@pollen-robotics/reachy-mini-sdk 1.7.3-main.5cd69ad → 1.7.3-main.7654ffe

package/dist/lib/math.d.ts

@@ -0,0 +1,23 @@
+/**
+ * Math utilities for the ReachyMini SDK.
+ *
+ * These are the canonical conversions between human-readable
+ * roll/pitch/yaw degrees and the wire format the daemon expects
+ * (4×4 rotation matrices, ZYX convention).
+ */
+export declare function degToRad(deg: number): number;
+export declare function radToDeg(rad: number): number;
+/**
+ * Roll/pitch/yaw (degrees) → 4×4 rotation matrix (ZYX convention).
+ * This is the wire format for the robot's `set_target` command.
+ */
+export declare function rpyToMatrix(rollDeg: number, pitchDeg: number, yawDeg: number): number[][];
+/**
+ * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.
+ */
+export declare function matrixToRpy(m: number[][]): {
+    roll: number;
+    pitch: number;
+    yaw: number;
+};
+//# sourceMappingURL=math.d.ts.map

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

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

@@ -0,0 +1,40 @@
+/**
+ * Math utilities for the ReachyMini SDK.
+ *
+ * These are the canonical conversions between human-readable
+ * roll/pitch/yaw degrees and the wire format the daemon expects
+ * (4×4 rotation matrices, ZYX convention).
+ */
+export function degToRad(deg) {
+    return deg * Math.PI / 180;
+}
+export function radToDeg(rad) {
+    return rad * 180 / Math.PI;
+}
+/**
+ * Roll/pitch/yaw (degrees) → 4×4 rotation matrix (ZYX convention).
+ * This is the wire format for the robot's `set_target` command.
+ */
+export function rpyToMatrix(rollDeg, pitchDeg, yawDeg) {
+    const r = degToRad(rollDeg), p = degToRad(pitchDeg), y = degToRad(yawDeg);
+    const cy = Math.cos(y), sy = Math.sin(y);
+    const cp = Math.cos(p), sp = Math.sin(p);
+    const cr = Math.cos(r), sr = Math.sin(r);
+    return [
+        [cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr, 0],
+        [sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr, 0],
+        [-sp, cp * sr, cp * cr, 0],
+        [0, 0, 0, 1],
+    ];
+}
+/**
+ * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.
+ */
+export function matrixToRpy(m) {
+    return {
+        roll: radToDeg(Math.atan2(m[2][1], m[2][2])),
+        pitch: radToDeg(Math.asin(-m[2][0])),
+        yaw: radToDeg(Math.atan2(m[1][0], m[0][0])),
+    };
+}
+//# sourceMappingURL=math.js.map

