@rainbow-robotics/muscat-plugin-kit 1.10.1 → 1.10.2-dev.1

package/README.md

@@ -114,7 +114,7 @@ muscat-pk build                # build dist/ and produce a distributable ZIP (sk
 | `muscat-pk dev:back` | Backend dev server (Docker, hot-reload) |
 | `muscat-pk storybook` | Browse the bundled rb-components Storybook |
 | `muscat-pk mcp` | Run an MCP server for AI coding agents (exposes rb-components/design-token/SDK docs) |
-| `muscat-pk update` | Update the kit + plugin-ui to the latest version |
+| `muscat-pk update` | Update the kit + plugin-ui + preview-host to the latest version; lists old-API UI code to fix |
 | `muscat-pk sdk <list\|update>` | Manage the `rainbow-rb-sdk` version — python: `requirements.txt`, C++ (cpp / ros2-cpp): `find_package(rb_sdk <ver> EXACT REQUIRED)` in `CMakeLists.txt` |
 | `muscat-pk version` | Print the installed CLI version (`-v` / `--version` also work) |
 | `muscat-pk completion [shell]` | Print a shell completion script (`bash` / `zsh` / `fish` / `powershell`; defaults to `$SHELL`) |

package/cli/README.md

@@ -17,7 +17,7 @@ muscat-pk dev:back    # run the back end in a Docker container (python / cpp / r
 muscat-pk dev         # dev:ui + dev:back
 muscat-pk storybook   # browse the bundled rb-components Storybook subset
 muscat-pk mcp         # start an MCP server (stdio) exposing rb-components/design-token/SDK docs to AI agents
-muscat-pk update      # update @rainbow-robotics/muscat-plugin-kit and @rainbow-robotics/plugin-ui
+muscat-pk update      # update @rainbow-robotics/muscat-plugin-kit, plugin-ui and preview-host; lists old-API UI code to fix
 muscat-pk uninstall   # remove muscat-pk itself (npm global or S3 binary)
 muscat-pk sdk list | sdk update [version]   # manage rainbow-rb-sdk (python)
 muscat-pk version     # print the installed CLI version (-v / --version too)

package/cli/bin/muscat-pk.mjs

@@ -86,7 +86,7 @@ function formatHelp() {
     commandRow("dev:back", `Run the plugin back end ${color.dim("(python: watchfiles reload / ros2: Docker)")}`),
     commandRow("storybook", `Browse the bundled rb-components Storybook ${color.dim(`(${option("--port")} <n>, ${option("--rebuild")})`)}`),
     commandRow("mcp", `Start an MCP server ${color.dim("(stdio)")} exposing rb-components/rb SDK docs to AI agents ${color.dim(`(${option("--install")} codex: register in ~/.codex/config.toml)`)}`),
-    commandRow("update", `Update ${color.magenta("@rainbow-robotics/muscat-plugin-kit")} and ${color.magenta("@rainbow-robotics/plugin-ui")} ${color.dim(`(local-only if run from a project's local install; ${option("--global")} also updates the global CLI)`)}`),
+    commandRow("update", `Update ${color.magenta("@rainbow-robotics/muscat-plugin-kit")}, ${color.magenta("@rainbow-robotics/plugin-ui")} and ${color.magenta("@rainbow-robotics/preview-host")} ${color.dim(`(local-only if run from a project's local install; ${option("--global")} also updates the global CLI)`)}`),
     commandRow("uninstall", `Remove the installed ${color.cyan("muscat-pk")} CLI ${color.dim("(npm global or S3 binary)")}`),
     commandRow("sdk <list|update [version]>", "Manage the python rainbow-rb-sdk version"),
     commandRow("version", `Print the installed ${color.cyan("muscat-pk")} version`),

