@pollen-robotics/reachy-mini-sdk 1.7.3-main.7457b2b

package/CHANGELOG.md

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+# Changelog
+
+All notable changes to `@pollen-robotics/reachy-mini-sdk` are
+documented here. The format follows
+[Keep a Changelog](https://keepachangelog.com/en/1.1.0/). Versions
+are kept in lock-step with the Reachy Mini Python daemon and are
+driven from `pyproject.toml` at the repo root (the npm publish CI
+overrides the `version` placeholder in `package.json`).
+
+The host shell shares this package's version (single source of
+truth); the wire protocol is versioned separately in
+`PROTOCOL_VERSION` (see [host/SPEC.md §11](./host/SPEC.md#11-backlog)).
+
+## Unreleased — succeeds 1.7.3
+
+> **Breaking change.** Every app currently using
+> `@pollen-robotics/reachy-mini-host` has to update its imports
+> when it upgrades. Existing `1.7.x` installs keep working against
+> the legacy `reachy-mini-host@1.7.x` tarball that stays on npm;
+> only consumers who upgrade past `1.7.3` need to migrate. The
+> target version is intentionally left unset in this PR — it will
+> be picked at release time when `pyproject.toml` is bumped from
+> `1.7.3` to the next number (the npm publish CI mirrors that bump
+> into the package manifest).
+
+**Single-package release: `@pollen-robotics/reachy-mini-host` is folded
+into `@pollen-robotics/reachy-mini-sdk`.** App authors install,
+version, and import from one entry point. The old package stays
+available on npm at `1.7.x` for one minor cycle for graceful
+migration and will then be `npm deprecate`d with a pointer to the
+new subpaths.
+
+### Migration
+
+```diff
+- "@pollen-robotics/reachy-mini-host": "^1.7.x",
+- "@pollen-robotics/reachy-mini-sdk":  "^1.7.x"
++ "@pollen-robotics/reachy-mini-sdk":  "^<next-release>"
+```
+
+```diff
+- import { mountHost }        from '@pollen-robotics/reachy-mini-host/auto';
+- import { connectToHost }    from '@pollen-robotics/reachy-mini-host/embed';
+- import { PROTOCOL_VERSION } from '@pollen-robotics/reachy-mini-host/protocol';
++ import { mountHost }        from '@pollen-robotics/reachy-mini-sdk/host/auto';
++ import { connectToHost }    from '@pollen-robotics/reachy-mini-sdk/host/embed';
++ import { PROTOCOL_VERSION } from '@pollen-robotics/reachy-mini-sdk/host/protocol';
+```
+
+The host CDN bundles also moved:
+
+```diff
+- https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-host@1/dist/entry/auto.js
++ https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1/host/dist/entry/auto.js
+```
+
+### Added
+
+- New subpath exports on `@pollen-robotics/reachy-mini-sdk`:
+  - `./host`           — `mountHost`, `connectToHost`, types
+  - `./host/auto`      — CDN auto bundle for standalone apps
+  - `./host/embed`     — CDN embed bundle for the iframe side
+  - `./host/protocol`  — `PROTOCOL_VERSION`, `decodeCredsFromHash`, etc.
+- `reachy-mini-sdk.d.ts` ships next to `reachy-mini-sdk.js` as the
+  canonical SDK type surface. The host re-exports from there
+  (`host/src/lib/sdk-types.ts` is now a thin barrel), removing the
+  earlier duplication TODO.
+
+### Changed
+
+- The host bundles (`./host`, `./host/auto`, `./host/embed`) now
+  import the SDK runtime directly and self-assign
+  `window.ReachyMini` (when unset) at module-load time, dispatching
+  `reachymini:ready`. App `index.html` files no longer need a
+  separate `<script type="module">` to load the SDK on the global,
+  and `useSdk` + `connectToHost` no longer race against a
+  late-arriving global. Apps that still set `window.ReachyMini`
+  themselves are unaffected — we only assign when it's missing.
+- Log-prefix tag harmonised to `[reachy-mini-sdk/host]` /
+  `[reachy-mini-sdk/host/embed]` for greppability.
+- Internal repo layout: `js/sdk/*` collapsed into `js/*` now that
+  there is only one package. The host source lives at `js/host/`,
+  the SDK runtime at `js/reachy-mini-sdk.js`, the package manifest
+  at `js/package.json`. No effect on consumers; only the
+  `repository.directory` field and the npm-publish CI working
+  directory changed.
+
+### Removed
+
+- Workspace coordinator `js/package.json` (was an npm workspace
+  root) and `js/package-lock.json` at the workspace level. The
+  single package's lockfile lives at `js/package-lock.json`.
+- `@pollen-robotics/reachy-mini-host` package manifest — the host
