npm - @pollen-robotics/reachy-mini-sdk - Versions diffs - 1.10.0-dev.0.main.60dddbe → 1.10.0-dev.0.main.66c3492 - Mend

@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.60dddbe → 1.10.0-dev.0.main.66c3492

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 (9) hide show

package/dist/lib/reachy-mini.d.ts +23 -0
package/dist/lib/reachy-mini.d.ts.map +1 -1
package/dist/lib/reachy-mini.js +115 -4
package/dist/lib/reachy-mini.js.map +1 -1
package/host/dist/chunks/{reachy-mini-DCbCDwyd.js → reachy-mini-DyEhsZnc.js} +128 -77
package/host/dist/entry/auto.js +1 -1
package/host/dist/entry/embed.js +1 -1
package/host/dist/index.js +1 -1
package/package.json +1 -1

package/dist/lib/reachy-mini.d.ts CHANGED Viewed

@@ -23,6 +23,9 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _state;
     private _robots;
     private _robotState;
+    private _lastPoseSeq;
+    private _lastPoseFrameAt;
+    private _poseSubRefs;
     private readonly _preselectedRobotId;
     private _token;
     private _username;
@@ -291,6 +294,21 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     sendRaw(data: unknown): boolean;
     subscribeLogs({ onLine, onError }: SubscribeLogsOptions): () => void;
     requestState(): boolean;
+    /**
+     * Ask the daemon to *push* the robot state (~30 Hz) over the dedicated
+     * unreliable/unordered `pose` data channel instead of polling get_state.
+     * Fires `state` events as frames arrive. No-op against an older daemon (no
+     * pose channel) - fall back to `requestState()` polling there.
+     *
+     * Refcounted: pair every `subscribePose()` with exactly one
+     * `unsubscribePose()`. Multiple consumers share a single daemon-side
+     * subscription; the daemon only stops pushing once the last one releases.
+     * If the channel isn't open yet (or the session later reconnects), the
+     * subscription is (re-)asserted from `_checkSessionReady`.
+     */
+    subscribePose(): boolean;
+    /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+    unsubscribePose(): boolean;
     setAudioMuted(muted: boolean): void;
     setMicMuted(muted: boolean): void;
     attachVideo(videoElement: HTMLVideoElement): () => void;
@@ -327,6 +345,11 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _handleSignalingMessage;
     private _handleEndSession;
     private _handlePeerMessage;
+    /**
+     * @param fromPoseStream Frame came from the pushed `pose` channel rather
+     *   than the reliable control channel. Only those may refresh the state
+     *   mirror while the stream is live (see the `data.state` branch).
+     */
     private _handleRobotMessage;
     /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */
     private _startLatencyMonitor;

package/dist/lib/reachy-mini.d.ts.map CHANGED Viewed

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1	+ 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package/dist/lib/reachy-mini.js CHANGED Viewed

