@pollen-robotics/reachy-mini-sdk 1.8.4 → 1.9.0-rc1-main.2f4615f

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (11) hide show
  1. package/dist/lib/reachy-mini.d.ts +5 -1
  2. package/dist/lib/reachy-mini.d.ts.map +1 -1
  3. package/dist/lib/reachy-mini.js +35 -0
  4. package/dist/lib/reachy-mini.js.map +1 -1
  5. package/dist/lib/types.d.ts +14 -0
  6. package/dist/lib/types.d.ts.map +1 -1
  7. package/host/dist/chunks/{reachy-mini-ChtjRPmR.js → reachy-mini-CdsdQLIU.js} +121 -92
  8. package/host/dist/entry/auto.js +1 -1
  9. package/host/dist/entry/embed.js +1 -1
  10. package/host/dist/index.js +1 -1
  11. package/package.json +1 -1
package/dist/lib/reachy-mini.d.ts CHANGED
@@ -3,7 +3,7 @@
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  * See `../reachy-mini-sdk.ts` for the package's barrel and the README for
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  * a quick-start guide.
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  */
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- import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RobotInfo, RobotState, SubscribeLogsOptions, UploadAudioOptions } from './types.js';
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+ import type { ApplyAudioConfigOptions, AudioConfigEntry, AutoConnectOptions, AutoConnectResult, FaceTarget, MotionAwaitOptions, MoveData, PlayMoveOptions, PlayMoveResult, PlayUploadedAudioOptions, ReachyMiniInstance, ReachyMiniOptions, RobotInfo, RobotState, SubscribeLogsOptions, UploadAudioOptions } from './types.js';
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  /** One progress event from an in-flight `startDaemonUpdate()`. */
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  export interface UpdateProgressEvent {
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  status: 'in_progress' | 'done' | 'failed';
@@ -43,6 +43,7 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
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  private _hardwareIdResolve;
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  private _volumeResolve;
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  private _micVolumeResolve;
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+ private _trackedFaceResolve;
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  private _applyAudioConfigResolve;
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  private _readAudioParameterResolve;
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  private readonly _logSubscribers;
@@ -199,6 +200,9 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
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  setBodyYawDeg(yawDeg: number): boolean;
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  playSound(file: string): boolean;
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  clearIncomingAudio(): boolean;
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+ startHeadTracking(weight?: number): boolean;
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+ stopHeadTracking(): boolean;
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+ getTrackedFace(): Promise<FaceTarget | null>;
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  /**
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  * Trigger a PyPI update of the daemon over the data channel. Remote
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  * counterpart of `POST /update/start`. The daemon acks then restarts
package/dist/lib/reachy-mini.d.ts.map CHANGED
@@ -1 +1 @@
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1
+ 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package/dist/lib/reachy-mini.js CHANGED
@@ -78,6 +78,7 @@ export class ReachyMini extends EventTarget {
78
78
  _hardwareIdResolve = null;
79
79
  _volumeResolve = null;
80
80
  _micVolumeResolve = null;
81
+ _trackedFaceResolve = null;
81
82
  // applyAudioConfig() / readAudioParameter() share the same single-slot
82
83
  // pattern as the volume helpers. Separate slots so the two can be
83
84
  // in-flight concurrently without collision.
@@ -603,6 +604,10 @@ export class ReachyMini extends EventTarget {
603
604
  this._micVolumeResolve(null);
604
605
  this._micVolumeResolve = null;
605
606
  }
607
+ if (this._trackedFaceResolve) {
608
+ this._trackedFaceResolve(null);
609
+ this._trackedFaceResolve = null;
610
+ }
606
611
  if (this._applyAudioConfigResolve) {
607
612
