWZ;AAED;;;GAGG;AACH,wBAAgB,WAAW,CACvB,MAAM,EAAE,MAAM,EAAE,EAAE,GAAG,MAAM,EAAE,GAC9B;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,CAS9C"}

package/dist/lib/math.js

@@ -28,9 +28,13 @@ export function rpyToMatrix(rollDeg, pitchDeg, yawDeg) {
     ];
 }
 /**
- * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.
+ * Rotation matrix (3×3 or 4×4 nested, or the flat row-major `number[16]`
+ * of `state.head`) → { roll, pitch, yaw } in degrees.
  */
-export function matrixToRpy(m) {
+export function matrixToRpy(matrix) {
+    const m = Array.isArray(matrix[0])
+        ? matrix
+        : [0, 1, 2, 3].map((r) => matrix.slice(r * 4, r * 4 + 4));
     return {
         roll: radToDeg(Math.atan2(m[2][1], m[2][2])),
         pitch: radToDeg(Math.asin(-m[2][0])),

package/dist/lib/math.js.map

@@ -1 +1 @@
-{"version":3,"file":"math.js","sourceRoot":"","sources":["../../lib/math.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,MAAM,UAAU,QAAQ,CAAC,GAAW;IAChC,OAAO,GAAG,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC;AAC/B,CAAC;AAED,MAAM,UAAU,QAAQ,CAAC,GAAW;IAChC,OAAO,GAAG,GAAG,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC;AAC/B,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,WAAW,CACvB,OAAe,EACf,QAAgB,EAChB,MAAc;IAEd,MAAM,CAAC,GAAG,QAAQ,CAAC,OAAO,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC;IAC1E,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,OAAO;QACH,CAAC,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC5D,CAAC,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC5D,CAAC,CAAC,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC1B,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;KACf,CAAC;AACN,CAAC;AAED;;GAEG;AACH,MAAM,UAAU,WAAW,CACvB,CAAa;IAEb,OAAO;QACH,IAAI,EAAE,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,EAAE,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;QAChD,KAAK,EAAE,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;QACtC,GAAG,EAAE,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,EAAE,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;KAClD,CAAC;AACN,CAAC"}
+{"version":3,"file":"math.js","sourceRoot":"","sources":["../../lib/math.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,MAAM,UAAU,QAAQ,CAAC,GAAW;IAChC,OAAO,GAAG,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC;AAC/B,CAAC;AAED,MAAM,UAAU,QAAQ,CAAC,GAAW;IAChC,OAAO,GAAG,GAAG,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC;AAC/B,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,WAAW,CACvB,OAAe,EACf,QAAgB,EAChB,MAAc;IAEd,MAAM,CAAC,GAAG,QAAQ,CAAC,OAAO,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC;IAC1E,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IACzC,OAAO;QACH,CAAC,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC5D,CAAC,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC5D,CAAC,CAAC,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC;QAC1B,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;KACf,CAAC;AACN,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,WAAW,CACvB,MAA6B;IAE7B,MAAM,CAAC,GAAG,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QAC9B,CAAC,CAAE,MAAqB;QACxB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAE,MAAmB,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAC5E,OAAO;QACH,IAAI,EAAE,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,EAAE,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;QAChD,KAAK,EAAE,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;QACtC,GAAG,EAAE,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,EAAE,CAAC,CAAC,CAAC,CAAE,CAAC,CAAC,CAAE,CAAC,CAAC;KAClD,CAAC;AACN,CAAC"}