@@ -40,6 +40,21 @@ const ICE_FAILED_GRACE_MS = 1000;
  * to be honest with the user.
  */
 const MAX_VISIBILITY_DEFER_MS = 60_000;
+/**
+ * How long a pushed pose frame keeps the periodic `get_state` poll on hold -
+ * both on the way out (no request is sent) and on the way back (a reply that
+ * arrives anyway doesn't touch the state mirror).
+ *
+ * Poll replies carry no `seq`, so they slip past the stale-frame guard: a
+ * reply that crosses a fresher pushed frame would rewind the very mirror the
+ * stream exists to smooth. While frames flow at ~30 Hz there is nothing left
+ * for the poll to add, so it stands down. Keying that on frame arrival rather
+ * than on `_poseSubRefs` keeps the poll running against a daemon that doesn't
+ * know `subscribe_pose`, and brings it back on its own if the stream stalls.
+ * A little over one 500 ms poll period, so a couple of dropped frames don't
+ * flip it back and forth.
+ */
+const POSE_STREAM_FRESH_MS = 750;
 /**
  * Fail-open ceiling for a single `_slotRoundtrip` request/response.
  * Every slot command has a strict "one reply per request" contract, so
@@ -66,6 +81,19 @@ export class ReachyMini extends EventTarget {
     _state = 'disconnected';
     _robots = [];
     _robotState = {};
+    // Highest `seq` seen on the unordered `pose` channel. Frames that arrive
+    // out of order (older seq) are dropped so a late packet can't rewind the
+    // live mirror. `null` until the first pose frame.
+    _lastPoseSeq = null;
+    // When the last pushed pose frame was applied, used to park the periodic
+    // `get_state` poll while the stream is live (see POSE_STREAM_FRESH_MS).
+    _lastPoseFrameAt = 0;
+    // Local refcount of pose-stream consumers (the 3D mirror, the wizard's
+    // move-end watcher, ...). The daemon's subscription is a per-peer boolean
+    // (not refcounted), so we only send `unsubscribe_pose` once the LAST local
+    // consumer releases - otherwise one consumer's cleanup would kill the
+    // stream for the others.
+    _poseSubRefs = 0;
     _preselectedRobotId;
     // ─── Auth ────────────────────────────────────────────────────────────
     _token = null;
@@ -563,7 +591,35 @@ export class ReachyMini extends EventTarget {
                 }
             };
             this._pc.ondatachannel = (e) => {
-                this._dc = e.channel;
+                const ch = e.channel;
+                // On `subscribe_pose` the daemon opens a second,
+                // unreliable/unordered channel labelled "pose" that *pushes*
+                // the robot state at ~30 Hz (see media_server
+                // `_setup_pose_channel`), so this can fire mid-session. It
+                // carries the same `{state:{...}}` envelope as a get_state
+                // reply, so we route it through the same handler - but it
+                // must NOT gate session readiness (that's the reliable
+                // control channel's job) nor become `_dc` (commands must
+                // never ride the lossy channel).
+                if (ch.label === 'pose') {
+                    // Fresh channel (new session or daemon restart): the
+                    // daemon's seq counter may have reset, so forget the old
+                    // high-water mark or we'd drop every new frame.
+                    this._lastPoseSeq = null;
+                    ch.onmessage = (ev) => {
+                        const msg = JSON.parse(ev.data);
+                        // Drop stale/reordered frames (unordered channel).
+                        if (typeof msg.seq === 'number') {
+                            if (this._lastPoseSeq !== null && msg.seq <= this._lastPoseSeq)
+                                return;
+                            this._lastPoseSeq = msg.seq;
+                        }
+                        this._lastPoseFrameAt = Date.now();
+                        this._handleRobotMessage(msg, true);
+                    };
+                    return;
+                }
+                this._dc = ch;
                 this._dc.onopen = () => {
                     this._dcOpen = true;
                     this._checkSessionReady();
@@ -1328,6 +1384,30 @@ export class ReachyMini extends EventTarget {
     requestState() {
         return this._sendCommand({ type: 'get_state' });
     }
+    /**
+     * Ask the daemon to *push* the robot state (~30 Hz) over the dedicated
+     * unreliable/unordered `pose` data channel instead of polling get_state.
+     * Fires `state` events as frames arrive. No-op against an older daemon (no
+     * pose channel) - fall back to `requestState()` polling there.
+     *
+     * Refcounted: pair every `subscribePose()` with exactly one
+     * `unsubscribePose()`. Multiple consumers share a single daemon-side
+     * subscription; the daemon only stops pushing once the last one releases.
+     * If the channel isn't open yet (or the session later reconnects), the
+     * subscription is (re-)asserted from `_checkSessionReady`.
+     */
+    subscribePose() {
+        this._poseSubRefs++;
+        return this._sendCommand({ type: 'subscribe_pose' });
+    }
+    /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+    unsubscribePose() {
+        if (this._poseSubRefs > 0)
+            this._poseSubRefs--;
+        if (this._poseSubRefs > 0)
+            return true; // still wanted by another consumer
+        return this._sendCommand({ type: 'unsubscribe_pose' });
+    }
     // ─── Audio ───────────────────────────────────────────────────────────
     setAudioMuted(muted) {
         this._audioMuted = muted;
@@ -1708,7 +1788,22 @@ export class ReachyMini extends EventTarget {
         if (this._iceConnected && this._dcOpen && this._sessionResolve) {
             this._state = 'streaming';
             this.requestState();
-            this._stateRefreshInterval = setInterval(() => this.requestState(), 500);
+            // Re-assert a pose subscription that was requested before the data
+            // channel was open, or lost on reconnect (a fresh peer starts
+            // unsubscribed on the daemon). Sent raw so it doesn't touch the
+            // local refcount, which already reflects the live consumer count.
+            if (this._poseSubRefs > 0)
+                this._sendCommand({ type: 'subscribe_pose' });
+            // A fresh session has received no pose frame yet, so a timestamp
+            // left over from the previous one must not hold off the poll.
+            this._lastPoseFrameAt = 0;
+            this._stateRefreshInterval = setInterval(() => {
+                // Skip while the pose stream is already feeding state; see
+                // POSE_STREAM_FRESH_MS.
+                if (Date.now() - this._lastPoseFrameAt < POSE_STREAM_FRESH_MS)
+                    return;
+                this.requestState();
+            }, 500);
             this._emit('streaming', { sessionId: this._sessionId, robotId: this._selectedRobotId });
             this._sessionResolve();
             this._sessionResolve = null;
@@ -1852,7 +1947,12 @@ export class ReachyMini extends EventTarget {
             this._emit('error', { source: 'webrtc', error: e });
         }
     }
-    _handleRobotMessage(data) {
+    /**
+     * @param fromPoseStream Frame came from the pushed `pose` channel rather
+     *   than the reliable control channel. Only those may refresh the state
+     *   mirror while the stream is live (see the `data.state` branch).
+     */
+    _handleRobotMessage(data, fromPoseStream = false) {
         // JSON-RPC frames (app control surface) are handled separately from
         // the legacy {command|type} robot messages that share this channel.
         if (data.jsonrpc === '2.0') {
@@ -1993,7 +2093,18 @@ export class ReachyMini extends EventTarget {
             }
             return;
         }
-        if (data.state) {
+        // Only the stream may write the mirror while the stream is live. The
+        // poll stands down in that case (see POSE_STREAM_FRESH_MS), but it
+        // can't unsend a request already in flight: `get_state` rides the
+        // reliable channel, so its reply queues behind whatever else is on it
+        // - a `upload_move_*` burst, typically - and can land hundreds of ms
+        // after the snapshot it carries. Having no `seq`, it slips past the
+        // stale-frame guard and rewinds every consumer to a pose from before
+        // the upload, until the next pushed frame puts them back. That reads
+        // as a one-frame flick to the pre-move pose right as an animation
+        // starts. Nothing is lost by dropping it: pushed frames carry the same
+        // fields (daemon-side `build_state_dict` feeds both).
+        if (data.state && (fromPoseStream || Date.now() - this._lastPoseFrameAt >= POSE_STREAM_FRESH_MS)) {
             const s = data.state;
             if (s.head_pose)
                 this._robotState.head = s.head_pose.flat();