  this._applyAudioConfigResolve(false);
608
613
  this._applyAudioConfigResolve = null;
@@ -678,6 +683,10 @@ export class ReachyMini extends EventTarget {
678
683
  this._micVolumeResolve(null);
679
684
  this._micVolumeResolve = null;
680
685
  }
686
+ if (this._trackedFaceResolve) {
687
+ this._trackedFaceResolve(null);
688
+ this._trackedFaceResolve = null;
689
+ }
681
690
  if (this._applyAudioConfigResolve) {
682
691
  this._applyAudioConfigResolve(false);
683
692
  this._applyAudioConfigResolve = null;
@@ -1023,6 +1032,23 @@ export class ReachyMini extends EventTarget {
1023
1032
  clearIncomingAudio() {
1024
1033
  return this._sendCommand({ type: 'clear_incoming_audio' });
1025
1034
  }
1035
+ startHeadTracking(weight = 1.0) {
1036
+ if (!Number.isFinite(weight)) {
1037
+ throw new TypeError(`startHeadTracking: weight must be a finite number; got ${weight}`);
1038
+ }
1039
+ const clampedWeight = Math.min(Math.max(weight, 0), 1);
1040
+ return this._sendCommand({
1041
+ type: 'set_head_tracking',
1042
+ enabled: true,
1043
+ weight: clampedWeight,
1044
+ });
1045
+ }
1046
+ stopHeadTracking() {
1047
+ return this._sendCommand({ type: 'set_head_tracking', enabled: false });
1048
+ }
1049
+ getTrackedFace() {
1050
+ return this._slotRoundtrip(() => this._trackedFaceResolve, (next) => { this._trackedFaceResolve = next; }, { type: 'get_tracked_face' });
1051
+ }
1026
1052
  /**
1027
1053
  * Trigger a PyPI update of the daemon over the data channel. Remote
1028
1054
  * counterpart of `POST /update/start`. The daemon acks then restarts
@@ -1687,6 +1713,13 @@ export class ReachyMini extends EventTarget {
1687
1713
  }
1688
1714
  return;
1689
1715
  }
1716
+ if (data.command === 'get_tracked_face') {
1717
+ if (this._trackedFaceResolve) {
1718
+ this._trackedFaceResolve(data.face_target ?? null);
1719
+ this._trackedFaceResolve = null;
1720
+ }
1721
+ return;
1722
+ }
1690
1723
  if ((data.command === 'wake_up' || data.command === 'goto_sleep')
1691
1724
  && this._pendingMotionCompletions
1692
1725
  && this._pendingMotionCompletions[data.command]) {
@@ -1774,6 +1807,8 @@ export class ReachyMini extends EventTarget {
1774
1807
  this._robotState.motor_mode = s.motor_mode;
1775
1808
  if (typeof s.is_move_running === 'boolean')
1776
1809
  this._robotState.is_move_running = s.is_move_running;
1810
+ if (s.face_target)
1811
+ this._robotState.face_target = s.face_target;
1777
1812
  this._emit('state', { ...this._robotState });
1778
1813
  }
1779
1814
  if (data.error) {
package/dist/lib/reachy-mini.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/lib/types.d.ts CHANGED
@@ -37,6 +37,13 @@ export interface RobotInfo {
37
37
  hardwareId?: string | null;
38
38
  }
39
39
  /** Latest robot telemetry mirrored on `robot.robotState` (wire shape). */
40
+ export interface FaceTarget {
41
+ detected: boolean;
42
+ x?: number | null;
43
+ y?: number | null;
44
+ roll?: number | null;
45
+ ts?: number | null;
46
+ }
40
47
  export interface RobotState {
41
48
  /** Flat row-major 4×4 head pose (16 numbers). */
42
49
  head?: number[];
@@ -46,6 +53,7 @@ export interface RobotState {
46
53
  body_yaw?: number;
47
54
  motor_mode?: 'enabled' | 'disabled' | 'gravity_compensation';
48
55
  is_move_running?: boolean;
56
+ face_target?: FaceTarget;
49
57
  }
50
58
  /** SDK constructor options. */
51
59
  export interface ReachyMiniOptions {
@@ -327,6 +335,12 @@ export interface ReachyMiniInstance extends EventTarget {
327
335
  playSound(file: string): boolean;
328
336
  /** Drop incoming audio queued for the robot speaker (barge-in). */
329
337
  clearIncomingAudio(): boolean;
338
+ /** Enable daemon-side visual head tracking. */
339
+ startHeadTracking(weight?: number): boolean;
340
+ /** Disable daemon-side visual head tracking. */
341
+ stopHeadTracking(): boolean;
342
+ /** Read the latest face observed by daemon-side head tracking. */
343
+ getTrackedFace(): Promise<FaceTarget | null>;
330
344
  setAudioMuted(muted: boolean): void;
331
345
  setMicMuted(muted: boolean): void;
332
346
  getVolume(): Promise<number | null>;
package/dist/lib/types.d.ts.map CHANGED
@@ -1 +1 @@
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package/host/dist/chunks/{reachy-mini-ChtjRPmR.js → reachy-mini-CdsdQLIU.js} RENAMED
@@ -1,7 +1,7 @@
1
- var $ = Object.defineProperty, O = (r, e, t) => e in r ? $(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, C = (r, e, t) => (O(r, typeof e != "symbol" ? e + "" : e, t), t), x = "https://huggingface.co";