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/mcp.mjs

@@ -958,46 +958,88 @@ print(json.dumps(out))
       }
 
       const { data, error } = introspectRbSdk(`
-import inspect, json
+import inspect, json, re, sys as _sys
 mod = importlib.import_module("rainbow.rb_sdk")
+try:
+    _cpp = importlib.import_module("rainbow.rb_sdk.rb_sdk_cpp")  # C++ SDK (>= 0.10): sub-SDK classes live here
+except Exception:
+    _cpp = None
 name = ${JSON.stringify(className)}
 method = ${methodName ? JSON.stringify(methodName) : "None"}
-obj = getattr(mod, name, None)
+
+def _lookup(n, near=None):
+    for m in (_sys.modules.get(getattr(near, "__module__", "")) if near else None, mod, _cpp):
+        o = getattr(m, n, None) if m else None
+        if o is not None:
+            return o
+    return None
+
+obj = _lookup(name)
 if obj is None:
     print(json.dumps({"__missing__": True})); raise SystemExit(0)
-def sig(o):
-    try: return str(inspect.signature(o))
-    except Exception: return "(...)"
+
+def sig(o, n=""):
+    try:
+        return str(inspect.signature(o))
+    except Exception:
+        pass
+    # pybind11 (C++ SDK): the signature is the docstring's first line.
+    first = (getattr(o, "__doc__", None) or "").strip().split("\\n")[0]
+    m = re.match(r"^\\w*(\\(.*\\))(\\s*->\\s*.+)?$", first)
+    if not m:
+        return "(...)"
+    return re.sub(r"self(: [\\w.]+)?(, )?", "", m.group(1), count=1) + (m.group(2) or "")
+
+def summary(o):
+    lines = [l.strip() for l in (inspect.getdoc(o) or "").split("\\n") if l.strip()]
+    if lines and re.match(r"^\\w*\\(.*\\)", lines[0]):  # pybind signature line
+        lines = lines[1:]
+    return lines[0] if lines else ""
+
+def routines(cls):
+    for m in dir(cls):
+        if m.startswith("_"):
+            continue
+        if isinstance(inspect.getattr_static(cls, m, None), property):
+            continue
+        fn = getattr(cls, m, None)
+        if inspect.isroutine(fn):
+            yield m, fn
+
+def sub_sdks(cls):
+    """(attr, class) for sub-SDKs: C++ properties (\`move\` -> RBManipulateMoveSDK)
+    and pure-Python \`self.<attr> = <Class>(...)\` in __init__."""
+    out = []
+    for attr in dir(cls):
+        p = inspect.getattr_static(cls, attr, None)
+        if attr.startswith("_") or not isinstance(p, property) or p.fget is None:
+            continue
+        ret = (getattr(p.fget, "__annotations__", {}) or {}).get("return")
+        tname = ret.__name__ if inspect.isclass(ret) else None
+        if not tname:
+            m = re.search(r"->\\s*([\\w.]+)", p.fget.__doc__ or "")
+            tname = m and m.group(1).split(".")[-1]
+        sub = _lookup(tname, cls) if tname else None
+        if inspect.isclass(sub):
+            out.append((attr, sub))
+    try:
+        src = inspect.getsource(cls.__init__)
+    except Exception:
+        src = ""
+    for attr, nested_name in re.findall(r"self\\.(\\w+)\\s*=\\s*(\\w+)\\(", src):
+        sub = _lookup(nested_name, cls)
+        if inspect.isclass(sub):
+            out.append((attr, sub))
+    return out
 
 if method:
-    # Direct method on the class itself.
     fn = getattr(obj, method, None) if inspect.isclass(obj) else None
-    # rb_sdk classes often group calls under a nested namespace set in
-    # __init__ (e.g. RBManipulateSDK().move.call_move_j) — that only exists on
-    # an INSTANCE, which we won't construct (side effects, needs a robot
-    # connection). Best-effort: search the class's own __init__ source text
-    # for self.<attr> = <NestedClass>(...) and check each nested class too.
     owner = name
     if fn is None and inspect.isclass(obj):
-        try:
-            src = inspect.getsource(obj.__init__)
-        except Exception:
-            src = ""
-        import re, sys as _sys
-        # The nested sub-SDK classes (e.g. RBManipulateMoveSDK) are imported in
-        # the module that DEFINES obj (rainbow.rb_sdk.manipulate), not in the
-        # rainbow.rb_sdk top-level namespace — resolve names against both.
-        _defmod = _sys.modules.get(getattr(obj, "__module__", ""))
-        for attr, nested_name in re.findall(r"self\\.(\\w+)\\s*=\\s*(\\w+)\\(", src):
-            nested = (
-                (getattr(_defmod, nested_name, None) if _defmod else None)
-                or mod.__dict__.get(nested_name)
-                or globals().get(nested_name)
-            )
-            cand = getattr(nested, method, None) if nested else None
+        for attr, sub in sub_sdks(obj):
+            cand = getattr(sub, method, None)
             if cand:
-                fn = cand
-                owner = f"{name}.{attr} ({nested_name})"
+                fn, owner = cand, f"{name}.{attr} ({sub.__name__})"
                 break
     if fn is None:
         print(json.dumps({"__missing__": True, "__method__": True})); raise SystemExit(0)
@@ -1007,31 +1049,14 @@ if method:
     }))
     raise SystemExit(0)
 