package/dist/lib/reachy-mini.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/host/dist/chunks/{reachy-mini-DCbCDwyd.js → reachy-mini-DyEhsZnc.js} RENAMED Viewed

@@ -1,4 +1,4 @@
-var H = Object.defineProperty, $ = (r, e, t) => e in r ? H(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, k = (r, e, t) => ($(r, typeof e != "symbol" ? e + "" : e, t), t), D = "https://huggingface.co";
+var F = Object.defineProperty, $ = (r, e, t) => e in r ? F(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, k = (r, e, t) => ($(r, typeof e != "symbol" ? e + "" : e, t), t), H = "https://huggingface.co";
 async function C(r, e) {
   var t, s;
   const i = new O(r.url, r.status, (t = r.headers.get("X-Request-Id")) != null ? t : void 0);
@@ -54,7 +54,7 @@ async function M(r) {
   }
   if (h.nonce !== a)
     throw new Error("Invalid oauth state in redirected URL");
-  const d = D, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
+  const d = H, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
     headers: {
       Accept: "application/json"
     }
@@ -109,7 +109,7 @@ async function M(r) {
     scope: g.scope
   };
 }
-async function F(r) {
+async function V(r) {
   if (typeof window > "u")
     throw new Error("oauthHandleRedirect is only available in the browser");
   const e = new URLSearchParams(window.location.search);
@@ -117,11 +117,11 @@ async function F(r) {
     "Missing oauth nonce from localStorage. This can happen when the user refreshes the page after logging in, without changing the URL."
   ), !1) : !1;
 }
-async function V(r) {
+async function B(r) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthLogin is only available in the browser");
-  const s = r?.hubUrl || D, i = `${new URL(s).origin}/.well-known/openid-configuration`, o = await fetch(i, {
+  const s = r?.hubUrl || H, i = `${new URL(s).origin}/.well-known/openid-configuration`, o = await fetch(i, {
     headers: {
       Accept: "application/json"
     }
@@ -153,7 +153,7 @@ async function V(r) {
 function R(r) {
   return r * Math.PI / 180;
 }
-function B(r, e, t) {
+function G(r, e, t) {
   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);
   return [
     [n * l, n * c * d - a * h, n * c * h + a * d, 0],
@@ -162,7 +162,7 @@ function B(r, e, t) {
     [0, 0, 0, 1]
   ];
 }
-function G() {
+function q() {
   if (typeof window > "u" || !window.location.hash) return;
   const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
   let e;
@@ -186,7 +186,7 @@ function G() {
   } catch {
   }
 }
-function q() {
+function W() {
   if (typeof window > "u") return null;
   if (window.location.hash) {
     const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
@@ -204,7 +204,7 @@ function q() {
     }
   return null;
 }
-function W(r) {
+function z(r) {
   const e = r.split(`\r
 `);
   let t = !1;
@@ -212,14 +212,14 @@ function W(r) {
     if (s.startsWith("m=audio") ? t = !0 : s.startsWith("m=") && (t = !1), t && s === "a=sendrecv") return !0;
   return !1;
 }
-const v = 12 * 1024, E = 1 * 1024 * 1024, z = 512 * 1024;
-function J() {
+const v = 12 * 1024, A = 1 * 1024 * 1024, J = 512 * 1024;
+function X() {
   return typeof CompressionStream < "u";
 }
 function U() {
   return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
 }
-function T(r) {
+function E(r) {
   let e = "";
   for (let s = 0; s < r.length; s += 32768)
     e += String.fromCharCode.apply(
@@ -228,17 +228,17 @@ function T(r) {
     );
   return btoa(e);
 }
-async function X(r) {
+async function Y(r) {
   const e = new TextEncoder().encode(r), t = await new Response(
     new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
   ).arrayBuffer();
-  return T(new Uint8Array(t));
+  return E(new Uint8Array(t));
 }
-function L(r) {
+function P(r) {
   const e = Math.round(Number(r) || 0);
   return Math.max(0, Math.min(100, e));
 }
-function P(r) {
+function L(r) {
   switch ((r.type || "").toLowerCase().split(";")[0]?.trim() ?? "") {
     case "audio/ogg":
     case "application/ogg":
@@ -261,8 +261,8 @@ function P(r) {
       return "wav-base64";
   }
 }
-const j = 3e3, N = 1e3, Y = 6e4, K = 4e3;
-class Q extends EventTarget {
+const j = 3e3, N = 1e3, K = 6e4, D = 750, Q = 4e3;