2
- async function A(r, e) {
1
+ var $ = Object.defineProperty, F = (r, e, t) => e in r ? $(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, k = (r, e, t) => (F(r, typeof e != "symbol" ? e + "" : e, t), t), x = "https://huggingface.co";
2
+ async function C(r, e) {
3
3
  var t, s;
4
- const i = new N(r.url, r.status, (t = r.headers.get("X-Request-Id")) != null ? t : void 0);
4
+ const i = new O(r.url, r.status, (t = r.headers.get("X-Request-Id")) != null ? t : void 0);
5
5
  i.message = `Api error with status ${i.statusCode}`;
6
6
  const o = [`URL: ${i.url}`, i.requestId ? `Request ID: ${i.requestId}` : void 0].filter(Boolean).join(". ");
7
7
  if ((s = r.headers.get("Content-Type")) != null && s.startsWith("application/json")) {
@@ -11,9 +11,9 @@ async function A(r, e) {
11
11
  i.data = { message: await r.text() };
12
12
  throw i.message += `. ${o}`, i;
13
13
  }
14
- var N = class extends Error {
14
+ var O = class extends Error {
15
15
  constructor(r, e, t, s) {
16
- super(s), C(this, "statusCode"), C(this, "url"), C(this, "requestId"), C(this, "data"), this.statusCode = e, this.requestId = t, this.url = r;
16
+ super(s), k(this, "statusCode"), k(this, "url"), k(this, "requestId"), k(this, "data"), this.statusCode = e, this.requestId = t, this.url = r;
17
17
  }
18
18
  };
19
19
  new Promise((r) => {
@@ -40,17 +40,17 @@ async function M(r) {
40
40
  throw new Error("Missing oauth code from query parameters in redirected URL");
41
41
  if (!a)
42
42
  throw new Error("Missing oauth nonce from localStorage");
43
- const l = localStorage.getItem("huggingface.co:oauth:code_verifier");
44
- if (!l)
45
- throw new Error("Missing oauth code_verifier from localStorage");
46
- const c = s.get("state");
43
+ const c = localStorage.getItem("huggingface.co:oauth:code_verifier");
47
44
  if (!c)
45
+ throw new Error("Missing oauth code_verifier from localStorage");
46
+ const l = s.get("state");
47
+ if (!l)
48
48
  throw new Error("Missing oauth state from query parameters in redirected URL");
49
49
  let h;
50
50
  try {
51
- h = JSON.parse(c);
51
+ h = JSON.parse(l);
52
52
  } catch {
53
- throw new Error("Invalid oauth state in redirected URL, unable to parse JSON: " + c);
53
+ throw new Error("Invalid oauth state in redirected URL, unable to parse JSON: " + l);
54
54
  }
55
55
  if (h.nonce !== a)
56
56
  throw new Error("Invalid oauth state in redirected URL");
@@ -60,7 +60,7 @@ async function M(r) {
60
60
  }
61
61
  });
62
62
  if (!f.ok)
63
- throw await A(f);
63
+ throw await C(f);
64
64
  const p = await f.json(), v = await fetch(p.token_endpoint, {
65
65
  method: "POST",
66
66
  headers: {
@@ -70,22 +70,22 @@ async function M(r) {
70
70
  grant_type: "authorization_code",
71
71
  code: n,
72
72
  redirect_uri: h.redirectUri,
73
- code_verifier: l
73
+ code_verifier: c
74
74
  }).toString()
75
75
  });
76
76
  if (localStorage.removeItem("huggingface.co:oauth:code_verifier"), localStorage.removeItem("huggingface.co:oauth:nonce"), !v.ok)
77
- throw await A(v);
78
- const w = await v.json(), g = new Date(Date.now() + w.expires_in * 1e3), S = await fetch(p.userinfo_endpoint, {
77
+ throw await C(v);
78
+ const g = await v.json(), w = new Date(Date.now() + g.expires_in * 1e3), S = await fetch(p.userinfo_endpoint, {
79
79
  headers: {
80
- Authorization: `Bearer ${w.access_token}`
80
+ Authorization: `Bearer ${g.access_token}`
81
81
  }
82
82
  });
83
83
  if (!S.ok)
84
- throw await A(S);
84
+ throw await C(S);
85
85
  const u = await S.json();
86
86
  return {
87
- accessToken: w.access_token,
88
- accessTokenExpiresAt: g,
87
+ accessToken: g.access_token,
88
+ accessTokenExpiresAt: w,
89
89
  userInfo: {
90
90
  id: u.sub,
91
91
  name: u.name,
@@ -106,10 +106,10 @@ async function M(r) {
106
106
  }))) != null ? t : []
107
107
  },
108
108
  state: h.state,
109
- scope: w.scope
109
+ scope: g.scope
110
110
  };
111
111
  }
112
- async function V(r) {
112
+ async function N(r) {
113
113
  if (typeof window > "u")
114
114
  throw new Error("oauthHandleRedirect is only available in the browser");
115
115
  const e = new URLSearchParams(window.location.search);
@@ -117,7 +117,7 @@ async function V(r) {
117
117
  "Missing oauth nonce from localStorage. This can happen when the user refreshes the page after logging in, without changing the URL."
