@pollen-robotics/reachy-mini-sdk 1.7.3 → 1.8.0-main.54c2dcd

package/dist/animation/presets.js.map

@@ -0,0 +1 @@
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package/dist/animation/safe-return.d.ts

@@ -0,0 +1,90 @@
+/**
+ * Exit-handler helpers.
+ *
+ * Two thin convenience functions on top of the SDK's existing motion
+ * primitives (`setMotorMode`, `gotoTarget`) + the lib's pose math
+ * (`scaledDuration`). They exist so that:
+ *
+ *   1. App authors get a one-liner for the "return to safe pose on
+ *      exit" pattern instead of copy-pasting the three-call sequence.
+ *   2. The pattern is consistent across apps (same target, same
+ *      scaled-duration tuning, same error handling for closed
+ *      channels).
+ *
+ * No daemon-side primitive is introduced; everything routes through
+ * existing data-channel commands.
+ */
+import type { PartialPose } from "./pose.js";
+import { type ScaledDurationPreset } from "./presets.js";
+import { type ScaledDurationResult } from "./distance.js";
+import type { ReachyMiniInstance } from "../lib/types.js";
+/** Options for `safelyReturnToPose`. */
+export interface SafelyReturnOptions {
+    /** Where to return to. Defaults to `INIT_POSE`. */
+    target?: PartialPose;
+    /** Scaled-duration tuning. Defaults to `DEFAULT_SCALED_DURATION_PRESET`. */
+    preset?: ScaledDurationPreset;
+}
+/**
+ * Smooth, distance-scaled return to a target pose. Routes through the
+ * existing SDK primitives:
+ *
+ *   1. `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 })`.
+ *
+ * Returns **synchronously after dispatching** the goto — does NOT
+ * await completion. Callers who want to await the move should
+ * subscribe to the `state` event or
+ * `await sleep(result.duration * 1000)`.
+ *
+ * Safe to call when the data channel is closed: every SDK call
+ * swallows the "channel closed" error silently, and the planned
+ * duration is still returned for log lines.
+ *
+ * The returned `ScaledDurationResult` carries the diagnostic data
+ * (which channel was the slowest, per-channel candidate durations)
+ * so apps can log "why does the home return take 1.2 s?".
+ *
+ * @example
+ * // Host-shell embedded app:
+ * onLeave(() => safelyReturnToPose(reachy));
+ *
+ * // Custom target:
+ * safelyReturnToPose(reachy, {
+ *   target: { head: customHeadMatrix, antennas: [0, 0], body_yaw: 0 },
+ * });
+ */
+export declare function safelyReturnToPose(reachy: ReachyMiniInstance, options?: SafelyReturnOptions): ScaledDurationResult;
+/** Options for `installShutdownHandler`. */
+export interface InstallShutdownHandlerOptions extends SafelyReturnOptions {
+    /**
+     * Skip when `reachy.state !== "streaming"`. Defaults to `true` —
+     * the handler only fires when a session is actually live, so a
+     * stale tab where the user never picked a robot doesn't try to
+     * command anything on close.
+     */
+    onlyWhenStreaming?: boolean;
+}
+/**
+ * Wire `pagehide` + `beforeunload` so the robot returns to its safe-rest
+ * pose when the app closes.
+ *
+ * Use case: **standalone apps** (test benches, custom dashboards)
+ * that don't have a host shell to manage their lifecycle. Host-shell
+ * embedded apps should use the `onLeave` callback from
+ * `connectToHost()` instead — it integrates with the host's
+ * leave-protocol budget and avoids double-firing.
+ *
+ * @example
+ * const reachy = new ReachyMini(...);
+ * await reachy.authenticate();
+ * await reachy.connect();
+ * // ...pick robot, startSession...
+ * installShutdownHandler(reachy);
+ */
+export declare function installShutdownHandler(reachy: ReachyMiniInstance, options?: InstallShutdownHandlerOptions): void;
+//# sourceMappingURL=safe-return.d.ts.map

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

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package/dist/animation/safe-return.js