+class Z extends EventTarget {
   // ─── Config ──────────────────────────────────────────────────────────
   _signalingUrl;
   _clientId;
@@ -274,6 +274,19 @@ class Q extends EventTarget {
   _state = "disconnected";
   _robots = [];
   _robotState = {};
+  // Highest `seq` seen on the unordered `pose` channel. Frames that arrive
+  // out of order (older seq) are dropped so a late packet can't rewind the
+  // live mirror. `null` until the first pose frame.
+  _lastPoseSeq = null;
+  // When the last pushed pose frame was applied, used to park the periodic
+  // `get_state` poll while the stream is live (see POSE_STREAM_FRESH_MS).
+  _lastPoseFrameAt = 0;
+  // Local refcount of pose-stream consumers (the 3D mirror, the wizard's
+  // move-end watcher, ...). The daemon's subscription is a per-peer boolean
+  // (not refcounted), so we only send `unsubscribe_pose` once the LAST local
+  // consumer releases - otherwise one consumer's cleanup would kill the
+  // stream for the others.
+  _poseSubRefs = 0;
   _preselectedRobotId;
   // ─── Auth ────────────────────────────────────────────────────────────
   _token = null;
@@ -349,7 +362,7 @@ class Q extends EventTarget {
   // ─── Video element ───────────────────────────────────────────────────
   _videoElement = null;
   constructor(e = {}) {
-    super(), this._signalingUrl = e.signalingUrl || "https://pollen-robotics-reachy-mini-central.hf.space", this._clientId = e.clientId || null, this._appName = e.appName || "unknown", this._videoJitterBufferTargetMs = e.videoJitterBufferTargetMs ?? 0, this._autoStartFromUrl = e.autoStartFromUrl === !0, this._autoStartAttempted = !1, this._preselectedRobotId = q();
+    super(), this._signalingUrl = e.signalingUrl || "https://pollen-robotics-reachy-mini-central.hf.space", this._clientId = e.clientId || null, this._appName = e.appName || "unknown", this._videoJitterBufferTargetMs = e.videoJitterBufferTargetMs ?? 0, this._autoStartFromUrl = e.autoStartFromUrl === !0, this._autoStartAttempted = !1, this._preselectedRobotId = W();
   }
   // ─── Read-only properties ────────────────────────────────────────────
   get state() {
@@ -401,8 +414,8 @@ class Q extends EventTarget {
   // ─── Auth ────────────────────────────────────────────────────────────
   async authenticate() {
     try {
-      G();
-      const e = await F();
+      q();
+      const e = await V();
       if (e)
         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(
           "hf_token_expires",
@@ -416,7 +429,7 @@ class Q extends EventTarget {
   }
   async login() {
     const e = {};
-    this._clientId && (e.clientId = this._clientId), window.location.href = await V(e);
+    this._clientId && (e.clientId = this._clientId), window.location.href = await B(e);
   }
   logout() {
     sessionStorage.removeItem("hf_token"), sessionStorage.removeItem("hf_username"), sessionStorage.removeItem("hf_token_expires"), this._username = null, this._tokenExpires = null, this.disconnect();
@@ -635,9 +648,21 @@ class Q extends EventTarget {
           }
         }
       }, this._pc.ondatachannel = (i) => {
-        this._dc = i.channel, this._dc.onopen = () => {
+        const o = i.channel;
+        if (o.label === "pose") {
+          this._lastPoseSeq = null, o.onmessage = (n) => {
+            const a = JSON.parse(n.data);
+            if (typeof a.seq == "number") {
+              if (this._lastPoseSeq !== null && a.seq <= this._lastPoseSeq) return;
+              this._lastPoseSeq = a.seq;
+            }
+            this._lastPoseFrameAt = Date.now(), this._handleRobotMessage(a, !0);
+          };
+          return;
+        }
+        this._dc = o, this._dc.onopen = () => {
           this._dcOpen = !0, this._checkSessionReady();
-        }, this._dc.onmessage = (o) => this._handleRobotMessage(JSON.parse(o.data));
+        }, this._dc.onmessage = (n) => this._handleRobotMessage(JSON.parse(n.data));
       }, this._sendToServer({ type: "startSession", peerId: e }).then((i) => {
         if (i?.type === "sessionRejected") {
           this._failSessionRejected(i);
@@ -725,7 +750,7 @@ class Q extends EventTarget {