118
118
  ), !1) : !1;
119
119
  }
120
- async function F(r) {
120
+ async function V(r) {
121
121
  var e, t;
122
122
  if (typeof window > "u")
123
123
  throw new Error("oauthLogin is only available in the browser");
@@ -127,24 +127,24 @@ async function F(r) {
127
127
  }
128
128
  });
129
129
  if (!o.ok)
130
- throw await A(o);
131
- const n = await o.json(), a = globalThis.crypto.randomUUID(), l = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
132
- localStorage.setItem("huggingface.co:oauth:nonce", a), localStorage.setItem("huggingface.co:oauth:code_verifier", l);
133
- const c = r?.redirectUrl || window.location.href, h = JSON.stringify({
130
+ throw await C(o);
131
+ const n = await o.json(), a = globalThis.crypto.randomUUID(), c = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
132
+ localStorage.setItem("huggingface.co:oauth:nonce", a), localStorage.setItem("huggingface.co:oauth:code_verifier", c);
133
+ const l = r?.redirectUrl || window.location.href, h = JSON.stringify({
134
134
  nonce: a,
135
- redirectUri: c,
135
+ redirectUri: l,
136
136
  state: r?.state
137
137
  }), d = (t = (e = window?.huggingface) == null ? void 0 : e.variables) != null ? t : null, m = r?.clientId || d?.OAUTH_CLIENT_ID;
138
138
  if (!m)
139
139
  throw d ? new Error("Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space") : new Error("Missing clientId");
140
140
  const f = H(
141
- new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", new TextEncoder().encode(l)))
141
+ new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", new TextEncoder().encode(c)))
142
142
  ).replace(/[+]/g, "-").replace(/[/]/g, "_").replace(/=/g, "");
143
143
  return `${n.authorization_endpoint}?${new URLSearchParams({
144
144
  client_id: m,
145
145
  scope: r?.scopes || d?.OAUTH_SCOPES || "openid profile",
146
146
  response_type: "code",
147
- redirect_uri: c,
147
+ redirect_uri: l,
148
148
  state: h,
149
149
  code_challenge: f,
150
150
  code_challenge_method: "S256"
@@ -154,11 +154,11 @@ function R(r) {
154
154
  return r * Math.PI / 180;
155
155
  }
156
156
  function B(r, e, t) {
157
- const s = R(r), i = R(e), o = R(t), n = Math.cos(o), a = Math.sin(o), l = Math.cos(i), c = Math.sin(i), h = Math.cos(s), d = Math.sin(s);
157
+ const s = R(r), i = R(e), o = R(t), n = Math.cos(o), a = Math.sin(o), c = Math.cos(i), l = Math.sin(i), h = Math.cos(s), d = Math.sin(s);
158
158
  return [
159
- [n * l, n * c * d - a * h, n * c * h + a * d, 0],
160
- [a * l, a * c * d + n * h, a * c * h - n * d, 0],
161
- [-c, l * d, l * h, 0],
159
+ [n * c, n * l * d - a * h, n * l * h + a * d, 0],
160
+ [a * c, a * l * d + n * h, a * l * h - n * d, 0],
161
+ [-l, c * d, c * h, 0],
162
162
  [0, 0, 0, 1]
163
163
  ];
164
164
  }
@@ -176,8 +176,8 @@ function G() {
176
176
  const s = e.get("hf_username") || "user", i = e.get("hf_token_expires"), o = i && !Number.isNaN(new Date(i).getTime()) ? i : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
177
177
  try {
178
178
  sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", s), sessionStorage.setItem("hf_token_expires", o);
179
- } catch (l) {
180
- console.warn("[reachy-mini] could not persist pre-seeded HF credentials:", l);
179
+ } catch (c) {
180
+ console.warn("[reachy-mini] could not persist pre-seeded HF credentials:", c);
181
181
  }
182
182
  e.delete("hf_token"), e.delete("hf_username"), e.delete("hf_token_expires");
183
183
  const n = e.toString(), a = window.location.pathname + window.location.search + (n ? "#" + n : "");
@@ -212,14 +212,14 @@ function W(r) {
212
212
  if (s.startsWith("m=audio") ? t = !0 : s.startsWith("m=") && (t = !1), t && s === "a=sendrecv") return !0;
213
213
  return !1;
214
214
  }
215
- const y = 12 * 1024, E = 1 * 1024 * 1024, z = 512 * 1024;
215
+ const y = 12 * 1024, A = 1 * 1024 * 1024, z = 512 * 1024;
216
216
  function J() {
217
217
  return typeof CompressionStream < "u";
218
218
  }
219
219
  function U() {
220
220
  return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
221
221
  }
222
- function k(r) {
222
+ function E(r) {
223
223
  let e = "";
224
224
  for (let s = 0; s < r.length; s += 32768)
225
225
  e += String.fromCharCode.apply(
@@ -232,7 +232,7 @@ async function X(r) {
232
232
  const e = new TextEncoder().encode(r), t = await new Response(
233
233
  new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
234
234
  ).arrayBuffer();
235
- return k(new Uint8Array(t));
235
+ return E(new Uint8Array(t));
236
236
  }
237
237
  function L(r) {
238
238
  const e = Math.round(Number(r) || 0);
@@ -300,6 +300,7 @@ class K extends EventTarget {
300
300
  _hardwareIdResolve = null;
301
301
  _volumeResolve = null;
302
302
  _micVolumeResolve = null;
303
+ _trackedFaceResolve = null;
303
304
  // applyAudioConfig() / readAudioParameter() share the same single-slot
304
305
  // pattern as the volume helpers. Separate slots so the two can be
305
306
  // in-flight concurrently without collision.
