@pollen-robotics/reachy-mini-sdk 1.13.0-dev.0.main.24f74f0 → 1.13.0-dev.0.main.57898f1

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 @@
+{"version":3,"file":"app-dx.test.js","sourceRoot":"","sources":["../../lib/app-dx.test.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,OAAO,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAElD,OAAO,EAAE,kBAAkB,EAAE,MAAM,6BAA6B,CAAC;AACjE,OAAO,EAAE,WAAW,EAAE,WAAW,EAAE,MAAM,WAAW,CAAC;AACrD,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAG9C,QAAQ,CAAC,aAAa,EAAE,GAAG,EAAE;IACzB,EAAE,CAAC,wDAAwD,EAAE,GAAG,EAAE;QAC9D,MAAM,MAAM,GAAG,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QACvC,MAAM,UAAU,GAAG,WAAW,CAAC,MAAM,CAAC,CAAC;QACvC,MAAM,QAAQ,GAAG,WAAW,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC,CAAC;QAC5C,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC,WAAW,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;QACnD,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,WAAW,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC;QACrD,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,WAAW,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC;QACjD,MAAM,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,WAAW,CAAC,EAAE,CAAC,CAAC;IAC3C,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAUH,SAAS,SAAS,CAAC,IAAuB,EAAE,KAAa,IAAI;IACzD,OAAO,EAAE,IAAI,EAAE,EAAE,EAAiC,CAAC;AACvD,CAAC;AAED,SAAS,eAAe,CAAC,CAAa;IAClC,MAAM,YAAY,GAAG,EAAE,CAAC,EAAE,CAAC,KAAK,IAAI,EAAE,GAAkB,CAAC,CAAC,CAAC;IAC3D,MAAM,SAAS,GAAG,CAA8B,CAAC;IACjD,MAAM,WAAW,GAAG,SAAS,CAAC,OAAO,EAAE,aAAa,CAAC,CAAC;IACtD,SAAS,CAAC,UAAU,GAAG,EAAE,cAAc,EAAE,GAAG,EAAE,CAAC,CAAC,WAAW,CAAC,EAAE,CAAC;IAC/D,SAAS,CAAC,aAAa,GAAG,IAAI,CAAC;IAC/B,SAAS,CAAC,GAAG,GAAG;QACZ,eAAe,EAAE,GAAG,EAAE,CAAC;YACnB,EAAE,QAAQ,EAAE,EAAE,KAAK,EAAE,EAAE,IAAI,EAAE,OAAO,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,YAAY,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE;YAC7E,EAAE,QAAQ,EAAE,EAAE,KAAK,EAAE,EAAE,IAAI,EAAE,OAAO,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,YAAY,EAAE,EAAE;SACvE;KACJ,CAAC;IACF,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,CAAC;AACzC,CAAC;AAED,QAAQ,CAAC,uBAAuB,EAAE,GAAG,EAAE;IACnC,EAAE,CAAC,wCAAwC,EAAE,KAAK,IAAI,EAAE;QACpD,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,EAAE,YAAY,EAAE,GAAG,eAAe,CAAC,CAAC,CAAC,CAAC;QAC5C,MAAM,GAAG,GAAG,SAAS,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;QACtC,MAAM,MAAM,CAAC,CAAC,CAAC,qBAAqB,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAC/D,MAAM,CAAC,YAAY,CAAC,CAAC,oBAAoB,CAAC,GAAG,CAAC,CAAC;IACnD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,0CAA0C,EAAE,KAAK,IAAI,EAAE;QACtD,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,EAAE,YAAY,EAAE,WAAW,EAAE,GAAG,eAAe,CAAC,CAAC,CAAC,CAAC;QACzD,MAAM,CAAC,CAAC,qBAAqB,CAAC,IAAI,CAAC,CAAC;QACpC,MAAM,CAAC,YAAY,CAAC,CAAC,wBAAwB,CAAC,WAAW,CAAC,CAAC;IAC/D,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,0DAA0D,EAAE,KAAK,IAAI,EAAE;QACtE,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,MAAM,CAAC,CAAC,CAAC,qBAAqB,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IACnF,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,2DAA2D,EAAE,KAAK,IAAI,EAAE;QACvE,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,EAAE,YAAY,EAAE,GAAG,eAAe,CAAC,CAAC,CAAC,CAAC;QAC3C,CAA+B,CAAC,aAAa,GAAG,KAAK,CAAC;QACvD,MAAM,MAAM,CAAC,CAAC,CAAC,qBAAqB,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QAC/E,MAAM,CAAC,YAAY,CAAC,CAAC,GAAG,CAAC,gBAAgB,EAAE,CAAC;IAChD,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,yCAAyC,EAAE,KAAK,IAAI,EAAE;QACrD,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,CAAC,CAAC,qBAAqB,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC;QAClD,MAAM,CAAC,CAAC,WAAW,EAAE,CAAC;QACtB,MAAM,CAAE,CAA+B,CAAC,mBAAmB,CAAC,CAAC,QAAQ,EAAE,CAAC;IAC5E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,0BAA0B,EAAE,KAAK,IAAI,EAAE;QACtC,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,MAAM,CAAC,CAAC,CAAC,qBAAqB,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;IACzF,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,oBAAoB,EAAE,GAAG,EAAE;IAChC,EAAE,CAAC,oEAAoE,EAAE,GAAG,EAAE;QAC1E,MAAM,KAAK,GAAa,EAAE,CAAC;QAC3B,MAAM,MAAM,GAAG;YACX,UAAU,EAAE,EAAE;YACd,gBAAgB,EAAE,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,CAAC,kBAAkB,CAAC,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,CAAC;YACxE,YAAY,EAAE,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,CAAC;YAChE,UAAU,EAAE,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,CAAC;SAC9B,CAAC;QACnC,kBAAkB,CAAC,MAAM,CAAC,CAAC;QAC3B,MAAM,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,kBAAkB,EAAE,cAAc,EAAE,YAAY,CAAC,CAAC,CAAC;IAC9E,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,wDAAwD,EAAE,GAAG,EAAE;QAC9D,MAAM,IAAI,GAAG,EAAE,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,CAAC;QAC/B,MAAM,MAAM,GAAG;YACX,UAAU,EAAE,EAAE;YACd,gBAAgB,EAAE,GAAG,EAAE,GAAG,MAAM,IAAI,KAAK,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC;YAC9D,YAAY,EAAE,GAAG,EAAE,CAAC,IAAI;YACxB,UAAU,EAAE,IAAI;SACc,CAAC;QACnC,kBAAkB,CAAC,MAAM,CAAC,CAAC;QAC3B,MAAM,CAAC,IAAI,CAAC,CAAC,oBAAoB,EAAE,CAAC;IACxC,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC"}

