@pollen-robotics/reachy-mini-sdk 1.10.0-dev.0.main.b50d97e → 1.10.0-dev.0.main.c8367cd

package/dist/lib/token-store.js

@@ -0,0 +1,120 @@
+/**
+ * Session-scoped persistence of the HF OAuth token.
+ *
+ * The token lives in `sessionStorage` (tab-scoped, dies with the tab),
+ * under keys shared with the host shell and the embed bootstrap. On top
+ * of the OAuth expiry, reads enforce a SLIDING IDLE WINDOW: a token
+ * whose last successful read is older than `TOKEN_MAX_IDLE_MS` is
+ * treated as absent and wiped. That property replaced the host's old
+ * "wipe on pagehide" hygiene, which fired on every reload / navigation
+ * (pagehide can't tell a refresh from a tab close) and forced a
+ * re-login on every F5. The idle window keeps the one attack the wipe
+ * actually covered - a tab resurrected days later via session restore
+ * gets its sessionStorage back - without punishing reloads.
+ *
+ * `consumeOAuthErrorParams` supports the silent sign-in flow
+ * (`login({ prompt: 'none' })`): a failed silent authorization comes
+ * back as `?error=login_required...` query params, which must be
+ * stripped from the URL before the app router or a copy-pasted link
+ * leaks them around.
+ */
+const KEY_TOKEN = 'hf_token';
+const KEY_USER = 'hf_username';
+const KEY_EXPIRES = 'hf_token_expires';
+const KEY_LAST_SEEN = 'hf_token_last_seen';
+/** Idle cutoff: a cached token unused for longer than this is dropped. */
+export const TOKEN_MAX_IDLE_MS = 24 * 60 * 60 * 1000;
+/** Persist a token bundle and stamp its last-seen time. */
+export function writeStoredToken(bundle) {
+    try {
+        sessionStorage.setItem(KEY_TOKEN, bundle.token);
+        sessionStorage.setItem(KEY_USER, bundle.username);
+        sessionStorage.setItem(KEY_EXPIRES, bundle.expires);
+        sessionStorage.setItem(KEY_LAST_SEEN, new Date().toISOString());
+    }
+    catch {
+        /* ignore - private browsing / quota */
+    }
+}
+/**
+ * Read the cached token if it is still usable, refreshing its
+ * last-seen stamp (sliding window). Returns `null` - and wipes the
+ * store - when the token is expired or idle for too long.
+ *
+ * A missing last-seen stamp (bundle written by an older SDK, or seeded
+ * by the embed's fragment-credentials path) is treated as fresh and
+ * stamped now, so a rollout never logs anyone out.
+ */
+export function readUsableToken(now = Date.now()) {
+    try {
+        const token = sessionStorage.getItem(KEY_TOKEN);
+        const username = sessionStorage.getItem(KEY_USER);
+        const expires = sessionStorage.getItem(KEY_EXPIRES);
+        if (!token || !expires)
+            return null;
+        if (new Date(expires).getTime() <= now) {
+            clearStoredToken();
+            return null;
+        }
+        const lastSeen = sessionStorage.getItem(KEY_LAST_SEEN);
+        if (lastSeen !== null) {
+            const lastSeenMs = new Date(lastSeen).getTime();
+            if (!Number.isFinite(lastSeenMs) || now - lastSeenMs > TOKEN_MAX_IDLE_MS) {
+                clearStoredToken();
+                return null;
+            }
+        }
+        sessionStorage.setItem(KEY_LAST_SEEN, new Date(now).toISOString());
+        return { token, username: username ?? '', expires };
+    }
+    catch {
+        return null;
+    }
+}
+/** Remove every token key from the store. */
+export function clearStoredToken() {
+    try {
+        sessionStorage.removeItem(KEY_TOKEN);
+        sessionStorage.removeItem(KEY_USER);
+        sessionStorage.removeItem(KEY_EXPIRES);
+        sessionStorage.removeItem(KEY_LAST_SEEN);
+    }
+    catch {
+        /* ignore */
+    }
+}
+/**
+ * OAuth error codes a `prompt=none` silent authorization can bounce
+ * back with. Gating on this set keeps `consumeOAuthErrorParams` from
+ * swallowing an app's own unrelated `?error=` param (and rewriting
+ * history for it) on a page load that has nothing to do with OAuth.
+ */
+const OAUTH_ERROR_CODES = new Set([
+    'login_required',
+    'consent_required',
+    'interaction_required',
+    'access_denied',
+]);
+/**
+ * Detect an OAuth error return (`?error=...` from a `prompt=none`
+ * silent authorization), strip the OAuth params from the URL, and
+ * return the error code. Returns `null` when the URL carries no OAuth
+ * error. Other query params are preserved.
+ */
+export function consumeOAuthErrorParams() {
+    try {
+        const url = new URL(window.location.href);
+        const error = url.searchParams.get('error');
+        if (error === null || !OAUTH_ERROR_CODES.has(error))
+            return null;
+        url.searchParams.delete('error');
+        url.searchParams.delete('error_description');
+        url.searchParams.delete('state');
+        window.history.replaceState(null, '', url.toString());
+        return error;
+    }
+    catch {
+        return null;
+    }
+}
+//# sourceMappingURL=token-store.js.map