@@ -392,7 +393,7 @@ class K extends EventTarget {
392
393
  async authenticate() {
393
394
  try {
394
395
  G();
395
- const e = await V();
396
+ const e = await N();
396
397
  if (e)
397
398
  return this._username = e.userInfo.preferred_username || e.userInfo.name || null, this._token = e.accessToken, this._tokenExpires = e.accessTokenExpiresAt, sessionStorage.setItem("hf_token", this._token), sessionStorage.setItem("hf_username", this._username ?? ""), sessionStorage.setItem(
398
399
  "hf_token_expires",
@@ -406,7 +407,7 @@ class K extends EventTarget {
406
407
  }
407
408
  async login() {
408
409
  const e = {};
409
- this._clientId && (e.clientId = this._clientId), window.location.href = await F(e);
410
+ this._clientId && (e.clientId = this._clientId), window.location.href = await V(e);
410
411
  }
411
412
  logout() {
412
413
  sessionStorage.removeItem("hf_token"), sessionStorage.removeItem("hf_username"), sessionStorage.removeItem("hf_token_expires"), this._username = null, this._tokenExpires = null, this.disconnect();
@@ -433,16 +434,16 @@ class K extends EventTarget {
433
434
  return new Promise((s, i) => {
434
435
  let o = !1;
435
436
  const n = t.body.getReader(), a = new TextDecoder();
436
- let l = "";
437
+ let c = "";
437
438
  (async () => {
438
439
  try {
439
440
  for (; ; ) {
440
441
  const { done: h, value: d } = await n.read();
441
442
  if (h) break;
442
- l += a.decode(d, { stream: !0 });
443
- const m = l.split(`
443
+ c += a.decode(d, { stream: !0 });
444
+ const m = c.split(`
444
445
  `);
445
- l = m.pop() ?? "";
446
+ c = m.pop() ?? "";
446
447
  for (const f of m)
447
448
  if (f.startsWith("data:"))
448
449
  try {
@@ -474,10 +475,10 @@ class K extends EventTarget {
474
475
  wakeOnConnect: n = !0
475
476
  } = e;
476
477
  if (this._state === "streaming") {
477
- const l = this._robots?.find((c) => c.id === this._selectedRobotId);
478
+ const c = this._robots?.find((l) => l.id === this._selectedRobotId);
478
479
  return {
479
480
  robotId: this._selectedRobotId,
480
- robotName: l?.meta?.name ?? null,
481
+ robotName: c?.meta?.name ?? null,
481
482
  isEmbedded: this.isEmbedded,
482
483
  alreadyStreaming: !0
483
484
  };
@@ -490,36 +491,36 @@ class K extends EventTarget {
490
491
  else if (!this._token && !await this.authenticate())
491
492
  throw new Error("Not authenticated — call login() or pass a token");
492
493
  this._state === "disconnected" && await this.connect();
493
- let l, c = null;
494
+ let c, l = null;
494
495
  if (this.isEmbedded) {
495
- l = this._preselectedRobotId;
496
+ c = this._preselectedRobotId;
496
497
  try {
497
- await this._waitForRobotInList(l, 5e3);
498
+ await this._waitForRobotInList(c, 5e3);
498
499
  } catch {
499
500
  }
500
- c = this._robots?.find((d) => d.id === l)?.meta?.name ?? null;
501
+ l = this._robots?.find((d) => d.id === c)?.meta?.name ?? null;
501
502
  } else {
502
503
  const h = await this._fetchOwnedRobots({ filterBusy: o });
503
504
  if (h.length === 0)
504
505
  throw new Error("No reachable robots");
505
506
  if (i && h.length === 1 && !h[0].busy)
506
- l = h[0].id, c = h[0].name;
507
+ c = h[0].id, l = h[0].name;
507
508
  else if (s) {
508
509
  const d = await s(h);
509
510
  if (!d) throw new Error("Robot selection cancelled");
510
- l = d, c = h.find((m) => m.id === d)?.name ?? null;
511
+ c = d, l = h.find((m) => m.id === d)?.name ?? null;
511
512
  } else
512
513
  throw new Error(
513
514
  "Multiple robots available — pass a pickRobot callback to autoConnect()"
514
515
  );
515
516
  }
516
- if (await this.startSession(l), n && typeof this.ensureAwake == "function")
517
+ if (await this.startSession(c), n && typeof this.ensureAwake == "function")
517
518
  try {
518
519
  await this.ensureAwake();
519
520
  } catch (h) {
520
521
  console.warn("[reachy-mini] autoConnect: ensureAwake failed:", h);
521
522
  }
522
- return { robotId: l, robotName: c, isEmbedded: this.isEmbedded };
523
+ return { robotId: c, robotName: l, isEmbedded: this.isEmbedded };