package/dist/lib/reachy-mini.d.ts

@@ -29,6 +29,8 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _selectedRobotId;
     private _pendingRemoteIce;
     _micStream: MediaStream | null;
+    private _robotAudioTrack;
+    private _outgoingAudioTrack;
     private _micMuted;
     private _audioMuted;
     private _micSupported;
@@ -64,6 +66,12 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
      * use — never capture it across ticks.
      */
     get peerConnection(): RTCPeerConnection | null;
+    /**
+     * The robot's microphone as a live audio track, or `null` until the
+     * session's audio arrives (see the `audioTrack` event). Feed it to Web
+     * Audio, `MediaRecorder` or `SpeechRecognition.start(track)`.
+     */
+    get robotAudioTrack(): MediaStreamTrack | null;
     /**
      * Build version of this SDK (npm package `version`), injected from
      * package.json at build time. This is the JS SDK's OWN version and is
@@ -351,6 +359,22 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     unsubscribePose(): boolean;
     setAudioMuted(muted: boolean): void;
     setMicMuted(muted: boolean): void;
+    /**
+     * Stream an audio track to the robot's speaker in real time (TTS output,
+     * a WebAudio graph, the user's own mic for teleop…). Pass `null` to go
+     * back to silence. The track survives auto-reconnects; the app keeps
+     * ownership of it (the SDK never stops it).
+     *
+     * Resolves `true` once the track is on the wire, `false` when there is
+     * no live session yet (it is then applied as soon as one starts) or when
+     * the robot didn't offer two-way audio. Cleared by `stopSession()` /
+     * `disconnect()`. `setMicMuted()` only mutes the SDK's placeholder, not
+     * this track — stop or disable the track itself to go quiet.
+     * For clips that must stay in sync with motion, prefer
+     * `playMove(motion, { audioBlob })` or `uploadAudio` + `playUploadedAudio`.
+     */
+    setOutgoingAudioTrack(track: MediaStreamTrack | null): Promise<boolean>;
+    private _applyOutgoingAudioTrack;
     attachVideo(videoElement: HTMLVideoElement): () => void;
     playMove(motion: MoveData, { audioBlob, audioLeadMs, description, encoding, playFrequency, initialGotoDuration, startTimeoutMs, onProgress, onStarted, }?: PlayMoveOptions): Promise<PlayMoveResult>;
     cancelMove(uploadId?: string | null): boolean;

package/dist/lib/reachy-mini.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAoCH,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,gBAAgB,CAAiC;IACzD,OAAO,CAAC,mBAAmB,CAAiC;IAC5D,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;IACnE;;;;OAIG;IACH,IAAI,eAAe,IAAI,gBAAgB,GAAG,IAAI,CAAkC;IAEhF;;;;;;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;IAsKnC;;;;;;;;;;OAUG;IACH,OAAO,CAAC,eAAe;IA6BvB,OAAO,CAAC,oBAAoB;IAoBtB,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAqBlC,UAAU,IAAI,IAAI;IAsBlB;;;;;;;;;;;;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;;;;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package/dist/lib/reachy-mini.js

