@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.8855786 → 1.10.0-dev.0.main.e7f2273

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

@@ -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;
@@ -44,6 +47,8 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     private _volumeResolve;
     private _micVolumeResolve;
     private _trackedFaceResolve;
+    private _robotNameResolve;
+    private _deleteHfTokenResolve;
     private _applyAudioConfigResolve;
     private _readAudioParameterResolve;
     private readonly _logSubscribers;
@@ -238,6 +243,37 @@ export declare class ReachyMini extends EventTarget implements ReachyMiniInstanc
     setVolume(volume: number): Promise<number | null>;
     getMicrophoneVolume(): Promise<number | null>;
     setMicrophoneVolume(volume: number): Promise<number | null>;
+    /**
+     * Query the persisted robot display name. Resolves the stored name,
+     * `null` when none is set / the channel isn't open / the daemon predates
+     * the `get_robot_name` command.
+     */
+    getRobotName(): Promise<string | null>;
+    /**
+     * Set and persist the robot display name on the robot. Resolves with the
+     * stored (trimmed) name, or `null` on error / channel-closed. Applied live
+     * by the daemon (status + central relay + mDNS), so it takes effect right
+     * away without a restart; the persisted name also overrides --robot-name
+     * on the next start.
+     */
+    setRobotName(name: string): Promise<string | null>;
+    /**
+     * Sign this robot out of Hugging Face: asks the daemon to delete its
+     * stored HF token, which de-registers the robot from the central
+     * signaling relay (it disappears from its owner's robot list until it
+     * is set up again). Works over the WebRTC data channel, so it reaches
+     * the robot remotely (no LAN HTTP path required).
+     *
+     * Resolves `true` when the daemon acked success, `false` on a daemon
+     * error, or `null` when no ack arrives before the timeout (e.g. a
+     * daemon that predates the `delete_hf_token` command silently drops
+     * it). Rejects if the data channel isn't open. Note the sign-out
+     * drops the central relay, so the session may tear down right after
+     * the ack - callers should treat a post-call session drop as expected,
+     * and a successful sign-out may surface as `null` if teardown races
+     * ahead of the ack.
+     */
+    signOut(): Promise<boolean | null>;
     applyAudioConfig(config: AudioConfigEntry[], { verify }?: ApplyAudioConfigOptions): Promise<boolean>;
     readAudioParameter(name: string): Promise<number[] | null>;
     /**
@@ -258,6 +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;
@@ -294,6 +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

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+{"version":3,"file":"reachy-mini.d.ts","sourceRoot":"","sources":["../../lib/reachy-mini.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAwBH,OAAO,KAAK,EACR,uBAAuB,EACvB,gBAAgB,EAChB,kBAAkB,EAClB,iBAAiB,EAEjB,UAAU,EACV,kBAAkB,EAClB,QAAQ,EACR,eAAe,EACf,cAAc,EACd,wBAAwB,EAExB,kBAAkB,EAClB,iBAAiB,EACjB,SAAS,EACT,UAAU,EAEV,oBAAoB,EACpB,kBAAkB,EACrB,MAAM,YAAY,CAAC;AAmBpB,kEAAkE;AAClE,MAAM,WAAW,mBAAmB;IAChC,MAAM,EAAE,aAAa,GAAG,MAAM,GAAG,QAAQ,CAAC;IAC1C,oEAAoE;IACpE,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,sCAAsC;IACtC,KAAK,CAAC,EAAE,MAAM,CAAC;CAClB;AAED,KAAK,sBAAsB,GAAG,CAAC,KAAK,EAAE,mBAAmB,KAAK,IAAI,CAAC;AA6FnE,qBAAa,UAAW,SAAQ,WAAY,YAAW,kBAAkB;IAGrE,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAgB;IAC1C,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAAS;IACpD,OAAO,CAAC,iBAAiB,CAAU;IACnC,OAAO,CAAC,mBAAmB,CAAU;IAGrC,OAAO,CAAC,MAAM,CAA8D;IAC5E,OAAO,CAAC,OAAO,CAAmB;IAClC,OAAO,CAAC,WAAW,CAAkB;IAIrC,OAAO,CAAC,YAAY,CAAuB;IAG3C,OAAO,CAAC,gBAAgB,CAAK;IAM7B,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,QAAQ,CAAC,mBAAmB,CAAgB;IAGpD,OAAO,CAAC,MAAM,CAAuB;IACrC,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,aAAa,CAA8B;IAGnD,OAAO,CAAC,mBAAmB,CAAgC;IAG3D,GAAG,EAAE,iBAAiB,GAAG,IAAI,CAAQ;IACrC,OAAO,CAAC,GAAG,CAA+B;IAC1C,OAAO,CAAC,UAAU,CAAuB;IACzC,OAAO,CAAC,gBAAgB,CAAuB;IAC/C,OAAO,CAAC,iBAAiB,CAA8C;IAGvE,UAAU,EAAE,WAAW,GAAG,IAAI,CAAQ;IACtC,OAAO,CAAC,SAAS,CAAQ;IACzB,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,aAAa,CAAS;IAG9B,OAAO,CAAC,iBAAiB,CAA+C;IACxE,OAAO,CAAC,qBAAqB,CAA+C;IAG5E,OAAO,CAAC,eAAe,CAA6C;IACpE,OAAO,CAAC,kBAAkB,CAA6C;IACvE,OAAO,CAAC,cAAc,CAA6C;IACnE,OAAO,CAAC,iBAAiB,CAA6C;IACtE,OAAO,CAAC,mBAAmB,CAAiD;IAC5E,OAAO,CAAC,iBAAiB,CAA6C;IACtE,OAAO,CAAC,qBAAqB,CAA8C;IAI3E,OAAO,CAAC,wBAAwB,CAA8C;IAC9E,OAAO,CAAC,0BAA0B,CAA+C;IAGjF,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAiC;IACjE,OAAO,CAAC,QAAQ,CAAC,0BAA0B,CAA0C;IAMrF,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,QAAQ,CAAC,WAAW,CAGxB;IACJ,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAqE;IAGnG,OAAO,CAAC,iBAAiB,CAAyB;IAGlD,OAAO,CAAC,mBAAmB,CAAuB;IAClD,OAAO,CAAC,oBAAoB,CAAuB;IAGnD,OAAO,CAAC,eAAe,CAA6B;IACpD,OAAO,CAAC,cAAc,CAAuC;IAC7D,OAAO,CAAC,aAAa,CAAS;IAC9B,OAAO,CAAC,OAAO,CAAS;IASxB,OAAO,CAAC,cAAc,CAA8C;IACpE,OAAO,CAAC,eAAe,CAA0C;IACjE,OAAO,CAAC,yBAAyB,CAA6B;IAC9D,OAAO,CAAC,cAAc,CAA6B;IACnD,OAAO,CAAC,eAAe,CAA6B;IACpD,OAAO,CAAC,wBAAwB,CAA6B;IAG7D,OAAO,CAAC,QAAQ,CAAC,yBAAyB,CAGxC;IAGF,OAAO,CAAC,aAAa,CAAiC;gBAE1C,OAAO,GAAE,iBAAsB;IAiB3C,IAAI,KAAK,IAAI,cAAc,GAAG,WAAW,GAAG,WAAW,CAAwB;IAC/E,IAAI,MAAM,IAAI,SAAS,EAAE,CAAyB;IAClD,IAAI,UAAU,IAAI,UAAU,CAA6B;IACzD,IAAI,QAAQ,IAAI,MAAM,GAAG,IAAI,CAA2B;IACxD,IAAI,eAAe,IAAI,OAAO,CAA0B;IACxD,IAAI,YAAY,IAAI,OAAO,CAA+B;IAC1D,IAAI,QAAQ,IAAI,OAAO,CAA2B;IAClD,IAAI,UAAU,IAAI,OAAO,CAA6B;IACtD,IAAI,kBAAkB,IAAI,MAAM,GAAG,IAAI,CAAqC;IAC5E,IAAI,UAAU,IAAI,OAAO,CAA8C;IAEvE;;;;;OAKG;IACH,eAAe,IAAI,IAAI;IAmBjB,YAAY,IAAI,OAAO,CAAC,OAAO,CAAC;IAoChC,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAM5B,MAAM,IAAI,IAAI;IAWR,OAAO,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IA0EtC,WAAW,CAAC,OAAO,GAAE,kBAAuB,GAAG,OAAO,CAAC,iBAAiB,CAAC;YA8EjE,iBAAiB;IA+C/B,OAAO,CAAC,mBAAmB;IAkBrB,YAAY,CAAC,OAAO,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;IAyKlD,OAAO,CAAC,oBAAoB;IA8BtB,WAAW,IAAI,OAAO,CAAC,IAAI,CAAC;IAiDlC,UAAU,IAAI,IAAI;IAoDlB;;;;;OAKG;IACH,OAAO,CAAC,cAAc;IAYtB;;;;;;;;;OASG;IACH,OAAO,CAAC,iBAAiB;IAqCzB;;;;;;OAMG;IACH,OAAO,CAAC,wBAAwB;IA2ChC;;;;;;;;;;;;;;;;;;;OAmBG;IACH,OAAO,CAAC,wBAAwB;IA+BhC,iDAAiD;IACjD,OAAO,CAAC,0BAA0B;IAwBlC;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;OA0CG;IACH,SAAS,CACL,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,GAAE;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAA;KAAO,GAC/F,OAAO;IAiCV,UAAU,CACN,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,EAClC;QAAE,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAC;QAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAA;KAAE,GAClF,OAAO;IAuCV,aAAa,CAAC,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,OAAO;IAIzE,cAAc,CAAC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,OAAO;IAI1D,aAAa,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO;IAItC,SAAS,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO;IAIhC,kBAAkB,IAAI,OAAO;IAI7B,iBAAiB,CAAC,MAAM,SAAM,GAAG,OAAO;IAYxC,gBAAgB,IAAI,OAAO;IAI3B,cAAc,IAAI,OAAO,CAAC,UAAU,GAAG,IAAI,CAAC;IAQ5C;;;;;;;;;;;;;OAaG;IACH,iBAAiB,CACb,EAAE,UAAkB,EAAE,UAAU,EAAE,GAAE;QAAE,UAAU,CAAC,EAAE,OAAO,CAAC;QAAC,UAAU,CAAC,EAAE,sBAAsB,CAAA;KAAO,GACvG,OAAO;IAKV,YAAY,CAAC,IAAI,EAAE,SAAS,GAAG,UAAU,GAAG,sBAAsB,GAAG,OAAO;IAI5E,cAAc,CAAC,EAAE,EAAE,OAAO,EAAE,GAAG,GAAE,MAAM,EAAE,GAAG,IAAW,GAAG,OAAO;IAIjE,MAAM,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAKpE,SAAS,CAAC,EAAE,SAAgB,EAAE,GAAE,kBAAuB,GAAG,OAAO,CAAC,IAAI,CAAC;IAIvE,OAAO,CAAC,2BAA2B;IAsBnC,OAAO,CAAC,+BAA+B;IAWvC,OAAO,IAAI,OAAO;IAKZ,WAAW,CAAC,SAAS,SAAO,GAAG,OAAO,CAAC,OAAO,CAAC;IAkBrD,UAAU,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAcpC,aAAa,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAcvC,SAAS,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAQnC,SAAS,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAQjD,mBAAmB,IAAI,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC;IAQ7C,mBAAmB,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,GAAG,IAAI,CAA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package/dist/lib/reachy-mini.js

@@ -40,6 +40,35 @@ 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
+ * a missing reply means the daemon either never got it or - crucially -
+ * predates that command entirely: an older daemon silently drops an
+ * unknown `type` and sends nothing back, which would otherwise leave the
+ * caller's promise pending forever (e.g. a newer SDK calling a command a
+ * 1.8.x daemon doesn't implement). Resolving `null` on timeout maps
+ * cleanly onto the "unsupported / failed" value every slot caller already
+ * handles. 4 s is comfortably above a WebRTC data-channel round trip on a
+ * congested phone link while still failing fast enough that a gated UI
+ * doesn't feel hung.
+ */
+const SLOT_ROUNDTRIP_TIMEOUT_MS = 4000;
 export class ReachyMini extends EventTarget {
     // ─── Config ──────────────────────────────────────────────────────────
     _signalingUrl;
@@ -52,6 +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;
@@ -79,6 +121,8 @@ export class ReachyMini extends EventTarget {
     _volumeResolve = null;
     _micVolumeResolve = null;
     _trackedFaceResolve = null;
+    _robotNameResolve = null;
+    _deleteHfTokenResolve = null;
     // applyAudioConfig() / readAudioParameter() share the same single-slot
     // pattern as the volume helpers. Separate slots so the two can be
     // in-flight concurrently without collision.
@@ -547,7 +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();
@@ -623,6 +695,14 @@ export class ReachyMini extends EventTarget {
             this._readAudioParameterResolve(null);
             this._readAudioParameterResolve = null;
         }
+        if (this._robotNameResolve) {
+            this._robotNameResolve(null);
+            this._robotNameResolve = null;
+        }
+        if (this._deleteHfTokenResolve) {
+            this._deleteHfTokenResolve(null);
+            this._deleteHfTokenResolve = null;
+        }
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
         this._rejectPendingMotionCompletions(new Error('Session stopped'));
@@ -703,6 +783,14 @@ export class ReachyMini extends EventTarget {
             this._readAudioParameterResolve(null);
             this._readAudioParameterResolve = null;
         }
+        if (this._robotNameResolve) {
+            this._robotNameResolve(null);
+            this._robotNameResolve = null;
+        }
+        if (this._deleteHfTokenResolve) {
+            this._deleteHfTokenResolve(null);
+            this._deleteHfTokenResolve = null;
+        }
         this._logSubscribers.clear();
         this._updateProgressSubscribers.clear();
         this._rejectPendingMotionCompletions(new Error('Disconnected'));
@@ -1178,6 +1266,43 @@ export class ReachyMini extends EventTarget {
     setMicrophoneVolume(volume) {
         return this._slotRoundtrip(() => this._micVolumeResolve, (next) => { this._micVolumeResolve = next; }, { type: 'set_microphone_volume', volume: clampVolume(volume) });
     }
+    /**
+     * Query the persisted robot display name. Resolves the stored name,
+     * `null` when none is set / the channel isn't open / the daemon predates
+     * the `get_robot_name` command.