523
524
  } finally {
524
525
  this._autoStartFromUrl = a;
525
526
  }
@@ -575,10 +576,10 @@ class K extends EventTarget {
575
576
  if (!s) throw new Error("AudioContext not supported");
576
577
  const i = new s(), o = i.createMediaStreamDestination(), n = i.createOscillator(), a = i.createGain();
577
578
  a.gain.value = 0, n.connect(a).connect(o), n.start();
578
- const l = o.stream;
579
- l.getAudioTracks().forEach((c) => {
580
- c.enabled = !1;
581
- }), this._micStream = l, this._micMuted = !0;
579
+ const c = o.stream;
580
+ c.getAudioTracks().forEach((l) => {
581
+ l.enabled = !1;
582
+ }), this._micStream = c, this._micMuted = !0;
582
583
  } catch (t) {
583
584
  console.warn("Audio sender placeholder setup failed:", t), this._micStream = null;
584
585
  }
@@ -647,10 +648,10 @@ class K extends EventTarget {
647
648
  }
648
649
  }
649
650
  async stopSession() {
650
- this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
651
+ this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
651
652
  }
652
653
  disconnect() {
653
- this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
654
+ this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._trackedFaceResolve && (this._trackedFaceResolve(null), this._trackedFaceResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
654
655
  }
655
656
  // ─── Resilience: ICE-blip debounce + network awareness ───────────────
656
657
  //
@@ -885,6 +886,28 @@ class K extends EventTarget {
885
886
  clearIncomingAudio() {
886
887
  return this._sendCommand({ type: "clear_incoming_audio" });
887
888
  }
889
+ startHeadTracking(e = 1) {
890
+ if (!Number.isFinite(e))
891
+ throw new TypeError(`startHeadTracking: weight must be a finite number; got ${e}`);
892
+ const t = Math.min(Math.max(e, 0), 1);
893
+ return this._sendCommand({
894
+ type: "set_head_tracking",
895
+ enabled: !0,
896
+ weight: t
897
+ });
898
+ }
899
+ stopHeadTracking() {
900
+ return this._sendCommand({ type: "set_head_tracking", enabled: !1 });
901
+ }
902
+ getTrackedFace() {
903
+ return this._slotRoundtrip(
904
+ () => this._trackedFaceResolve,
905
+ (e) => {
906
+ this._trackedFaceResolve = e;
907
+ },
908
+ { type: "get_tracked_face" }
909
+ );
910
+ }
888
911
  /**
889
912
  * Trigger a PyPI update of the daemon over the data channel. Remote
890
913
  * counterpart of `POST /update/start`. The daemon acks then restarts
@@ -1091,8 +1114,8 @@ class K extends EventTarget {
1091
1114
  encoding: o = "gzip+base64",
1092
1115
  playFrequency: n = 100,
1093
1116
  initialGotoDuration: a = 0,
1094
- startTimeoutMs: l = 8e3,
1095
- onProgress: c = () => {
1117
+ startTimeoutMs: c = 8e3,
1118
+ onProgress: l = () => {
1096
1119
  },
1097
1120
  onStarted: h = () => {
1098
1121
  }
@@ -1110,33 +1133,33 @@ class K extends EventTarget {
1110
1133
  }, f = JSON.stringify(m);
1111
1134
  let p, v;
1112
1135
  o === "gzip+base64" && J() ? (p = await X(f), v = "gzip+base64") : (p = f, v = "json");
1113
- const w = Math.ceil(p.length / y) || 1;
1114
- c({
1136
+ const g = Math.ceil(p.length / y) || 1;
1137
+ l({
1115
1138
  phase: "starting",
1116
1139
  sent: 0,
1117
- total: w,
1140
+ total: g,
1118
1141
  bytes: p.length,
1119
1142
  encoding: v
1120
1143
  }), this._sendCommand({
1121
1144
  type: "upload_move_start",
1122
1145
  upload_id: d,
1123
- total_chunks: w,
1146
+ total_chunks: g,
1124
1147
  description: i,
1125
1148
  encoding: v
1126
1149
  });
1127
- for (let u = 0; u < w; u++) {
1128
- this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
1150
+ for (let u = 0; u < g; u++) {
1151
+ this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
1129
1152
  const _ = u * y;
1130
1153
  this._sendCommand({
1131
1154
  type: "upload_move_chunk",
1132
1155
  upload_id: d,
1133
1156
  chunk_index: u,
1134
1157
  chunk: p.slice(_, _ + y)
1135
- }), c({ phase: "upload", sent: u + 1, total: w });
1158
+ }), l({ phase: "upload", sent: u + 1, total: g });
1136
1159
  }
1137