       if (typeof document < "u" && document.hidden || (document.removeEventListener("visibilitychange", t), this._pendingVisibilityHandler = null, !this._pc)) return;
       const s = this._pc.iceConnectionState;
       if (!(s === "connected" || s === "completed")) {
-        if (Date.now() - e > Y) {
+        if (Date.now() - e > K) {
           const i = new Error(
             "Session expired while tab was backgrounded"
           );
@@ -881,7 +906,7 @@ class Q extends EventTarget {
     return o.duration = i, this._sendCommand(o);
   }
   setHeadRpyDeg(e, t, s) {
-    return this.setTarget({ head: B(e, t, s).flat() });
+    return this.setTarget({ head: G(e, t, s).flat() });
   }
   setAntennasDeg(e, t) {
     return this.setTarget({ antennas: [R(e), R(t)] });
@@ -1014,7 +1039,7 @@ class Q extends EventTarget {
       (t) => {
         this._volumeResolve = t;
       },
-      { type: "set_volume", volume: L(e) }
+      { type: "set_volume", volume: P(e) }
     );
   }
   getMicrophoneVolume() {
@@ -1032,7 +1057,7 @@ class Q extends EventTarget {
       (t) => {
         this._micVolumeResolve = t;
       },
-      { type: "set_microphone_volume", volume: L(e) }
+      { type: "set_microphone_volume", volume: P(e) }
     );
   }
   /**
@@ -1134,7 +1159,7 @@ class Q extends EventTarget {
       const l = (c) => {
         a !== void 0 && (clearTimeout(a), a = void 0), e() === l && t(null), i(c);
       };
-      t(l), a = setTimeout(() => l(null), K), this._sendCommand(s);
+      t(l), a = setTimeout(() => l(null), Q), this._sendCommand(s);
     });
   }
   sendRaw(e) {
@@ -1153,6 +1178,25 @@ class Q extends EventTarget {
   requestState() {
     return this._sendCommand({ type: "get_state" });
   }
+  /**
+   * Ask the daemon to *push* the robot state (~30 Hz) over the dedicated
+   * unreliable/unordered `pose` data channel instead of polling get_state.
+   * Fires `state` events as frames arrive. No-op against an older daemon (no
+   * pose channel) - fall back to `requestState()` polling there.
+   *
+   * Refcounted: pair every `subscribePose()` with exactly one
+   * `unsubscribePose()`. Multiple consumers share a single daemon-side
+   * subscription; the daemon only stops pushing once the last one releases.
+   * If the channel isn't open yet (or the session later reconnects), the
+   * subscription is (re-)asserted from `_checkSessionReady`.
+   */
+  subscribePose() {
+    return this._poseSubRefs++, this._sendCommand({ type: "subscribe_pose" });
+  }
+  /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+  unsubscribePose() {
+    return this._poseSubRefs > 0 && this._poseSubRefs--, this._poseSubRefs > 0 ? !0 : this._sendCommand({ type: "unsubscribe_pose" });
+  }
   // ─── Audio ───────────────────────────────────────────────────────────
   setAudioMuted(e) {
     this._audioMuted = e, this._videoElement && (this._videoElement.muted = e);
@@ -1201,7 +1245,7 @@ class Q extends EventTarget {
       set_target_data: e.set_target_data
     }, f = JSON.stringify(m);
     let p, y;
-    o === "gzip+base64" && J() ? (p = await X(f), y = "gzip+base64") : (p = f, y = "json");
+    o === "gzip+base64" && X() ? (p = await Y(f), y = "gzip+base64") : (p = f, y = "json");
     const g = Math.ceil(p.length / v) || 1;
     c({
       phase: "starting",
@@ -1217,7 +1261,7 @@ class Q extends EventTarget {
       encoding: y
     });
     for (let u = 0; u < g; u++) {
-      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
       const _ = u * v;
       this._sendCommand({
         type: "upload_move_chunk",
@@ -1227,7 +1271,7 @@ class Q extends EventTarget {
       }), c({ phase: "upload", sent: u + 1, total: g });
     }
     if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), c({ phase: "uploaded", sent: g, total: g }), t) {
-      const u = new Uint8Array(await t.arrayBuffer()), _ = T(u), b = Math.ceil(_.length / v) || 1;
+      const u = new Uint8Array(await t.arrayBuffer()), _ = E(u), b = Math.ceil(_.length / v) || 1;
       c({
         phase: "audio-starting",
         sent: 0,
@@ -1237,17 +1281,17 @@ class Q extends EventTarget {
         type: "upload_audio_start",
         upload_id: d,
         total_chunks: b,
-        encoding: P(t),
+        encoding: L(t),