package/dist/lib/ice-grace.test.js

@@ -31,6 +31,7 @@ function makeSupervisor(overrides = {}, options = { autoReconnect: true }) {
         rejectPendingSession: vi.fn().mockReturnValue(false),
         reconnectSignaling: vi.fn().mockResolvedValue(undefined),
         dial: vi.fn().mockResolvedValue(undefined),
+        redialTargetResolver: vi.fn((id) => () => id),
         teardownForRedial: vi.fn(),
         nudgeState: vi.fn(),
         emit: vi.fn(),

package/dist/lib/ice-grace.test.js.map

@@ -1 +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 @@
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+{"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/peer-link-liveness.test.d.ts

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

package/dist/lib/peer-link-liveness.test.d.ts.map

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

package/dist/lib/peer-link-liveness.test.js

@@ -0,0 +1,97 @@
+/**
+ * Session liveness follows the peer-to-peer link, not central's signaling.
+ *
+ * The properties that must hold:
+ *   - a reason-less endSession from central (its own eviction after our
+ *     signaling timed out) is advisory while the peer link is live;
+ *   - an endSession with a reason, or one arriving on an idle link, still
+ *     ends the session;
+ *   - losing signaling while streaming keeps the session (state stays
+ *     `streaming`) and reconnects signaling in the background.
+ */
+import { afterEach, beforeEach, describe, expect, it, vi } from 'vitest';
+import { ReachyMini } from './reachy-mini.js';
+function liveSession() {
+    const r = new ReachyMini();
+    const s = r;
+    s._state = 'streaming';
+    s._sessionId = 'central-1';
+    s._dcOpen = true;
+    s._dc = { readyState: 'open', close: vi.fn() };
+    s._pc = { iceConnectionState: 'connected', close: vi.fn() };
+    s._token = 'hf_test';
+    s._sendToServer = vi.fn().mockResolvedValue(null);
+    s._supervisor.stampDcInbound();
+    return { r, s };
+}
+function events(r, name) {
+    const seen = [];
+    r.addEventListener(name, (e) => seen.push(e.detail));
+    return seen;
+}
+beforeEach(() => {
+    vi.useFakeTimers();
+});
+afterEach(() => {
+    vi.useRealTimers();
+    vi.unstubAllGlobals();
+});
+describe('central endSession on a streaming session', () => {
+    it('is advisory without a reason while the peer link is live', () => {
+        const { r, s } = liveSession();
+        const stopped = events(r, 'sessionStopped');
+        const advisory = events(r, 'signalingSessionEnded');
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
+        expect(stopped).toEqual([]);
+        expect(advisory).toEqual([{ reason: null }]);
+        expect(s._state).toBe('streaming');
+        expect(s._sessionId).toBeNull(); // stale on central now
+    });
+    it('ends the session when it carries a reason', () => {
+        const { r, s } = liveSession();
+        const stopped = events(r, 'sessionStopped');
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1', reason: 'local_app_started' });
+        // Exactly one event, with the robot's reason (no extra `user` one).
+        expect(stopped).toEqual([{ reason: 'local_app_started', message: 'Disconnected: a local Python app started on the robot' }]);
+        expect(s._state).toBe('connected');
+    });
+    it('ends the session when the peer link has gone quiet', () => {
+        const { r, s } = liveSession();
+        const stopped = events(r, 'sessionStopped');
+        vi.advanceTimersByTime(10_000); // nothing heard from the robot
+        s._handleEndSession({ type: 'endSession', sessionId: 'central-1' });
+        expect(stopped[0]).toMatchObject({ reason: 'remote_end' });
+    });
+});
+describe('signaling loss while streaming', () => {
+    function sseResponse(lines) {
+        const body = new ReadableStream({
+            start(controller) {
+                for (const l of lines)
+                    controller.enqueue(new TextEncoder().encode(l));
+                controller.close();
+            },
+        });
+        return new Response(body, { status: 200 });
+    }
+    it('keeps the session and reconnects signaling in the background', async () => {
+        const { r, s } = liveSession();
+        const lost = events(r, 'signalingLost');
+        const restored = events(r, 'signalingRestored');
+        const disconnected = events(r, 'disconnected');
+        const fetchMock = vi.fn().mockResolvedValue(sseResponse(['data: {"type":"welcome","peerId":"me"}\n']));
+        vi.stubGlobal('fetch', fetchMock);
+        // A stream that welcomes us and then ends: the drop happens mid-session.
+        await s._openSignaling();
+        await vi.advanceTimersByTimeAsync(0);
+        expect(restored).toEqual([{ peerId: 'me' }]);
+        expect(lost).toEqual([{ reason: 'SSE closed' }]);
+        expect(disconnected).toEqual([]);
+        expect(s._state).toBe('streaming');
+        expect(s._signalingDown).toBe(true);
+        // The background retry dials central again after a short backoff.
+        await vi.advanceTimersByTimeAsync(1_000);
+        expect(fetchMock).toHaveBeenCalledTimes(2);
+    });
+});
+//# sourceMappingURL=peer-link-liveness.test.js.map