- if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), c({ phase: "uploaded", sent: w, total: w }), t) {
1138
- const u = new Uint8Array(await t.arrayBuffer()), _ = k(u), b = Math.ceil(_.length / y) || 1;
1139
- c({
1160
+ if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), l({ phase: "uploaded", sent: g, total: g }), t) {
1161
+ const u = new Uint8Array(await t.arrayBuffer()), _ = E(u), b = Math.ceil(_.length / y) || 1;
1162
+ l({
1140
1163
  phase: "audio-starting",
1141
1164
  sent: 0,
1142
1165
  total: b,
@@ -1149,16 +1172,16 @@ class K extends EventTarget {
1149
1172
  description: i
1150
1173
  });
1151
1174
  for (let I = 0; I < b; I++) {
1152
- this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
1175
+ this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
1153
1176
  const T = I * y;
1154
1177
  this._sendCommand({
1155
1178
  type: "upload_audio_chunk",
1156
1179
  upload_id: d,
1157
1180
  chunk_index: I,
1158
1181
  chunk: _.slice(T, T + y)
1159
- }), c({ phase: "audio-upload", sent: I + 1, total: b });
1182
+ }), l({ phase: "audio-upload", sent: I + 1, total: b });
1160
1183
  }
1161
- this._sendCommand({ type: "upload_audio_finish", upload_id: d }), c({ phase: "audio-uploaded", sent: b, total: b });
1184
+ this._sendCommand({ type: "upload_audio_finish", upload_id: d }), l({ phase: "audio-uploaded", sent: b, total: b });
1162
1185
  }
1163
1186
  this._sendCommand({
1164
1187
  type: "play_uploaded_move",
@@ -1167,32 +1190,32 @@ class K extends EventTarget {
1167
1190
  initial_goto_duration: a,
1168
1191
  audio_lead_ms: s
1169
1192
  });
1170
- let g;
1193
+ let w;
1171
1194
  try {
1172
- g = await this._waitForBroadcast(
1195
+ w = await this._waitForBroadcast(
1173
1196
  (u) => u?.type === "play_uploaded_move" && u?.upload_id === d && (u.started === !0 || typeof u.error == "string"),
1174
- { timeoutMs: l, debugLabel: "play_uploaded_move started" }
1197
+ { timeoutMs: c, debugLabel: "play_uploaded_move started" }
1175
1198
  );
1176
1199
  } catch (u) {
1177
1200
  throw new Error(
1178
1201
  `Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${u.message}`
1179
1202
  );
1180
1203
  }
1181
- if (typeof g.error == "string")
1182
- throw new Error(`play_uploaded_move: ${g.error}`);
1204
+ if (typeof w.error == "string")
1205
+ throw new Error(`play_uploaded_move: ${w.error}`);
1183
1206
  try {
1184
1207
  h({
1185
- duration_s: g.duration_s,
1186
- has_audio: g.has_audio === !0
1208
+ duration_s: w.duration_s,
1209
+ has_audio: w.has_audio === !0
1187
1210
  });
1188
1211
  } catch (u) {
1189
1212
  console.warn("playMove.onStarted threw:", u);
1190
1213
  }
1191
- c({ phase: "playing", duration_s: g.duration_s });
1214
+ l({ phase: "playing", duration_s: w.duration_s });
1192
1215
  const S = await this._waitForBroadcast(
1193
1216
  (u) => u?.type === "play_uploaded_move" && u?.upload_id === d && (u.finished === !0 || u.cancelled === !0 || typeof u.error == "string"),
1194
1217
  {
1195
- timeoutMs: (g.duration_s + 30) * 1e3,
1218
+ timeoutMs: (w.duration_s + 30) * 1e3,
1196
1219
  debugLabel: "play_uploaded_move final"
1197
1220
  }
1198
1221
  );
@@ -1208,7 +1231,7 @@ class K extends EventTarget {
1208
1231
  throw new Error("data channel not open");
1209
1232
  if (!(e instanceof Blob))
1210
1233
  throw new TypeError("uploadAudio: expected a Blob");
1211
- const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = k(o), a = Math.ceil(n.length / y) || 1;
1234
+ const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = E(o), a = Math.ceil(n.length / y) || 1;
1212
1235
  s({ phase: "audio-starting", sent: 0, total: a, bytes: n.length }), this._sendCommand({
1213
1236
  type: "upload_audio_start",
1214
1237
  upload_id: i,
@@ -1216,15 +1239,15 @@ class K extends EventTarget {
1216
1239
  encoding: P(e),
1217
1240
  description: t
1218
1241
  });
1219
- for (let l = 0; l < a; l++) {
1220
- this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
1221
- const c = l * y;
1242
+ for (let c = 0; c < a; c++) {
1243
