@rainbow-robotics/muscat-plugin-kit 1.10.1 → 1.10.2-dev.0

package/cli/src/dev.mjs

@@ -115,7 +115,8 @@ export async function runDev(args = []) {
   ensureDocker();
   const { robotIp, robotToken } = await promptRobotConnection(args);
   process.env.MUSCAT_ROBOT_HOST  = robotIp;
-  if (robotToken) process.env.MUSCAT_ROBOT_TOKEN = robotToken;
+  // Even when empty: the dev:back child (stdin ignored) must not prompt for the token again.
+  process.env.MUSCAT_ROBOT_TOKEN = robotToken;
 
   const remoteRobot = isRemoteRobot(robotIp);
   const hostAgent = await maybeStartHostAgent(root, { robotIp, robotToken });

package/cli/src/muscatLocal.mjs

@@ -29,10 +29,26 @@ const dockerArch = () => {
   return a === "arm64" || a === "amd64" ? a : process.arch === "arm64" ? "arm64" : "amd64";
 };
 
-async function fetchBuffer(url) {
-  const res = await fetch(url);
-  if (!res.ok) throw new Error(`HTTP ${res.status}: ${url}`);
-  return Buffer.from(await res.arrayBuffer());
+// Node's fetch reports every network error as "fetch failed"; the real reason (ECONNRESET, ...) is in `cause`.
+const fetchErrorReason = (e) => e.cause?.code ?? e.code ?? e.cause?.message ?? e.message;
+
+// The S3 zips are ~200MB, so a dropped connection mid-download is retried. 4xx is not.
+export async function fetchBuffer(url, attempts = 3) {
+  for (let i = 1; ; i++) {
+    let err;
+    try {
+      const res = await fetch(url);
+      if (res.ok) return Buffer.from(await res.arrayBuffer());
+      err = new Error(`HTTP ${res.status}: ${url}`);
+      if (res.status < 500 && res.status !== 429) throw err;
+    } catch (e) {
+      if (e === err) throw e;
+      err = new Error(`fetch failed (${fetchErrorReason(e)}): ${url}`, { cause: e });
+    }
+    if (i >= attempts) throw err;
+    log.warn(`${err.message} — retrying (${i + 1}/${attempts})…`);
+    await new Promise((r) => setTimeout(r, 1000 * i));
+  }
 }
 
 // macOS/Windows `tar` reads zip; GNU tar does not, Linux has `unzip`.

package/cli/src/util.mjs

@@ -137,9 +137,10 @@ export async function prompt(question, fallback = "") {
 const LOCAL_HOSTS = new Set(["", "localhost", "127.0.0.1", "::1"]);
 
 /**
- * Ask for robot IP (and token if remote). Returns { robotIp, robotToken }.
+ * Ask for robot IP (and optional token if remote). Returns { robotIp, robotToken }.
  * Skips prompts if already set in process.env (from a parent command like `dev`).
  * Supports --robot-ip / --robot-token flags for non-interactive use.
+ * An empty token is allowed: the robot API is then called without an Authorization header.
  */
 export async function promptRobotConnection(args = []) {
   const parsed = parseArgs(args);
@@ -153,9 +154,8 @@ export async function promptRobotConnection(args = []) {
   const robotToken =
     parsed["robot-token"] ??
     process.env.MUSCAT_ROBOT_TOKEN ??
-    (await prompt("  SDK Token (required for remote): "));
+    (await prompt("  SDK Token (optional, Enter to skip): "));
 
-  if (!robotToken) throw new Error("SDK token is required for remote robot connection.");
   return { robotIp, robotToken };
 }
 

package/cli/storybook-dist/project.json

@@ -1 +1 @@
-{"generatedAt":1792681693778,"userSince":1750997484097,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}
+{"generatedAt":1792687510358,"userSince":1750997484097,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}

package/cli/templates/common/py/main.py

@@ -8,7 +8,7 @@ On-robot (default):
 Remote dev (from your laptop):
   Set env vars before running:
     MUSCAT_ROBOT_HOST=192.168.1.100
-    MUSCAT_ROBOT_TOKEN=<service token>
+    MUSCAT_ROBOT_TOKEN=<service token>   (optional; needed only when the robot's login policy is on)
   Then: muscat-pk dev:back
 
