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<html lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no" />
<title>Reachy Mini - Pollen Robotics</title>
<link rel="preconnect" href="https://fonts.googleapis.com">
<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
<link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700&display=swap" rel="stylesheet">
<link rel="stylesheet" href="style.css">
</head>
<body>
<!-- Login View -->
<div id="loginView" class="login-view">
<div class="login-card">
<img class="login-logo" src="https://raw.githubusercontent.com/pollen-robotics/reachy-mini-desktop-app/develop/src-tauri/icons/128x128.png" alt="Reachy Mini">
<h2>Reachy Mini</h2>
<p>Sign in with your HuggingFace account to connect and control your robot remotely.</p>
<button class="btn-hf" onclick="loginToHuggingFace()">
<svg width="18" height="18" viewBox="0 0 95 88" fill="currentColor">
<path d="M47.5 0C26.3 0 9.1 17.2 9.1 38.4v2.9c0 4.5 1.1 9 3.2 13L0 88h95L82.7 54.3c2.1-4 3.2-8.5 3.2-13v-2.9C85.9 17.2 68.7 0 47.5 0z"/>
</svg>
Sign in with Hugging Face
</button>
</div>
</div>
<!-- Main App -->
<div id="mainApp" class="hidden">
<header class="header">
<div class="logo">
<img src="https://raw.githubusercontent.com/pollen-robotics/reachy-mini-desktop-app/develop/src-tauri/icons/128x128.png" alt="Reachy Mini">
<div class="logo-text">Reachy Mini <span>by Pollen Robotics</span></div>
</div>
<div class="user-section">
<div class="user-badge"><span id="username">@user</span></div>
<button class="btn-logout" onclick="logout()">Sign out</button>
</div>
</header>
<div class="app-container">
<!-- Video -->
<div class="video-container">
<video id="remoteVideo" autoplay playsinline muted></video>
<div class="video-overlay-top">
<div class="connection-badge">
<div class="status-indicator" id="statusIndicator"></div>
<span id="statusText">Disconnected</span>
</div>
<div class="robot-name" id="robotName"></div>
<div class="latency-badge hidden" id="latencyBadge">
<span id="latencyValue">--</span>
</div>
</div>
<div class="video-overlay-bottom">
<div class="video-controls">
<button class="btn btn-secondary" id="connectBtn" onclick="connectSignaling()">Connect</button>
<button class="btn btn-primary" id="startBtn" onclick="startStream()" disabled>Start</button>
<button class="btn btn-danger" id="stopBtn" onclick="stopStream()" disabled>Stop</button>
<button class="btn btn-mute muted" id="muteBtn" onclick="toggleMute()" disabled>
<svg id="speakerOffIcon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
<polygon points="11 5 6 9 2 9 2 15 6 15 11 19 11 5"></polygon>
<line x1="23" y1="9" x2="17" y2="15"></line>
<line x1="17" y1="9" x2="23" y2="15"></line>
</svg>
<svg id="speakerOnIcon" class="hidden" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
<polygon points="11 5 6 9 2 9 2 15 6 15 11 19 11 5"></polygon>
<path d="M19.07 4.93a10 10 0 0 1 0 14.14M15.54 8.46a5 5 0 0 1 0 7.07"></path>
</svg>
<span id="muteText">Unmute</span>
</button>
<button class="btn btn-mute muted" id="micBtn" onclick="toggleMic()" disabled>
<svg id="micOffIcon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
<line x1="1" y1="1" x2="23" y2="23"></line>
<path d="M9 9v3a3 3 0 0 0 5.12 2.12M15 9.34V4a3 3 0 0 0-5.94-.6"></path>
<path d="M17 16.95A7 7 0 0 1 5 12v-2m14 0v2c0 .76-.13 1.49-.35 2.17"></path>
<line x1="12" y1="19" x2="12" y2="23"></line>
<line x1="8" y1="23" x2="16" y2="23"></line>
</svg>
<svg id="micOnIcon" class="hidden" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
<path d="M12 1a3 3 0 0 0-3 3v8a3 3 0 0 0 6 0V4a3 3 0 0 0-3-3z"></path>
<path d="M19 10v2a7 7 0 0 1-14 0v-2"></path>
<line x1="12" y1="19" x2="12" y2="23"></line>
<line x1="8" y1="23" x2="16" y2="23"></line>
</svg>
<span id="micText">Mic Off</span>
</button>
</div>
</div>
</div>
<!-- Robot Selector -->
<div id="robotSelector" class="panel hidden">
<div class="panel-header">Available Robots</div>
<div class="panel-content">
<div id="robotList" class="robot-list">
<div style="color: var(--text-muted); font-size: 0.85em;">Searching...</div>
</div>
</div>
</div>
<!-- Head Control - RPY Sliders -->
<div class="panel">
<div class="panel-header">Head Orientation</div>
<div class="panel-content">
<div class="slider-row">
<span class="slider-label">Roll</span>
<input type="range" class="slider" id="rollSlider" min="-20" max="20" value="0" step="0.5">
<span class="slider-value" id="rollValue">0.0°</span>