         description: i
       });
       for (let I = 0; I < b; I++) {
-        this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
-        const A = I * v;
+        this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
+        const T = I * v;
         this._sendCommand({
           type: "upload_audio_chunk",
           upload_id: d,
           chunk_index: I,
-          chunk: _.slice(A, A + v)
+          chunk: _.slice(T, T + v)
         }), c({ phase: "audio-upload", sent: I + 1, total: b });
       }
       this._sendCommand({ type: "upload_audio_finish", upload_id: d }), c({ phase: "audio-uploaded", sent: b, total: b });
@@ -1300,16 +1344,16 @@ class Q extends EventTarget {
       throw new Error("data channel not open");
     if (!(e instanceof Blob))
       throw new TypeError("uploadAudio: expected a Blob");
-    const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = T(o), a = Math.ceil(n.length / v) || 1;
+    const i = U(), o = new Uint8Array(await e.arrayBuffer()), n = E(o), a = Math.ceil(n.length / v) || 1;
     s({ phase: "audio-starting", sent: 0, total: a, bytes: n.length }), this._sendCommand({
       type: "upload_audio_start",
       upload_id: i,
       total_chunks: a,
-      encoding: P(e),
+      encoding: L(e),
       description: t
     });
     for (let l = 0; l < a; l++) {
-      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > A && await this._awaitDataChannelDrain();
       const c = l * v;
       this._sendCommand({
         type: "upload_audio_chunk",
@@ -1354,7 +1398,7 @@ class Q extends EventTarget {
     });
   }
   async _awaitDataChannelDrain() {
-    for (; this._dc && this._dc.bufferedAmount > z; )
+    for (; this._dc && this._dc.bufferedAmount > J; )
       if (await new Promise((e) => setTimeout(e, 30)), !this._dc || this._dc.readyState !== "open")
         throw new Error("data channel closed mid-upload");
   }
@@ -1444,7 +1488,9 @@ class Q extends EventTarget {
     }
   }
   _checkSessionReady() {
-    this._iceConnected && this._dcOpen && this._sessionResolve && (this._state = "streaming", this.requestState(), this._stateRefreshInterval = setInterval(() => this.requestState(), 500), this._emit("streaming", { sessionId: this._sessionId, robotId: this._selectedRobotId }), this._sessionResolve(), this._sessionResolve = null, this._sessionReject = null);
+    this._iceConnected && this._dcOpen && this._sessionResolve && (this._state = "streaming", this.requestState(), this._poseSubRefs > 0 && this._sendCommand({ type: "subscribe_pose" }), this._lastPoseFrameAt = 0, this._stateRefreshInterval = setInterval(() => {
+      Date.now() - this._lastPoseFrameAt < D || this.requestState();
+    }, 500), this._emit("streaming", { sessionId: this._sessionId, robotId: this._selectedRobotId }), this._sessionResolve(), this._sessionResolve = null, this._sessionReject = null);
   }
   async _handleSignalingMessage(e) {
     switch (e.type) {
@@ -1495,7 +1541,7 @@ class Q extends EventTarget {
         if (e.sdp) {
           const t = e.sdp;
           if (t.type === "offer") {
-            const i = W(t.sdp);
+            const i = z(t.sdp);
             if (this._micSupported = i, this._emit("micSupported", { supported: i }), i && this._micStream)
               for (const n of this._micStream.getAudioTracks())
                 this._pc.addTrack(n, this._micStream);
@@ -1527,7 +1573,12 @@ class Q extends EventTarget {
         console.error("WebRTC error:", t), this._emit("error", { source: "webrtc", error: t });
       }
   }
-  _handleRobotMessage(e) {
+  /**
+   * @param fromPoseStream Frame came from the pushed `pose` channel rather
+   *   than the reliable control channel. Only those may refresh the state
+   *   mirror while the stream is live (see the `data.state` branch).
+   */
+  _handleRobotMessage(e, t = !1) {
     if (e.jsonrpc === "2.0") {
       this._handleRpcMessage(e);
       return;
@@ -1575,72 +1626,72 @@ class Q extends EventTarget {
       return;
     }
     if ((e.command === "wake_up" || e.command === "goto_sleep") && this._pendingMotionCompletions && this._pendingMotionCompletions[e.command]) {
-      const t = this._pendingMotionCompletions[e.command];