-res = {"name": name, "doc": inspect.getdoc(obj) or ""}
+res = {"name": name, "doc": summary(obj) if inspect.isclass(obj) else (inspect.getdoc(obj) or "")}
 if inspect.isclass(obj):
     res["kind"] = "class"
     res["init"] = name + sig(obj.__init__ if "__init__" in dir(obj) else obj)
-    def _methods_of(cls, prefix=""):
-        out = []
-        for m, fn in inspect.getmembers(cls, predicate=inspect.isfunction):
-            if m.startswith("_"): continue
-            out.append({"name": prefix + m, "sig": prefix + m + sig(fn),
-                        "doc": (inspect.getdoc(fn) or "").split("\\n")[0]})
-        return out
-    methods = _methods_of(obj)
-    # Most rb_sdk calls live on nested sub-SDKs assigned in __init__
-    # (e.g. self.move = RBManipulateMoveSDK() -> obj.move.call_move_j). List
-    # those too, name-prefixed, so the API is discoverable without an instance.
-    import re as _re, sys as _sys
-    _defmod = _sys.modules.get(getattr(obj, "__module__", ""))
-    try:
-        _src = inspect.getsource(obj.__init__)
-    except Exception:
-        _src = ""
-    for _attr, _nested_name in _re.findall(r"self\\.(\\w+)\\s*=\\s*(\\w+)\\(", _src):
-        _nested = (getattr(_defmod, _nested_name, None) if _defmod else None) or mod.__dict__.get(_nested_name)
-        if inspect.isclass(_nested):
-            methods.extend(_methods_of(_nested, prefix=_attr + "."))
+    methods = [{"name": m, "sig": m + sig(fn), "doc": summary(fn)} for m, fn in routines(obj)]
+    # Most calls live on sub-SDKs (sdk.move.call_move_j) — list them name-prefixed.
+    for attr, sub in sub_sdks(obj):
+        methods += [{"name": f"{attr}.{m}", "sig": f"{attr}.{m}" + sig(fn), "doc": summary(fn)} for m, fn in routines(sub)]
     res["methods"] = methods
 else:
     res["kind"] = "function"
@@ -1041,10 +1066,9 @@ print(json.dumps(res))
       if (error) return { isError: true, content: [{ type: "text", text: error }] };
       if (data.__missing__) {
         const text = data.__method__
-          ? `No method "${methodName}" found directly on "${className}" (nor in an obvious nested ` +
-            `namespace set in __init__). Call get_rb_sdk_api with just \`name: "${className}"\` to see ` +
+          ? `No method "${methodName}" found on "${className}" or its sub-SDKs (e.g. .move, .state). Call get_rb_sdk_api with just \`name: "${className}"\` to see ` +
             `its full method list and constructor first.`
-          : `No "${className}" in rainbow.rb_sdk. Call list_rb_sdk for valid names.`;
+          : `No "${className}" in rainbow.rb_sdk (or rb_sdk_cpp). Call list_rb_sdk for valid names.`;
         return { isError: true, content: [{ type: "text", text }] };
       }
       if (data.kind === "method") {

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/update.mjs

@@ -11,11 +11,12 @@
 // After updating the CLI itself, also bumps the plugin project's local deps
 // and migrates the project structure if it's outdated (src/ → ui/, root main.py → py/).
 import { execSync, spawn, spawnSync } from "node:child_process";
-import { chmodSync, existsSync, mkdirSync, readFileSync, renameSync, writeFileSync } from "node:fs";
-import { join, resolve } from "node:path";
+import { chmodSync, existsSync, mkdirSync, readdirSync, readFileSync, renameSync, writeFileSync } from "node:fs";
+import { join, relative, resolve } from "node:path";
 import { findPluginRoot, isLocalKitInstall, KIT_PUBLISHED_NAME, kitVersion, log, parseArgs, prompt } from "./util.mjs";
 
 const PLUGIN_UI_PACKAGE = "@rainbow-robotics/plugin-ui";
+const PREVIEW_HOST_PACKAGE = "@rainbow-robotics/preview-host";
 const S3_BASE = "https://rainbow-deploy.s3.ap-northeast-2.amazonaws.com/muscat-plugin-kit";
 
 const isBinaryMode = typeof Bun !== "undefined";
@@ -193,21 +194,120 @@ async function migrateStructure(root, issues) {
 