+  ships under `@pollen-robotics/reachy-mini-sdk/host*` now. The
+  legacy npm package stays on `1.7.x` for one minor cycle for
+  graceful migration, then will be `npm deprecate`d.
+
+### SDK changes drafted between 1.7.3 and the package merge
+
+The following landed on `main` after `1.7.3` was published but
+were never released on their own; they ship with this release:
+
+- **Breaking (SDK)**: `wakeUp()` and `gotoSleep()` now return
+  `Promise<void>` (previously `boolean`). The promise resolves on
+  the daemon's `{command, completed: true}` response, after the
+  trajectory player has fully landed. Apps that previously relied
+  on the boolean return are unaffected in practice; apps that
+  *want* to await trajectory completion (e.g. to chain
+  `setMotorMode("disabled")` after a `gotoSleep`) can now do so
+  without racing.
+- **SDK**: both motion helpers take an optional `{ timeoutMs }`
+  (default 8000 ms). The promise rejects on session teardown
+  (`stopSession` / `disconnect`) so consumers never wait forever
+  on an interrupted trajectory.
+- **SDK**: `POST /send` responses with a 4xx / 5xx status now
+  produce a `console.warn` carrying the rejected message `type`
+  and the response body, making racy `setPeerStatus` /
+  `endSession` failures easier to diagnose.
+- **Host types**: `src/lib/sdk-types.ts` refreshed to cover the
+  full SDK public surface (`autoConnect`, `gotoTarget`,
+  `setMotorTorque`, `subscribeLogs`, `requestState`, version /
+  hardware-id helpers, `robotState`, `isEmbedded`, jitter buffer
+  option, `autoStartFromUrl`). The motion helpers now type as
+  `Promise<void>` to match the SDK.
+
+## 0.3.0 - 2026-05-16 (unreleased)
+
+**This release is a full rewrite of the package against
+[SPEC.md v1.0](./host/SPEC.md).** The public surface and the wire
+protocol both change in incompatible ways.
+
+### Breaking changes
+
+- **API**: `mountHost()` options reduced to the documented surface
+  (`appName`, `appIconUrl`, `appEmoji`, `enableMicrophone`,
+  `clientId`, `devToken`, `target`). The following are removed:
+  - `theme: { light, dark }` (host owns its bundled MUI theme).
+  - `skipTheme` (no consumer-driven theming).
+  - `skipAuth` (host owns OAuth).
+- **API**: `ConnectedHandle` reduced to the documented surface.
+  The following are removed:
+  - `sendCustom()` / `onCustom()` (no free-form bidi channel).
+  - `requestConfigUpdate()` (apps don't push config upstream).
+- **API**: `devToken` payload renamed `{ token, username }` →
+  `{ token, userName }` for camelCase consistency with `appName`
+  and `hostName`.
+- **API**: `ConnectedHandle.username` renamed to `ConnectedHandle.userName`.
+- **Protocol**: `host:custom` / `embed:custom` removed.
+- **Protocol**: `embed:request-config-update` removed.
+- **Host shell**: removed the legacy `?app=<owner>/<space>`
+  branding-swap behaviour. The host renders exactly the app it
+  ships with, never another. Multi-app routing now lives in the
+  mobile catalog only.
+
+### Added
+
+- `SPEC.md` (v1.0): behavioural contract, state machines,
+  4 engineering invariants (single SDK per tab, token hygiene,
+  bundle pinning, React Strict Mode safety).
+- `APP_AUTHOR_GUIDE.md`: step-by-step guide for building a new
+  app on top of the host.
+- `REBUILD_PLAN.md`: project plan tracking the rewrite (deleted
+  once 0.3.0 ships).
+- `LICENSE` (MIT).
+
+### Changed
+
+- **Documentation**: replaced the legacy `SPEC.md` (823 lines,
+  ambitious-future spec) with a focused v1.0 spec (~620 lines)
+  matching what we actually want to ship.
+- **Package metadata**: `repository.url` now points at the
+  host-only repo. `homepage` and `bugs` added.
+- **Versioning policy**: stays permissive pre-1.0 (see SPEC §11
+  "Versioning policy"); each minor release between 0.x.y may
+  ship breaking changes. Semver-strict starts at 1.0.
+
+### Why a rewrite instead of a refactor
+
+See `REBUILD_PLAN.md` § "Why a rebuild, not a refactor". TL;DR:
+the API surface shrinks too much, and the previous code carried
+half-implemented features (protocol-version negotiation,
+heartbeat, custom channels) that were cheaper to retype than to
+selectively remove.
+
+## 0.2.0 - 2026-05-15
+
+Initial extraction of the host shell into a standalone package.
+Predates the SPEC.md v1.0 rewrite; deprecated in favour of 0.3.0.