</div>
<div class="slider-row">
<span class="slider-label">Pitch</span>
<input type="range" class="slider" id="pitchSlider" min="-30" max="30" value="0" step="0.5">
<span class="slider-value" id="pitchValue">0.0°</span>
</div>
<div class="slider-row">
<span class="slider-label">Yaw</span>
<input type="range" class="slider" id="yawSlider" min="-45" max="45" value="0" step="0.5">
<span class="slider-value" id="yawValue">0.0°</span>
</div>
</div>
</div>
<!-- Antennas -->
<div class="panel">
<div class="panel-header">Antennas</div>
<div class="panel-content">
<div class="slider-row">
<span class="slider-label">Right</span>
<input type="range" class="slider" id="rightAntSlider" min="-175" max="175" value="0">
<span class="slider-value" id="rightAntValue">0°</span>
</div>
<div class="slider-row">
<span class="slider-label">Left</span>
<input type="range" class="slider" id="leftAntSlider" min="-175" max="175" value="0">
<span class="slider-value" id="leftAntValue">0°</span>
</div>
</div>
</div>
<!-- Sound -->
<div class="panel">
<div class="panel-header">Sound</div>
<div class="panel-content">
<div class="sound-row">
<input type="text" class="sound-input" id="soundInput" placeholder="Sound file...">
<button class="btn btn-primary" id="btnPlaySound" onclick="playSound()" disabled>Play</button>
</div>
<div class="sound-presets">
<span class="preset-chip" onclick="playSoundPreset('wake_up.wav')">wake_up</span>
<span class="preset-chip" onclick="playSoundPreset('go_sleep.wav')">go_sleep</span>
<span class="preset-chip" onclick="playSoundPreset('yes.wav')">yes</span>
<span class="preset-chip" onclick="playSoundPreset('no.wav')">no</span>
</div>
</div>
</div>
</div>
</div>
<script type="module">
import { ReachyMini } from "https://cdn.jsdelivr.net/gh/pollen-robotics/reachy_mini@fix/js-app-latency/js/reachy-mini.js";
const robot = new ReachyMini();
let selectedRobotId = null;
let headSlidersActive = false;
let detachVideo = null;
let latencyIntervalId = null;
// Export functions for inline onclick handlers
window.loginToHuggingFace = () => robot.login();
window.logout = logout;
window.connectSignaling = connectSignaling;
window.startStream = startStream;
window.stopStream = stopStream;
window.playSound = playSound;
window.playSoundPreset = playSoundPreset;
window.toggleMute = toggleMute;
window.toggleMic = toggleMic;
document.addEventListener('DOMContentLoaded', async () => {
if (await robot.authenticate()) {
showMainApp();
} else {
showLogin();
}
initSliders();
initRobotEvents();
});
// ===================== Auth =====================
function logout() {
if (detachVideo) { detachVideo(); detachVideo = null; }
robot.logout();
showLogin();
}
function showLogin() {
document.getElementById('loginView').classList.remove('hidden');
document.getElementById('mainApp').classList.add('hidden');
}
function showMainApp() {
document.getElementById('loginView').classList.add('hidden');
document.getElementById('mainApp').classList.remove('hidden');
document.getElementById('username').textContent = '@' + robot.username;
}
// ===================== Robot Events =====================
function initRobotEvents() {
robot.addEventListener('robotsChanged', (e) => displayRobots(e.detail.robots));
robot.addEventListener('streaming', () => {
updateStatus('connected', 'Connected');
enableControls(true);
document.getElementById('robotSelector').classList.add('hidden');
startLatencyDisplay();
});
robot.addEventListener('sessionStopped', () => {
document.getElementById('startBtn').disabled = !selectedRobotId;
document.getElementById('stopBtn').disabled = true;
document.getElementById('robotSelector').classList.remove('hidden');
enableControls(false);
updateStatus('connected', 'Connected');
updateMicButton();
stopLatencyDisplay();
});
robot.addEventListener('state', (e) => updateStateDisplay(e.detail));
robot.addEventListener('micSupported', () => {
enableControls(robot.state === 'streaming');
});
robot.addEventListener('disconnected', () => {
updateStatus('', 'Disconnected');
document.getElementById('connectBtn').disabled = false;
document.getElementById('robotSelector').classList.add('hidden');
});
robot.addEventListener('error', (e) => {
console.error(`[${e.detail.source}]`, e.detail.error);
if (e.detail.source === 'webrtc') {
updateStatus('', 'Connection lost');
}
});
}
// ===================== Connection =====================