+     */
+    getRobotName() {
+        return this._slotRoundtrip(() => this._robotNameResolve, (next) => { this._robotNameResolve = next; }, { type: 'get_robot_name' });
+    }
+    /**
+     * Set and persist the robot display name on the robot. Resolves with the
+     * stored (trimmed) name, or `null` on error / channel-closed. Applied live
+     * by the daemon (status + central relay + mDNS), so it takes effect right
+     * away without a restart; the persisted name also overrides --robot-name
+     * on the next start.
+     */
+    setRobotName(name) {
+        return this._slotRoundtrip(() => this._robotNameResolve, (next) => { this._robotNameResolve = next; }, { type: 'set_robot_name', name });
+    }
+    /**
+     * Sign this robot out of Hugging Face: asks the daemon to delete its
+     * stored HF token, which de-registers the robot from the central
+     * signaling relay (it disappears from its owner's robot list until it
+     * is set up again). Works over the WebRTC data channel, so it reaches
+     * the robot remotely (no LAN HTTP path required).
+     *
+     * Resolves `true` when the daemon acked success, `false` on a daemon
+     * error, or `null` when no ack arrives before the timeout (e.g. a
+     * daemon that predates the `delete_hf_token` command silently drops
+     * it). Rejects if the data channel isn't open. Note the sign-out
+     * drops the central relay, so the session may tear down right after
+     * the ack - callers should treat a post-call session drop as expected,
+     * and a successful sign-out may surface as `null` if teardown races
+     * ahead of the ack.
+     */
+    signOut() {
+        return this._slotRoundtrip(() => this._deleteHfTokenResolve, (next) => { this._deleteHfTokenResolve = next; }, { type: 'delete_hf_token' });
+    }
     applyAudioConfig(config, { verify = true } = {}) {
         return this._slotRoundtrip(() => this._applyAudioConfigResolve, (next) => { this._applyAudioConfigResolve = next; }, { type: 'apply_audio_config', config, verify }).then((v) => v === true);
     }
@@ -1207,7 +1332,29 @@ export class ReachyMini extends EventTarget {
             const prev = getSlot();
             if (prev)
                 prev(null);
-            setSlot(resolve);
+            let timer;
+            // Single settle path shared by the daemon response, supersession
+            // by a newer call, and the fail-open timeout below. It clears the
+            // timer once and detaches itself from the slot only if it's still
+            // the current occupant, so a stale settle (timed-out or superseded)
+            // can't clear a newer call's slot registration. The message handler
+            // stores `settle` (not `resolve`), so every response route funnels
+            // through here.
+            // Note: slots are keyed by command type, not request id, so this
+            // does not prevent a genuinely late daemon reply from being routed
+            // to a newer same-command caller — that cross-talk is inherent to
+            // the single-flight slot design and unchanged here.
+            const settle = (v) => {
+                if (timer !== undefined) {
+                    clearTimeout(timer);
+                    timer = undefined;
+                }
+                if (getSlot() === settle)
+                    setSlot(null);
+                resolve(v);
+            };
+            setSlot(settle);
+            timer = setTimeout(() => settle(null), SLOT_ROUNDTRIP_TIMEOUT_MS);
             this._sendCommand(command);
         });
     }
@@ -1237,6 +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;
@@ -1617,7 +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;
@@ -1761,7 +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') {
@@ -1792,6 +1983,20 @@ export class ReachyMini extends EventTarget {
             }
             return;
         }
+        if (data.command === 'get_robot_name' || data.command === 'set_robot_name') {
+            if (this._robotNameResolve) {
+                this._robotNameResolve(data.status === 'error' ? null : (data.name ?? null));
+                this._robotNameResolve = null;
+            }
+            return;
+        }
+        if (data.command === 'delete_hf_token') {
+            if (this._deleteHfTokenResolve) {
+                this._deleteHfTokenResolve(data.status === 'error' ? false : true);
+                this._deleteHfTokenResolve = null;
+            }
+            return;
+        }
         if (data.command === 'apply_audio_config') {
             if (this._applyAudioConfigResolve) {
                 this._applyAudioConfigResolve(data.error ? false : !!data.applied);
@@ -1888,7 +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();