package/LICENSE

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package/README.md

@@ -0,0 +1,129 @@
+# @pollen-robotics/reachy-mini-sdk
+
+The JS package for [Reachy Mini](https://github.com/pollen-robotics/reachy_mini). It ships:
+
+- The **browser SDK** (`ReachyMini` class) for direct WebRTC control — the default export.
+- An optional **host shell** (OAuth + robot picker + iframe bridge) for apps deployed as Hugging Face Spaces, exposed under the `./host*` subpaths.
+
+Both used to be separate npm packages (`@pollen-robotics/reachy-mini-sdk` + `@pollen-robotics/reachy-mini-host`); they were merged into a single entry point so app authors only install, version, and import from one place.
+
+The full SDK API reference lives in the JSDoc header of [`reachy-mini-sdk.js`](./reachy-mini-sdk.js): constructor options, read-only properties, the `disconnected → connected → streaming` state machine, the event list, and every command helper.
+
+## Install
+
+### With a bundler / Node
+
+```bash
+npm install @pollen-robotics/reachy-mini-sdk
+```
+
+```js
+// Low-level robot control
+import { ReachyMini } from "@pollen-robotics/reachy-mini-sdk";
+
+// Host shell for Hugging Face Spaces apps (OAuth + picker + iframe)
+import { mountHost } from "@pollen-robotics/reachy-mini-sdk/host";
+import { connectToHost } from "@pollen-robotics/reachy-mini-sdk/host/embed";
+import { PROTOCOL_VERSION } from "@pollen-robotics/reachy-mini-sdk/host/protocol";
+```
+
+### From a browser, no build step (Hugging Face Spaces, static hosting…)
+
+Use an ESM CDN. The `+esm` suffix tells jsdelivr to resolve bare specifiers (the `@huggingface/hub` dependency) recursively, so the import just works:
+
+```js
+import { ReachyMini } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1/+esm";
+```
+
+Or via esm.sh:
+
+```js
+import { ReachyMini } from "https://esm.sh/@pollen-robotics/reachy-mini-sdk@1";
+```
+
+Track bleeding-edge from `main`:
+
+```js
+import { ReachyMini } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@main/+esm";
+```
+
+The host CDN bundles live under the same package:
+
+```html
+<!-- Standalone host shell entry -->
+<script type="module"
+  src="https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1/host/dist/entry/auto.js">
+</script>
+
+<!-- Embed-side client (inside the iframe) -->
+<script type="module"
+  src="https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1/host/dist/entry/embed.js">
+</script>
+```
+
+Both bundles auto-install the SDK on `window.ReachyMini` at load time, so an app that uses the host no longer needs a separate `<script type="module">` to expose the SDK.
+
+## Quick start (SDK only)
+
+```js
+import { ReachyMini } from "@pollen-robotics/reachy-mini-sdk";
+
+const robot = new ReachyMini();
+
+// 1. Auth (HuggingFace OAuth — required by the signaling server)
+if (!await robot.authenticate()) { robot.login(); return; }
+
+// 2. Connect to the signaling server
+await robot.connect();
+
+// 3. Pick a robot once the list arrives
+robot.addEventListener("robotsChanged", (e) => {
+    const robots = e.detail.robots;  // [{ id, meta: { name } }, ...]
+});
+
+// 4. Start a WebRTC session
+const detach = robot.attachVideo(document.querySelector("video"));
+await robot.startSession(robotId);
+
+// 5. Send commands — degree-friendly helpers
+robot.setHeadRpyDeg(0, 10, -5);
+robot.setAntennasDeg(30, -30);
+robot.setBodyYawDeg(15);
+robot.playSound("wake_up.wav");
+```
+
+See the JSDoc header in [`reachy-mini-sdk.js`](./reachy-mini-sdk.js) for the full surface (events, raw `setTarget`, audio controls, embedded-mode auto-start, etc.).
+
+## Host shell
+
+For Hugging Face Spaces apps that need OAuth + a robot picker + iframe lifecycle management:
+
+- [`host/README.md`](./host/README.md) — quickstart and integration overview
+- [`host/APP_AUTHOR_GUIDE.md`](./host/APP_AUTHOR_GUIDE.md) — full guide for app authors
+- [`host/SPEC.md`](./host/SPEC.md) — host ↔ embed protocol spec
+
+## Migration from `@pollen-robotics/reachy-mini-host`
+
+```diff
+- import { mountHost }      from '@pollen-robotics/reachy-mini-host/auto';
+- import { connectToHost }  from '@pollen-robotics/reachy-mini-host/embed';
+- import { PROTOCOL_VERSION } from '@pollen-robotics/reachy-mini-host/protocol';
++ import { mountHost }      from '@pollen-robotics/reachy-mini-sdk/host/auto';
++ import { connectToHost }  from '@pollen-robotics/reachy-mini-sdk/host/embed';
++ import { PROTOCOL_VERSION } from '@pollen-robotics/reachy-mini-sdk/host/protocol';
+```
+
+You can drop `@pollen-robotics/reachy-mini-host` from your `package.json`. The host CDN bundles also moved — adjust the jsdelivr URL in your `index.html`:
+
+```diff
+- https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-host@1/dist/entry/auto.js
++ https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1/host/dist/entry/auto.js
+```
+
+The host bundles now import the SDK directly and assign it on `window.ReachyMini` at load time, so apps no longer need a second `<script type="module">` for the SDK alone.
+
+See the [CHANGELOG](./CHANGELOG.md) for the full release history.
+
+## License
+
+Apache-2.0 — see [LICENSE](./LICENSE).