@@ -0,0 +1,123 @@
+/**
+ * Exit-handler helpers.
+ *
+ * Two thin convenience functions on top of the SDK's existing motion
+ * primitives (`setMotorMode`, `gotoTarget`) + the lib's pose math
+ * (`scaledDuration`). They exist so that:
+ *
+ *   1. App authors get a one-liner for the "return to safe pose on
+ *      exit" pattern instead of copy-pasting the three-call sequence.
+ *   2. The pattern is consistent across apps (same target, same
+ *      scaled-duration tuning, same error handling for closed
+ *      channels).
+ *
+ * No daemon-side primitive is introduced; everything routes through
+ * existing data-channel commands.
+ */
+import { DEFAULT_SCALED_DURATION_PRESET, INIT_POSE, } from "./presets.js";
+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
+ *      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 })`.
+ *
+ * Returns **synchronously after dispatching** the goto — does NOT
+ * await completion. Callers who want to await the move should
+ * subscribe to the `state` event or
+ * `await sleep(result.duration * 1000)`.
+ *
+ * Safe to call when the data channel is closed: every SDK call
+ * swallows the "channel closed" error silently, and the planned
+ * duration is still returned for log lines.
+ *
+ * The returned `ScaledDurationResult` carries the diagnostic data
+ * (which channel was the slowest, per-channel candidate durations)
+ * so apps can log "why does the home return take 1.2 s?".
+ *
+ * @example
+ * // Host-shell embedded app:
+ * onLeave(() => safelyReturnToPose(reachy));
+ *
+ * // Custom target:
+ * safelyReturnToPose(reachy, {
+ *   target: { head: customHeadMatrix, antennas: [0, 0], body_yaw: 0 },
+ * });
+ */
+export function safelyReturnToPose(reachy, options = {}) {
+    const target = options.target ?? INIT_POSE;
+    const preset = options.preset ?? DEFAULT_SCALED_DURATION_PRESET;
+    try {
+        reachy.setMotorMode("enabled");
+    }
+    catch {
+        // Already in the right mode, or data channel closed; both are
+        // benign here — we still compute and emit the goto.
+    }
+    const current = reachy.robotState;
+    const plan = scaledDuration(current, target, preset);
+    const args = {
+        duration: plan.duration,
+    };
+    if (target.head !== undefined)
+        args.head = target.head.slice();
+    if (target.antennas !== undefined) {
+        args.antennas = [target.antennas[0] ?? 0, target.antennas[1] ?? 0];
+    }
+    if (target.body_yaw !== undefined)
+        args.body_yaw = target.body_yaw;
+    try {
+        reachy.gotoTarget(args);
+    }
+    catch {
+        // Closed channel / shutting down / session torn down between
+        // the read and the send. The plan is still useful for logs.
+    }
+    return plan;
+}
+/**
+ * Wire `pagehide` + `beforeunload` so the robot returns to its safe-rest
+ * pose when the app closes.
+ *
+ * Use case: **standalone apps** (test benches, custom dashboards)
+ * that don't have a host shell to manage their lifecycle. Host-shell
+ * embedded apps should use the `onLeave` callback from
+ * `connectToHost()` instead — it integrates with the host's
+ * leave-protocol budget and avoids double-firing.
+ *
+ * @example
+ * const reachy = new ReachyMini(...);
+ * await reachy.authenticate();
+ * await reachy.connect();
+ * // ...pick robot, startSession...
+ * installShutdownHandler(reachy);
+ */
+export function installShutdownHandler(reachy, options = {}) {
+    const onlyWhenStreaming = options.onlyWhenStreaming ?? true;
+    // Reentry guard: `pagehide` and `beforeunload` both fire on a real
+    // tab close, so without this flag `safelyReturnToPose` would dispatch
+    // twice (idempotent in practice — the second goto overrides the first
+    // with the same duration — but wasteful and noisy in the daemon log).
+    // Matches the `shuttingDown` boolean in Rémi's `reachy-mini-js-practices`
+    // bench, which is the reference behaviour for this helper.
+    let shuttingDown = false;
+    const fire = () => {
+        if (shuttingDown)
+            return;
+        shuttingDown = true;
+        if (onlyWhenStreaming && reachy.state !== "streaming")
+            return;
+        safelyReturnToPose(reachy, {
+            target: options.target,
+            preset: options.preset,
+        });
+    };
+    window.addEventListener("pagehide", fire);
+    window.addEventListener("beforeunload", fire);
+}
+//# sourceMappingURL=safe-return.js.map

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

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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 +1,193 @@
+/**
+ * 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;
+    /**
+     * Atomic raw-units pose update over the data channel. Channels you
+     * omit are held at their last commanded value (per-axis, independent).
+     *
+     * **Head pose is in the WORLD frame.** The daemon's IK splits the
+     * requested head world-yaw between body rotation and the stewart
+     * platform, subject to the mechanical limit
+     * `|head_yaw_world − body_yaw| ≤ 65°`.
+     *
+     * **If you want the head to FOLLOW the body** (tank-style rotation):
+     * a `setTarget({ body_yaw })` on its own does NOT rotate the head —
+     * the head's commanded world yaw is unchanged, so its gaze stays
+     * pinned in world frame while the body turns under it. To make the
+     * head turn with the body, include a `head` matrix in the SAME call
+     * with the body-yaw delta added to the head RPY's yaw:
+     *
+     * ```ts
+     * // Body-yaw drag handler: tank-couple the head so it follows.
+     * const delta = newBodyDeg - lastCommandedBodyDeg;
+     * const nextHeadYaw = lastCommandedHeadYawDeg + delta;
+     * robot.setTarget({
+     *   head: rpyToMatrix(headRoll, headPitch, nextHeadYaw).flat(),
+     *   body_yaw: degToRad(newBodyDeg),
+     * });
+     * lastCommandedHeadYawDeg = nextHeadYaw;
+     * lastCommandedBodyDeg    = newBodyDeg;
+     * ```
+     *
+     * **Baseline must be the last COMMANDED value, not telemetry.** For
+     * continuous-input controllers (slider drag, joystick), do not use
+     * `state.head` from the `state` event as the baseline for incremental
+     * commands — telemetry lags one WebRTC round-trip, so cumulative
+     * deltas computed against it stall (every iteration in a rapid drag
+     * adds the same `delta` to the same stale baseline → the head fails
+     * to keep up). Track the last-commanded RPY in your own buffer.
+     *
+     * @param head      Flat row-major 4×4 matrix (16 finite numbers) in
+     *                  the world frame. Omit to hold the previous head target.
+     * @param antennas  `[rightRad, leftRad]` (radians). Omit to hold.
+     * @param body_yaw  Signed radians. Omit to hold.
+     * @returns `true` if the command was queued on the data channel,
+     *          `false` if the channel is not open.
+     */
+    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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