@@ -81,6 +81,8 @@ export class ReachyMini extends EventTarget {
     _pendingRemoteIce = [];
     // ─── Audio ───────────────────────────────────────────────────────────
     _micStream = null;
+    _robotAudioTrack = null;
+    _outgoingAudioTrack = null;
     _micMuted = true;
     _audioMuted = true;
     _micSupported = false;
@@ -171,6 +173,12 @@ export class ReachyMini extends EventTarget {
      * use — never capture it across ticks.
      */
     get peerConnection() { return this._pc; }
+    /**
+     * The robot's microphone as a live audio track, or `null` until the
+     * session's audio arrives (see the `audioTrack` event). Feed it to Web
+     * Audio, `MediaRecorder` or `SpeechRecognition.start(track)`.
+     */
+    get robotAudioTrack() { return this._robotAudioTrack; }
     /**
      * Build version of this SDK (npm package `version`), injected from
      * package.json at build time. This is the JS SDK's OWN version and is
@@ -554,6 +562,10 @@ export class ReachyMini extends EventTarget {
                     catch { /* ignore */ }
                     this._emit('videoTrack', { track: e.track, stream: e.streams[0] });
                 }
+                else if (e.track.kind === 'audio') {
+                    this._robotAudioTrack = e.track;
+                    this._emit('audioTrack', { track: e.track, stream: e.streams[0] });
+                }
             };
             this._pc.onicecandidate = async (e) => {
                 if (e.candidate && this._sessionId) {
@@ -683,6 +695,7 @@ export class ReachyMini extends EventTarget {
             this._micStream.getTracks().forEach((t) => t.stop());
             this._micStream = null;
         }
+        this._robotAudioTrack = null;
         this._micMuted = true;
         this._micSupported = false;
         if (this._pc) {
@@ -721,6 +734,7 @@ export class ReachyMini extends EventTarget {
         this._supervisor.cancelRedial();
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
+        this._outgoingAudioTrack = null;
         const sessionId = this._closeTransport(new Error('Session stopped'));
         if (sessionId) {
             await this._sendToServer({ type: 'endSession', sessionId });
@@ -739,6 +753,7 @@ export class ReachyMini extends EventTarget {
         }
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
+        this._outgoingAudioTrack = null;
         const sessionId = this._closeTransport(new Error('Disconnected'));
         if (sessionId && this._token) {
             void this._sendToServer({ type: 'endSession', sessionId });
@@ -1271,6 +1286,36 @@ export class ReachyMini extends EventTarget {
             this._micStream.getAudioTracks().forEach((t) => { t.enabled = !muted; });
         }
     }
+    /**
+     * Stream an audio track to the robot's speaker in real time (TTS output,
+     * a WebAudio graph, the user's own mic for teleop…). Pass `null` to go
+     * back to silence. The track survives auto-reconnects; the app keeps
+     * ownership of it (the SDK never stops it).
+     *
+     * Resolves `true` once the track is on the wire, `false` when there is
+     * no live session yet (it is then applied as soon as one starts) or when
+     * the robot didn't offer two-way audio. Cleared by `stopSession()` /
+     * `disconnect()`. `setMicMuted()` only mutes the SDK's placeholder, not
+     * this track — stop or disable the track itself to go quiet.
+     * For clips that must stay in sync with motion, prefer
+     * `playMove(motion, { audioBlob })` or `uploadAudio` + `playUploadedAudio`.
+     */
+    async setOutgoingAudioTrack(track) {
+        if (track && track.kind !== 'audio') {
+            throw new TypeError(`setOutgoingAudioTrack: expected an audio track, got "${track.kind}"`);
+        }
+        this._outgoingAudioTrack = track;
+        return this._applyOutgoingAudioTrack();
+    }
+    async _applyOutgoingAudioTrack() {
+        const sender = this._pc?.getTransceivers()
+            .find((t) => t.receiver.track.kind === 'audio')?.sender;
+        if (!sender || !this._micSupported)
+            return false;
+        const fallback = this._micStream?.getAudioTracks()[0] ?? null;
+        await sender.replaceTrack(this._outgoingAudioTrack ?? fallback);
+        return true;
+    }
     // ─── Video helper ────────────────────────────────────────────────────
     attachVideo(videoElement) {
         this._videoElement = videoElement;
@@ -1674,6 +1719,7 @@ export class ReachyMini extends EventTarget {
                 this._micStream.getTracks().forEach((t) => t.stop());
                 this._micStream = null;
             }
+            this._robotAudioTrack = null;
             this._iceConnected = false;
             this._dcOpen = false;
             this._micMuted = true;
@@ -1710,6 +1756,13 @@ export class ReachyMini extends EventTarget {
                     await this._pc.setRemoteDescription(new RTCSessionDescription(sdp));
                     const answer = await this._pc.createAnswer();
                     await this._pc.setLocalDescription(answer);
+                    // Re-dials build a fresh peer connection: carry the app's
+                    // outgoing audio over instead of reverting to the placeholder.
+                    if (this._outgoingAudioTrack) {
+                        // Best-effort: a failed swap must not keep the answer from going out.
+                        await this._applyOutgoingAudioTrack()
+                            .catch((e) => log.warn('re-applying outgoing audio failed:', e));
+                    }
                     await this._sendToServer({
                         type: 'peer',
                         sessionId: this._sessionId,