package/dist/lib/peer-link-liveness.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"peer-link-liveness.test.js","sourceRoot":"","sources":["../../lib/peer-link-liveness.test.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AACH,OAAO,EAAE,SAAS,EAAE,UAAU,EAAE,QAAQ,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,MAAM,QAAQ,CAAC;AAEzE,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAC;AAiB9C,SAAS,WAAW;IAChB,MAAM,CAAC,GAAG,IAAI,UAAU,EAAE,CAAC;IAC3B,MAAM,CAAC,GAAG,CAAyB,CAAC;IACpC,CAAC,CAAC,MAAM,GAAG,WAAW,CAAC;IACvB,CAAC,CAAC,UAAU,GAAG,WAAW,CAAC;IAC3B,CAAC,CAAC,OAAO,GAAG,IAAI,CAAC;IACjB,CAAC,CAAC,GAAG,GAAG,EAAE,UAAU,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;IAC/C,CAAC,CAAC,GAAG,GAAG,EAAE,kBAAkB,EAAE,WAAW,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;IAC5D,CAAC,CAAC,MAAM,GAAG,SAAS,CAAC;IACrB,CAAC,CAAC,aAAa,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IAClD,CAAC,CAAC,WAAW,CAAC,cAAc,EAAE,CAAC;IAC/B,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;AACpB,CAAC;AAED,SAAS,MAAM,CAAC,CAAa,EAAE,IAAY;IACvC,MAAM,IAAI,GAAc,EAAE,CAAC;IAC3B,CAAC,CAAC,gBAAgB,CAAC,IAAI,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,IAAI,CAAE,CAAiB,CAAC,MAAM,CAAC,CAAC,CAAC;IACtE,OAAO,IAAI,CAAC;AAChB,CAAC;AAED,UAAU,CAAC,GAAG,EAAE;IACZ,EAAE,CAAC,aAAa,EAAE,CAAC;AACvB,CAAC,CAAC,CAAC;AAEH,SAAS,CAAC,GAAG,EAAE;IACX,EAAE,CAAC,aAAa,EAAE,CAAC;IACnB,EAAE,CAAC,gBAAgB,EAAE,CAAC;AAC1B,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,2CAA2C,EAAE,GAAG,EAAE;IACvD,EAAE,CAAC,0DAA0D,EAAE,GAAG,EAAE;QAChE,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAC5C,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,EAAE,uBAAuB,CAAC,CAAC;QAEpD,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,CAAC,CAAC;QAEpE,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;QAC5B,MAAM,CAAC,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;QAC7C,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;QACnC,MAAM,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,QAAQ,EAAE,CAAC,CAAC,uBAAuB;IAC5D,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,2CAA2C,EAAE,GAAG,EAAE;QACjD,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAE5C,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,EAAE,mBAAmB,EAAE,CAAC,CAAC;QAEjG,oEAAoE;QACpE,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,mBAAmB,EAAE,OAAO,EAAE,uDAAuD,EAAE,CAAC,CAAC,CAAC;QAC7H,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;IACvC,CAAC,CAAC,CAAC;IAEH,EAAE,CAAC,oDAAoD,EAAE,GAAG,EAAE;QAC1D,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,OAAO,GAAG,MAAM,CAAC,CAAC,EAAE,gBAAgB,CAAC,CAAC;QAC5C,EAAE,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC,CAAC,+BAA+B;QAE/D,CAAC,CAAC,iBAAiB,CAAC,EAAE,IAAI,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,CAAC,CAAC;QAEpE,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,EAAE,MAAM,EAAE,YAAY,EAAE,CAAC,CAAC;IAC/D,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC;AAEH,QAAQ,CAAC,gCAAgC,EAAE,GAAG,EAAE;IAC5C,SAAS,WAAW,CAAC,KAAe;QAChC,MAAM,IAAI,GAAG,IAAI,cAAc,CAAa;YACxC,KAAK,CAAC,UAAU;gBACZ,KAAK,MAAM,CAAC,IAAI,KAAK;oBAAE,UAAU,CAAC,OAAO,CAAC,IAAI,WAAW,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;gBACvE,UAAU,CAAC,KAAK,EAAE,CAAC;YACvB,CAAC;SACJ,CAAC,CAAC;QACH,OAAO,IAAI,QAAQ,CAAC,IAAI,EAAE,EAAE,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC;IAC/C,CAAC;IAED,EAAE,CAAC,8DAA8D,EAAE,KAAK,IAAI,EAAE;QAC1E,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC/B,MAAM,IAAI,GAAG,MAAM,CAAC,CAAC,EAAE,eAAe,CAAC,CAAC;QACxC,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,EAAE,mBAAmB,CAAC,CAAC;QAChD,MAAM,YAAY,GAAG,MAAM,CAAC,CAAC,EAAE,cAAc,CAAC,CAAC;QAC/C,MAAM,SAAS,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC,iBAAiB,CACvC,WAAW,CAAC,CAAC,0CAA0C,CAAC,CAAC,CAC5D,CAAC;QACF,EAAE,CAAC,UAAU,CAAC,OAAO,EAAE,SAAS,CAAC,CAAC;QAElC,yEAAyE;QACzE,MAAM,CAAC,CAAC,cAAc,EAAE,CAAC;QACzB,MAAM,EAAE,CAAC,wBAAwB,CAAC,CAAC,CAAC,CAAC;QAErC,MAAM,CAAC,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;QAC7C,MAAM,CAAC,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC;QACjD,MAAM,CAAC,YAAY,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;QACjC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;QACnC,MAAM,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAEpC,kEAAkE;QAClE,MAAM,EAAE,CAAC,wBAAwB,CAAC,KAAK,CAAC,CAAC;QACzC,MAAM,CAAC,SAAS,CAAC,CAAC,qBAAqB,CAAC,CAAC,CAAC,CAAC;IAC/C,CAAC,CAAC,CAAC;AACP,CAAC,CAAC,CAAC"}

package/dist/lib/pending-replies.d.ts

@@ -20,7 +20,7 @@
  * channel — and no future mechanism can be forgotten on a teardown
  * path, because there is only one.
  */
-import type { FaceTarget, ImuData } from './types.js';
+import type { FaceTarget, ImuData, TelemetryStatus } from './types.js';
 /**
  * Fail-open ceiling for a single reply-slot request/response.
  * Every slot command has a strict "one reply per request" contract, so
@@ -48,6 +48,8 @@ export interface ReplySlotValues {
     first_wake_up: boolean | null;
     tracked_face: FaceTarget | null;
     robot_name: string | null;
+    telemetry: TelemetryStatus | null;
+    set_telemetry: TelemetryStatus | null;
     delete_hf_token: boolean | null;
     apply_audio_config: boolean | null;
     read_audio_parameter: number[] | null;

package/dist/lib/pending-replies.d.ts.map

@@ -1 +1 @@
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package/dist/lib/pending-replies.js.map

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