-      if (e.completed === !0 && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.resolve();
+      const s = this._pendingMotionCompletions[e.command];
+      if (e.completed === !0 && s.length > 0) {
+        const i = s.shift();
+        clearTimeout(i.timer), i.resolve();
         return;
       }
-      if (e.error && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.reject(new Error(`${e.command}: ${e.error}`));
+      if (e.error && s.length > 0) {
+        const i = s.shift();
+        clearTimeout(i.timer), i.reject(new Error(`${e.command}: ${e.error}`));
         return;
       }
     }
     if (e.type === "log_line") {
-      for (const t of this._logSubscribers)
+      for (const s of this._logSubscribers)
         try {
-          t.onLine({ timestamp: e.timestamp, line: e.line });
-        } catch (s) {
-          console.error("subscribeLogs onLine threw:", s);
+          s.onLine({ timestamp: e.timestamp, line: e.line });
+        } catch (i) {
+          console.error("subscribeLogs onLine threw:", i);
         }
       return;
     }
     if (e.type === "log_stream_error") {
-      for (const t of this._logSubscribers)
-        if (typeof t.onError == "function")
+      for (const s of this._logSubscribers)
+        if (typeof s.onError == "function")
           try {
-            t.onError(e.error);
-          } catch (s) {
-            console.error("subscribeLogs onError threw:", s);
+            s.onError(e.error);
+          } catch (i) {
+            console.error("subscribeLogs onError threw:", i);
           }
       return;
     }
     if (e.command === "start_update") {
       if (typeof e.error == "string") {
-        const t = { status: "failed", error: e.error };
-        for (const s of this._updateProgressSubscribers)
+        const s = { status: "failed", error: e.error };
+        for (const i of this._updateProgressSubscribers)
           try {
-            s(t);
-          } catch (i) {
-            console.error("startDaemonUpdate onProgress threw:", i);
+            i(s);
+          } catch (o) {
+            console.error("startDaemonUpdate onProgress threw:", o);
           }
       }
       return;
     }
     if (e.type === "update_progress") {
-      const t = {
+      const s = {
         status: e.status,
         line: typeof e.line == "string" ? e.line : void 0,
         error: typeof e.error == "string" ? e.error : void 0
       };
-      for (const s of this._updateProgressSubscribers)
+      for (const i of this._updateProgressSubscribers)
         try {
-          s(t);
-        } catch (i) {
-          console.error("startDaemonUpdate onProgress threw:", i);
+          i(s);
+        } catch (o) {
+          console.error("startDaemonUpdate onProgress threw:", o);
         }
       return;
     }
-    if (e.state) {
-      const t = e.state;
-      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 });
+    if (e.state && (t || Date.now() - this._lastPoseFrameAt >= D)) {
+      const s = e.state;
+      s.head_pose && (this._robotState.head = s.head_pose.flat()), s.antennas && (this._robotState.antennas = [s.antennas[0], s.antennas[1]]), typeof s.body_yaw == "number" && (this._robotState.body_yaw = s.body_yaw), s.motor_mode && (this._robotState.motor_mode = s.motor_mode), typeof s.is_move_running == "boolean" && (this._robotState.is_move_running = s.is_move_running), s.face_target && (this._robotState.face_target = s.face_target), this._emit("state", { ...this._robotState });
     }
     if (e.error && this._emit("error", { source: "robot", error: e.error }), this._broadcastWaiters.length > 0)
-      for (let t = this._broadcastWaiters.length - 1; t >= 0; t--) {
-        const s = this._broadcastWaiters[t];
-        if (s.predicate(e)) {
-          this._broadcastWaiters.splice(t, 1), clearTimeout(s.timer), s.resolve(e);
+      for (let s = this._broadcastWaiters.length - 1; s >= 0; s--) {
+        const i = this._broadcastWaiters[s];
+        if (i.predicate(e)) {
+          this._broadcastWaiters.splice(s, 1), clearTimeout(i.timer), i.resolve(e);
           return;
         }
       }
@@ -1658,5 +1709,5 @@ class Q extends EventTarget {
   }
 }
 export {
-  Q as R
+  Z as R
 };