 // ── plugin project local deps ─────────────────────────────────────────────────
 
+// The three packages are released together on one version, so preview-host moves with the other
+// two — left behind, an old pin keeps serving a preview that no longer matches plugin-ui.
 function updateLocalDeps(root, tag) {
   const pm = detectPm(root);
-  const list = [`${KIT_PUBLISHED_NAME}@${tag}`, `${PLUGIN_UI_PACKAGE}@${tag}`];
-  const cmd =
-    pm === "npm"   ? `npm install ${list.join(" ")}`
-    : pm === "yarn" ? `yarn add ${list.join(" ")}`
-    : `${pm} add ${list.join(" ")}`;
-
-  log.step(`Updating plugin local deps (${pm}): ${list.join(", ")}`);
+  let pkg = {};
+  try {
+    pkg = JSON.parse(readFileSync(resolve(root, "package.json"), "utf8"));
+  } catch { /* ignore */ }
+  const listed = (name) => Boolean(pkg.dependencies?.[name] || pkg.devDependencies?.[name]);
+  const names = [KIT_PUBLISHED_NAME, PLUGIN_UI_PACKAGE, ...(listed(PREVIEW_HOST_PACKAGE) ? [PREVIEW_HOST_PACKAGE] : [])];
+  const isDev = (name) => Boolean(pkg.devDependencies?.[name]);
+  const add = (list, dev) => {
+    const flag = dev ? " -D" : "";
+    return pm === "npm" ? `npm install${flag} ${list.join(" ")}` : `${pm} add${flag} ${list.join(" ")}`;
+  };
+  // Keep each package in the section it is already in (yarn/pnpm `add` would move devDeps).
+  const cmds = [false, true]
+    .map((dev) => [names.filter((n) => isDev(n) === dev).map((n) => `${n}@${tag}`), dev])
+    .filter(([list]) => list.length)
+    .map(([list, dev]) => add(list, dev));
+
+  log.step(`Updating plugin local deps (${pm}): ${names.map((n) => `${n}@${tag}`).join(", ")}`);
   try {
-    execSync(cmd, { cwd: root, stdio: "inherit" });
+    for (const cmd of cmds) execSync(cmd, { cwd: root, stdio: "inherit" });
     log.ok("Local deps updated.");
   } catch {
-    log.warn("Local deps update failed (offline?). Run manually:\n  " + cmd);
+    log.warn("Local deps update failed (offline?). Run manually:\n  " + cmds.join("\n  "));
+  }
+}
+
+// ── legacy plugin-ui API ──────────────────────────────────────────────────────
+// plugin-ui 1.x replaced the remote-dom components and connect() bootstrap. update can't rewrite
+// UI code, so after bumping it lists what the user has to change.
+
+const LEGACY_SUBPATHS = {
+  connect: "removed — drop `connect(App)` and `export default App` instead (the host renders the entry's default export)",
+  elements: "removed — use the RB* components from @rainbow-robotics/plugin-ui/react",
+  "dist-browser": "removed — import from @rainbow-robotics/plugin-ui/react",
+};
+const LEGACY_COMPONENTS = {
+  Slider: "RBSlider",
+  Button: "RBLabelButton",
+  IconButton: "RBIconButton",
+  Text: "a plain element or RBTextLabel",
+  TextInput: "RBTextInput / RBTextField",
+  Switch: "RBSwitch",
+  Select: "RBSelectBox",
+};
+// The clause can't hold quotes or `;`, so a match can't start at an earlier import statement.
+const PLUGIN_UI_IMPORT = /import\s+([^;'"]*?)\s+from\s+["']@rainbow-robotics\/plugin-ui\/([\w-]+)["']/g;
+
+function listUiFiles(dir) {
+  return readdirSync(dir, { withFileTypes: true }).flatMap((e) =>
+    e.isDirectory() ? listUiFiles(join(dir, e.name)) : /\.[jt]sx?$/.test(e.name) ? [join(dir, e.name)] : [],
+  );
+}
+
+// rb.toast takes one { message, type } object now; flag a string or multi-argument call.
+const TOAST_CALL = /\.toast\(([^()]*)\)/g;
+
+/** Uses of the pre-1.x plugin-ui API in the project (ui/ and vite.config), as { file, line, text }. */
+export function findLegacyUiUsage(root) {
+  const uiDir = resolve(root, "ui");
+  if (!existsSync(uiDir)) return [];