 Handlers:
@@ -90,9 +90,9 @@ def move_j_example():
 
 async def main():
     robot_host = os.getenv("MUSCAT_ROBOT_HOST")
-    robot_token = os.getenv("MUSCAT_ROBOT_TOKEN")
+    robot_token = os.getenv("MUSCAT_ROBOT_TOKEN", "")  # empty is fine when the login policy is off
 
-    if robot_host and robot_token:
+    if robot_host:
         # Remote dev: connect to the robot before registering any handlers.
         # connect() closes and reopens the Zenoh session, so handlers registered
         # before this call would be lost.
@@ -113,7 +113,7 @@ async def main():
     except (KeyboardInterrupt, asyncio.CancelledError):
         pass
     finally:
-        if robot_host and robot_token:
+        if robot_host:
             await manipulate.disconnect()
         print(f"[{PLUGIN_NAME}] stopped")
 

package/cli/templates/cpp/cpp/main.cpp

@@ -30,8 +30,8 @@ int main() {
   // Remote dev: connect before registering handlers (connect() reopens the session).
   RBManipulateSDK manipulate;
   const char* host = std::getenv("MUSCAT_ROBOT_HOST");
-  const char* token = std::getenv("MUSCAT_ROBOT_TOKEN");
-  if (host && token) manipulate.connect({.token = token, .host = host});
+  const char* token = std::getenv("MUSCAT_ROBOT_TOKEN");  // optional: needed only when the login policy is on
+  if (host) manipulate.connect({.token = token ? token : "", .host = host});
 
   // plugin id comes from RB_PLUGIN_ID.
   auto plugin = RBPluginCall::get_instance(RBPluginCall::resolve_plugin_id(std::nullopt));

package/cli/templates/readme-cpp/README.md

@@ -531,14 +531,16 @@ manipulate.move.call_move_j("C500920", t, std::nullopt, MoveSpeedArg{1, 60.f, 12
 manipulate.move.call_move_wait("C500920", -1);
 ```
 
-Remote dev (`muscat-pk dev --robot-ip <ip> --robot-token <token>`) sets
+Remote dev (`muscat-pk dev --robot-ip <ip> [--robot-token <token>]`) sets
 `MUSCAT_ROBOT_HOST` / `MUSCAT_ROBOT_TOKEN`; connect **before** registering
-subscriptions, because `connect()` reopens the Zenoh session:
+subscriptions, because `connect()` reopens the Zenoh session. The token is
+optional — it is needed only when the robot's login policy is on:
 
 ```cpp
-if (const char* host = std::getenv("MUSCAT_ROBOT_HOST"))
-  if (const char* token = std::getenv("MUSCAT_ROBOT_TOKEN"))
-    manipulate.connect({.token = token, .host = host});
+if (const char* host = std::getenv("MUSCAT_ROBOT_HOST")) {
+  const char* token = std::getenv("MUSCAT_ROBOT_TOKEN");
+  manipulate.connect({.token = token ? token : "", .host = host});
+}
 ```
 
 AMR and RB-Y1 SDKs are Python-only for now.

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.10.1",
+  "version": "1.10.2-dev.0",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -52,8 +52,8 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.10.1",
-    "@rainbow-robotics/preview-host": "1.10.1",
+    "@rainbow-robotics/plugin-ui": "1.10.2-dev.0",
+    "@rainbow-robotics/preview-host": "1.10.2-dev.0",
     "@types/react": "^19.0.10",
     "postcss": "^8.5.8",
     "typescript": "^5.8.0",