package/dist/lib/math.js.map

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

@@ -0,0 +1,150 @@
+/**
+ * ReachyMini — Browser SDK for controlling a Reachy Mini robot over WebRTC.
+ * See `../reachy-mini-sdk.ts` for the package's barrel and the README for
+ * a quick-start guide.
+ */
+import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RobotInfo, RobotState, SubscribeLogsOptions, UploadAudioOptions } from './types.js';
+export declare class ReachyMini extends EventTarget implements ReachyMiniInstance {
+    private readonly _signalingUrl;
+    private readonly _clientId;
+    private readonly _appName;
+    private readonly _videoJitterBufferTargetMs;
+    private _autoStartFromUrl;
+    private _autoStartAttempted;
+    private _state;
+    private _robots;
+    private _robotState;
+    private readonly _preselectedRobotId;
+    private _token;
+    private _username;
+    private _tokenExpires;
+    private _sseAbortController;
+    _pc: RTCPeerConnection | null;
+    private _dc;
+    private _sessionId;
+    private _selectedRobotId;
+    private _pendingRemoteIce;
+    _micStream: MediaStream | null;
+    private _micMuted;
+    private _audioMuted;
+    private _micSupported;
+    private _latencyMonitorId;
+    private _stateRefreshInterval;
+    private _versionResolve;
+    private _hardwareIdResolve;
+    private _volumeResolve;
+    private _micVolumeResolve;
+    private _applyAudioConfigResolve;
+    private _readAudioParameterResolve;
+    private readonly _logSubscribers;
+    private _broadcastWaiters;
+    private _activeMoveUploadId;
+    private _activeAudioUploadId;
+    private _sessionResolve;
+    private _sessionReject;
+    private _iceConnected;
+    private _dcOpen;
+    private readonly _pendingMotionCompletions;
+    private _videoElement;
+    constructor(options?: ReachyMiniOptions);
+    get state(): 'disconnected' | 'connected' | 'streaming';
+    get robots(): RobotInfo[];
+    get robotState(): RobotState;
+    get username(): string | null;
+    get isAuthenticated(): boolean;
+    get micSupported(): boolean;
+    get micMuted(): boolean;
+    get audioMuted(): boolean;
+    get preselectedRobotId(): string | null;
+    get isEmbedded(): boolean;
+    /**
+     * Internal: try to honour the `autoStartFromUrl` constructor
+     * option. Called from the signaling-message handler after every
+     * `robotsChanged` emit, so a robot that comes online after the
+     * SDK is already `connected` still triggers the auto-start.
+     */
+    _maybeAutoStart(): void;
+    authenticate(): Promise<boolean>;
+    login(): Promise<void>;
+    logout(): void;
+    connect(token?: string): Promise<void>;
+    autoConnect(options?: AutoConnectOptions): Promise<AutoConnectResult>;
+    private _fetchOwnedRobots;
+    private _waitForRobotInList;
+    startSession(robotId: string): Promise<void>;
+    private _failSessionRejected;
+    stopSession(): Promise<void>;
+    disconnect(): void;
+    setTarget({ head, antennas, body_yaw }?: {
+        head?: number[];
+        antennas?: number[];
+        body_yaw?: number;
+    }): boolean;
+    gotoTarget({ head, antennas, body_yaw, duration }: {
+        head?: number[];
+        antennas?: number[];
+        body_yaw?: number;
+        duration: number;
+    }): boolean;
+    setHeadRpyDeg(rollDeg: number, pitchDeg: number, yawDeg: number): boolean;
+    setAntennasDeg(rightDeg: number, leftDeg: number): boolean;
+    setBodyYawDeg(yawDeg: number): boolean;
+    playSound(file: string): boolean;
+    setMotorMode(mode: 'enabled' | 'disabled' | 'gravity_compensation'): boolean;
+    setMotorTorque(on: boolean, ids?: string[] | null): boolean;
+    wakeUp({ timeoutMs }?: MotionAwaitOptions): Promise<void>;
+    gotoSleep({ timeoutMs }?: MotionAwaitOptions): Promise<void>;
+    private _sendCommandAwaitCompletion;
+    private _rejectPendingMotionCompletions;
+    isAwake(): boolean;
+    ensureAwake(timeoutMs?: number): Promise<boolean>;
+    getVersion(): Promise<string | null>;
+    getHardwareId(): Promise<string | null>;
+    getVolume(): Promise<number | null>;
+    setVolume(volume: number): Promise<number | null>;
+    getMicrophoneVolume(): Promise<number | null>;
+    setMicrophoneVolume(volume: number): Promise<number | null>;
+    applyAudioConfig(config: AudioConfigEntry[], { verify }?: ApplyAudioConfigOptions): Promise<boolean>;
+    readAudioParameter(name: string): Promise<number[] | null>;
+    /**
+     * Internal: send a command and await the matching daemon response in a
+     * named single-resolver slot. Used by the volume helpers and the
+     * XVF3800 audio-config helpers — every one of them has a strict
+     * request/response shape where a single in-flight call per slot is
+     * sufficient. If a previous request on the same slot is still
+     * pending when a new one comes in, the older promise is resolved to
+     * `null` so its caller doesn't hang forever.
+     *
+     * Slot access is passed in as getter/setter closures rather than a
+     * key into `this`: that keeps the helper fully generic-checked (T is
+     * inferred from the slot's resolver type at each call site) with no
+     * indexed-property casts.
+     */
+    private _slotRoundtrip;
+    sendRaw(data: unknown): boolean;
+    subscribeLogs({ onLine, onError }: SubscribeLogsOptions): () => void;
+    requestState(): boolean;
+    setAudioMuted(muted: boolean): void;
+    setMicMuted(muted: boolean): void;
+    attachVideo(videoElement: HTMLVideoElement): () => void;
+    playMove(motion: MoveData, { audioBlob, audioLeadMs, description, encoding, playFrequency, initialGotoDuration, startTimeoutMs, onProgress, onStarted, }?: PlayMoveOptions): Promise<PlayMoveResult>;
+    cancelMove(uploadId?: string | null): boolean;
+    uploadAudio(audioBlob: Blob, { description, onProgress }?: UploadAudioOptions): Promise<string>;
+    playUploadedAudio(uploadId: string, { timeoutMs }?: PlayUploadedAudioOptions): Promise<{
+        started: true;
+    }>;
+    cancelAudio(uploadId?: string | null): boolean;
+    private _emit;
+    private _waitForBroadcast;
+    private _awaitDataChannelDrain;
+    private _sendToServer;
+    private _sendCommand;
+    private _checkSessionReady;
+    private _handleSignalingMessage;
+    private _handleEndSession;
+    private _handlePeerMessage;
+    private _handleRobotMessage;
+    /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */
+    private _startLatencyMonitor;
+}
+//# sourceMappingURL=reachy-mini.d.ts.map

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

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