+  const found = [];
+  // The old hand-written config builds entries without their exports (connect() rendered as a side
+  // effect), so `export default App` is dropped from dist. The muscat() preset keeps it.
+  const viteConfig = ["vite.config.ts", "vite.config.mts", "vite.config.js", "vite.config.mjs"].find((f) => existsSync(resolve(root, f)));
+  if (viteConfig && !readFileSync(resolve(root, viteConfig), "utf8").includes("@rainbow-robotics/muscat-plugin-kit/vite")) {
+    found.push({
+      file: viteConfig,
+      line: 1,
+      text: 'not using the muscat() preset — the build drops the entry\'s default export. Use: import { muscat } from "@rainbow-robotics/muscat-plugin-kit/vite"; defineConfig({ plugins: [muscat()] })',
+    });
+  }
+  for (const file of listUiFiles(uiDir)) {
+    const src = readFileSync(file, "utf8");
+    const rel = relative(root, file);
+    const lineOf = (index) => src.slice(0, index).split("\n").length;
+    for (const m of src.matchAll(PLUGIN_UI_IMPORT)) {
+      const [, clause, subpath] = m;
+      if (LEGACY_SUBPATHS[subpath]) {
+        found.push({ file: rel, line: lineOf(m.index), text: `@rainbow-robotics/plugin-ui/${subpath} ${LEGACY_SUBPATHS[subpath]}` });
+      } else if (subpath === "react") {
+        const named = clause.match(/\{([\s\S]*)\}/)?.[1] ?? "";
+        for (const spec of named.split(",")) {
+          const name = spec.trim().replace(/^type\s+/, "").split(/\s+as\s+/)[0];
+          if (LEGACY_COMPONENTS[name]) {
+            found.push({ file: rel, line: lineOf(m.index), text: `${name} → ${LEGACY_COMPONENTS[name]}` });
+          }
+        }
+      }
+    }
+    for (const m of src.matchAll(TOAST_CALL)) {
+      const arg = m[1].trim();
+      if (!arg.startsWith("{") && (/^["'`]/.test(arg) || arg.includes(","))) {
+        found.push({ file: rel, line: lineOf(m.index), text: "rb.toast(message, type) → rb.toast({ message, type })" });
+      }
+    }
+    // Top-level ui/ files are the entries; the host mounts their default export.
+    if (relative(uiDir, file).split(/[\\/]/).length === 1 && !/export\s+default\b/.test(src)) {
+      found.push({ file: rel, line: 1, text: "no default export — the host renders the entry's default export" });
+    }
   }
+  return found;
+}
+
+function reportLegacyUi(root) {
+  const found = findLegacyUiUsage(root);
+  if (!found.length) return;
+  log.warn("This project still uses the old plugin-ui API (removed in plugin-ui 1.x). Fix these before `muscat-pk dev` / `build`:");
+  for (const f of found) log.info(`  ${f.file}:${f.line}  ${f.text}`);
+  log.info("  Props changed too (e.g. RBSlider onValueChange(values[]), RBSwitch onCheckedChange(bool) instead of event.detail).");
+  log.info("  For working examples, generate a fresh project and read its ui/content.tsx:  muscat-pk new <dir>");
 }
 
 // ── main ─────────────────────────────────────────────────────────────────────
@@ -292,4 +392,10 @@ export async function runUpdate(args = []) {
   }
 
   updateLocalDeps(root, tag);
+
+  try {
+    reportLegacyUi(root);
+  } catch (err) {
+    log.warn(`Legacy UI check failed: ${err.message}`);
+  }
 }

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},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}
+{"generatedAt":1792689204059,"userSince":1750997484097,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$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.1",
   "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.1",
+    "@rainbow-robotics/preview-host": "1.10.2-dev.1",
     "@types/react": "^19.0.10",
     "postcss": "^8.5.8",
     "typescript": "^5.8.0",