function updateStatus(status, text) {
document.getElementById('statusIndicator').className = 'status-indicator ' + status;
document.getElementById('statusText').textContent = text;
}
async function connectSignaling() {
if (!robot.isAuthenticated) return;
updateStatus('connecting', 'Connecting...');
document.getElementById('connectBtn').disabled = true;
try {
await robot.connect();
updateStatus('connected', 'Connected');
document.getElementById('robotSelector').classList.remove('hidden');
} catch (e) {
console.error('Connection failed:', e);
updateStatus('', 'Disconnected');
document.getElementById('connectBtn').disabled = false;
}
}
function displayRobots(robots) {
const list = document.getElementById('robotList');
list.innerHTML = '';
if (!robots?.length) {
list.innerHTML = '<div style="color: var(--text-muted);">No robots online</div>';
document.getElementById('startBtn').disabled = true;
return;
}
for (const r of robots) {
const div = document.createElement('div');
div.className = 'robot-card' + (r.id === selectedRobotId ? ' selected' : '');
div.innerHTML = `<div class="name">${r.meta?.name || 'Reachy Mini'}</div><div class="id">${r.id.slice(0, 12)}...</div>`;
div.onclick = () => {
document.querySelectorAll('.robot-card').forEach(e => e.classList.remove('selected'));
div.classList.add('selected');
selectedRobotId = r.id;
document.getElementById('robotName').textContent = r.meta?.name || 'Reachy Mini';
document.getElementById('startBtn').disabled = false;
};
list.appendChild(div);
}
}
// ===================== Latency =====================
function startLatencyDisplay() {
const badge = document.getElementById('latencyBadge');
const label = document.getElementById('latencyValue');
badge.classList.remove('hidden');
latencyIntervalId = setInterval(async () => {
const video = document.getElementById('remoteVideo');
let bufLagMs = null;
let rttMs = null;
let vidJitterMs = null;
let audJitterMs = null;
// Buffer lag (how far behind live edge)
if (video && video.buffered && video.buffered.length > 0) {
const end = video.buffered.end(video.buffered.length - 1);
bufLagMs = Math.round((end - video.currentTime) * 1000);
}
// WebRTC stats: RTT + jitter buffer delay (video & audio)
if (robot._pc) {
try {
const stats = await robot._pc.getStats();
stats.forEach(report => {
if (report.type === 'candidate-pair' && report.currentRoundTripTime != null) {
rttMs = Math.round(report.currentRoundTripTime * 1000);
}
if (report.type === 'inbound-rtp' && report.jitterBufferDelay != null && report.jitterBufferEmittedCount > 0) {
const jMs = Math.round((report.jitterBufferDelay / report.jitterBufferEmittedCount) * 1000);
if (report.kind === 'video') vidJitterMs = jMs;
if (report.kind === 'audio') audJitterMs = jMs;
}
});
} catch (_) { /* no stats yet */ }
}
// Display
const parts = [];
if (bufLagMs != null) parts.push(`buf ${bufLagMs}ms`);
if (rttMs != null) parts.push(`rtt ${rttMs}ms`);
if (vidJitterMs != null) parts.push(`v-jit ${vidJitterMs}ms`);
if (audJitterMs != null) parts.push(`a-jit ${audJitterMs}ms`);
label.textContent = parts.length ? parts.join(' · ') : '--';
// Color based on buffer lag
badge.classList.remove('good', 'ok', 'bad');
if (bufLagMs != null) {
if (bufLagMs < 200) badge.classList.add('good');
else if (bufLagMs < 500) badge.classList.add('ok');
else badge.classList.add('bad');
}
}, 1000);
}
function stopLatencyDisplay() {
if (latencyIntervalId) { clearInterval(latencyIntervalId); latencyIntervalId = null; }
const badge = document.getElementById('latencyBadge');
badge.classList.add('hidden');
badge.classList.remove('good', 'ok', 'bad');
}
// ===================== Session =====================
async function startStream() {
if (!selectedRobotId) return;
updateStatus('connecting', 'Connecting...');
updateMuteButton();
detachVideo = robot.attachVideo(document.getElementById('remoteVideo'));
document.getElementById('startBtn').disabled = true;
document.getElementById('stopBtn').disabled = false;
try {
await robot.startSession(selectedRobotId);
} catch (e) {
console.error('Session failed:', e);
if (detachVideo) { detachVideo(); detachVideo = null; }
document.getElementById('startBtn').disabled = !selectedRobotId;
document.getElementById('stopBtn').disabled = true;
updateStatus('connected', 'Connected');
}
}
async function stopStream() {
if (detachVideo) { detachVideo(); detachVideo = null; }
await robot.stopSession();
}