package/host/dist/entry/auto.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as i } from "../chunks/reachy-mini-DCbCDwyd.js";
+import { R as i } from "../chunks/reachy-mini-DyEhsZnc.js";
 import { m as n } from "../chunks/mountHost-DztGlWwu.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHost = { mountHost: n });
 export {

package/host/dist/entry/embed.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as i } from "../chunks/reachy-mini-DCbCDwyd.js";
+import { R as i } from "../chunks/reachy-mini-DyEhsZnc.js";
 import { c as n } from "../chunks/index-lMs2sCXG.js";
 typeof window < "u" && (window.ReachyMini || (window.ReachyMini = i, window.dispatchEvent(new Event("reachymini:ready"))), window.ReachyMiniHostEmbed = { connectToHost: n });
 export {

package/host/dist/index.js CHANGED Viewed

@@ -1,4 +1,4 @@
-import { R as o } from "./chunks/reachy-mini-DCbCDwyd.js";
+import { R as o } from "./chunks/reachy-mini-DyEhsZnc.js";
 import { R as s, m as a } from "./chunks/mountHost-DztGlWwu.js";
 import { c as t } from "./chunks/index-lMs2sCXG.js";
 import { PROTOCOL_VERSION as c, decodeCredsFromHash as m, encodeCredsToHash as w, isProtocolMessage as h } from "./lib/protocol.js";

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@pollen-robotics/reachy-mini-sdk",
-  "version": "1.10.0-dev.0.main.60dddbe",
+  "version": "1.10.0-dev.0.main.66c3492",
   "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.",
   "type": "module",
   "main": "./dist/reachy-mini-sdk.js",