+ this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
1244
+ const l = c * y;
1222
1245
  this._sendCommand({
1223
1246
  type: "upload_audio_chunk",
1224
1247
  upload_id: i,
1225
- chunk_index: l,
1226
- chunk: n.slice(c, c + y)
1227
- }), s({ phase: "audio-upload", sent: l + 1, total: a });
1248
+ chunk_index: c,
1249
+ chunk: n.slice(l, l + y)
1250
+ }), s({ phase: "audio-upload", sent: c + 1, total: a });
1228
1251
  }
1229
1252
  return this._sendCommand({ type: "upload_audio_finish", upload_id: i }), s({ phase: "audio-uploaded", sent: a, total: a }), i;
1230
1253
  }
@@ -1406,6 +1429,12 @@ class K extends EventTarget {
1406
1429
  ), this._readAudioParameterResolve = null);
1407
1430
  return;
1408
1431
  }
1432
+ if (e.command === "get_tracked_face") {
1433
+ this._trackedFaceResolve && (this._trackedFaceResolve(
1434
+ e.face_target ?? null
1435
+ ), this._trackedFaceResolve = null);
1436
+ return;
1437
+ }
1409
1438
  if ((e.command === "wake_up" || e.command === "goto_sleep") && this._pendingMotionCompletions && this._pendingMotionCompletions[e.command]) {
1410
1439
  const t = this._pendingMotionCompletions[e.command];
1411
1440
  if (e.completed === !0 && t.length > 0) {
@@ -1466,7 +1495,7 @@ class K extends EventTarget {
1466
1495
  }
1467
1496
  if (e.state) {
1468
1497
  const t = e.state;
1469
- t.head_pose && (this._robotState.head = t.head_pose.flat()), t.antennas && (this._robotState.antennas = [t.antennas[0], t.antennas[1]]), typeof t.body_yaw == "number" && (this._robotState.body_yaw = t.body_yaw), t.motor_mode && (this._robotState.motor_mode = t.motor_mode), typeof t.is_move_running == "boolean" && (this._robotState.is_move_running = t.is_move_running), this._emit("state", { ...this._robotState });
1498
+ t.head_pose && (this._robotState.head = t.head_pose.flat()), t.antennas && (this._robotState.antennas = [t.antennas[0], t.antennas[1]]), typeof t.body_yaw == "number" && (this._robotState.body_yaw = t.body_yaw), t.motor_mode && (this._robotState.motor_mode = t.motor_mode), typeof t.is_move_running == "boolean" && (this._robotState.is_move_running = t.is_move_running), t.face_target && (this._robotState.face_target = t.face_target), this._emit("state", { ...this._robotState });
1470
1499
  }
1471
1500
  if (e.error && this._emit("error", { source: "robot", error: e.error }), this._broadcastWaiters.length > 0)
1472
1501
  for (let t = this._broadcastWaiters.length - 1; t >= 0; t--) {
package/host/dist/entry/auto.js CHANGED
@@ -1,4 +1,4 @@
1
- import { R as i } from "../chunks/reachy-mini-ChtjRPmR.js";
1
+ import { R as i } from "../chunks/reachy-mini-CdsdQLIU.js";
2
2
  import { m as n } from "../chunks/mountHost-DjE5zE9R.js";
3
3
  typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHost = { mountHost: n });
4
4
  export {
package/host/dist/entry/embed.js CHANGED
@@ -1,4 +1,4 @@
1
- import { R as i } from "../chunks/reachy-mini-ChtjRPmR.js";
1
+ import { R as i } from "../chunks/reachy-mini-CdsdQLIU.js";
2
2
  import { c as n } from "../chunks/index-lMs2sCXG.js";
3
3
  typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHostEmbed = { connectToHost: n });
4
4
  export {
package/host/dist/index.js CHANGED
@@ -1,4 +1,4 @@
1
- import { R as o } from "./chunks/reachy-mini-ChtjRPmR.js";
1
+ import { R as o } from "./chunks/reachy-mini-CdsdQLIU.js";
2
2
  import { R as s, m as a } from "./chunks/mountHost-DjE5zE9R.js";
3
3
  import { c as t } from "./chunks/index-lMs2sCXG.js";
4
4
  import { PROTOCOL_VERSION as c, decodeCredsFromHash as m, encodeCredsToHash as w, isProtocolMessage as h } from "./lib/protocol.js";
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@pollen-robotics/reachy-mini-sdk",
3
- "version": "1.8.4",
3
+ "version": "1.9.0-rc1-main.2f4615f",
4
4
  "description": "Browser SDK for controlling a Reachy Mini robot over WebRTC, plus an optional Hugging Face Spaces host shell (OAuth + robot picker + iframe bridge) exposed via the ./host subpath.",
5
5
  "type": "module",
6
6
  "main": "./dist/reachy-mini-sdk.js",