// ===================== Audio =====================
function toggleMute() {
robot.setAudioMuted(!robot.audioMuted);
updateMuteButton();
}
function toggleMic() {
robot.setMicMuted(!robot.micMuted);
updateMicButton();
}
function updateMuteButton() {
const muted = robot.audioMuted;
const btn = document.getElementById('muteBtn');
btn.classList.toggle('muted', muted);
document.getElementById('speakerOffIcon').classList.toggle('hidden', !muted);
document.getElementById('speakerOnIcon').classList.toggle('hidden', muted);
document.getElementById('muteText').textContent = muted ? 'Unmute' : 'Mute';
}
function updateMicButton() {
const muted = robot.micMuted;
const btn = document.getElementById('micBtn');
btn.classList.toggle('muted', muted);
document.getElementById('micOffIcon').classList.toggle('hidden', !muted);
document.getElementById('micOnIcon').classList.toggle('hidden', muted);
document.getElementById('micText').textContent = muted ? 'Mic Off' : 'Mic On';
}
function enableControls(enabled) {
document.getElementById('btnPlaySound').disabled = !enabled;
document.getElementById('muteBtn').disabled = !enabled;
document.getElementById('micBtn').disabled = !enabled || !robot.micSupported;
}
// ===================== State Display =====================
function updateStateDisplay(state) {
if (state.head && !headSlidersActive) {
document.getElementById('rollSlider').value = state.head.roll;
document.getElementById('rollValue').textContent = state.head.roll.toFixed(1) + '°';
document.getElementById('pitchSlider').value = state.head.pitch;
document.getElementById('pitchValue').textContent = state.head.pitch.toFixed(1) + '°';
document.getElementById('yawSlider').value = state.head.yaw;
document.getElementById('yawValue').textContent = state.head.yaw.toFixed(1) + '°';
}
if (state.antennas) {
const r = state.antennas.right.toFixed(0);
const l = state.antennas.left.toFixed(0);
document.getElementById('rightAntSlider').value = r;
document.getElementById('rightAntValue').textContent = r + '°';
document.getElementById('leftAntSlider').value = l;
document.getElementById('leftAntValue').textContent = l + '°';
}
}
// ===================== Sliders =====================
function initSliders() {
// Head
const rollSlider = document.getElementById('rollSlider');
const pitchSlider = document.getElementById('pitchSlider');
const yawSlider = document.getElementById('yawSlider');
const rollValue = document.getElementById('rollValue');
const pitchValue = document.getElementById('pitchValue');
const yawValue = document.getElementById('yawValue');
function sendHeadPose() {
robot.setHeadPose(
parseFloat(rollSlider.value),
parseFloat(pitchSlider.value),
parseFloat(yawSlider.value),
);
}
const onStart = () => { headSlidersActive = true; };
const onEnd = () => { headSlidersActive = false; };
for (const s of [rollSlider, pitchSlider, yawSlider]) {
s.addEventListener('mousedown', onStart);
s.addEventListener('touchstart', onStart);
s.addEventListener('mouseup', onEnd);
s.addEventListener('touchend', onEnd);
}
rollSlider.addEventListener('input', () => { rollValue.textContent = parseFloat(rollSlider.value).toFixed(1) + '°'; sendHeadPose(); });
pitchSlider.addEventListener('input', () => { pitchValue.textContent = parseFloat(pitchSlider.value).toFixed(1) + '°'; sendHeadPose(); });
yawSlider.addEventListener('input', () => { yawValue.textContent = parseFloat(yawSlider.value).toFixed(1) + '°'; sendHeadPose(); });
// Antennas
const rightSlider = document.getElementById('rightAntSlider');
const leftSlider = document.getElementById('leftAntSlider');
const rightAntValue = document.getElementById('rightAntValue');
const leftAntValue = document.getElementById('leftAntValue');
rightSlider.addEventListener('input', () => {
rightAntValue.textContent = rightSlider.value + '°';
robot.setAntennas(parseFloat(rightSlider.value), parseFloat(leftSlider.value));
});
leftSlider.addEventListener('input', () => {
leftAntValue.textContent = leftSlider.value + '°';
robot.setAntennas(parseFloat(rightSlider.value), parseFloat(leftSlider.value));
});
}
// ===================== Sound =====================
function playSound() {
const file = document.getElementById('soundInput').value.trim();
if (file) robot.playSound(file);
}
function playSoundPreset(file) {
document.getElementById('soundInput').value = file;
robot.playSound(file);
}
</script>
</body>
</html>
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