package/dist/lib/token-store.js.map

@@ -0,0 +1 @@
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package/dist/lib/token-store.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=token-store.test.d.ts.map

package/dist/lib/token-store.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"token-store.test.d.ts","sourceRoot":"","sources":["../../lib/token-store.test.ts"],"names":[],"mappings":""}

package/dist/lib/token-store.test.js

@@ -0,0 +1,82 @@
+/**
+ * Token-store tests: the sliding idle window that replaced the host's
+ * pagehide wipe, and the OAuth-error URL scrubbing used by the silent
+ * sign-in flow.
+ *
+ * The property that must hold: a token can NEVER be served past its
+ * OAuth expiry, nor after sitting unused longer than the idle window -
+ * but a plain reload (seconds of idle) always keeps the session.
+ */
+import { afterEach, describe, expect, it } from 'vitest';
+import { TOKEN_MAX_IDLE_MS, clearStoredToken, consumeOAuthErrorParams, readUsableToken, writeStoredToken, } from './token-store.js';
+const NOW = 1_700_000_000_000;
+function seed(opts) {
+    const expiresInMs = opts?.expiresInMs ?? 60 * 60 * 1000;
+    writeStoredToken({
+        token: 'hf_test_token',
+        username: 'thibaud',
+        expires: new Date(NOW + expiresInMs).toISOString(),
+    });
+    if (opts?.lastSeenAgoMs === null) {
+        sessionStorage.removeItem('hf_token_last_seen');
+    }
+    else if (opts?.lastSeenAgoMs !== undefined) {
+        sessionStorage.setItem('hf_token_last_seen', new Date(NOW - opts.lastSeenAgoMs).toISOString());
+    }
+}
+afterEach(() => {
+    clearStoredToken();
+    window.history.replaceState(null, '', '/');
+});
+describe('readUsableToken', () => {
+    it('round-trips a fresh token and refreshes its last-seen stamp', () => {
+        seed({ lastSeenAgoMs: 60_000 });
+        const read = readUsableToken(NOW);
+        expect(read).toEqual({
+            token: 'hf_test_token',
+            username: 'thibaud',
+            expires: new Date(NOW + 60 * 60 * 1000).toISOString(),
+        });
+        expect(sessionStorage.getItem('hf_token_last_seen')).toBe(new Date(NOW).toISOString());
+    });
+    it('returns null when nothing is stored', () => {
+        expect(readUsableToken(NOW)).toBeNull();
+    });
+    it('drops an expired token and wipes the store', () => {
+        seed({ expiresInMs: -1 });
+        expect(readUsableToken(NOW)).toBeNull();
+        expect(sessionStorage.getItem('hf_token')).toBeNull();
+    });
+    it('drops a token idle for longer than the window (session restore)', () => {
+        seed({ lastSeenAgoMs: TOKEN_MAX_IDLE_MS + 1 });
+        expect(readUsableToken(NOW)).toBeNull();
+        expect(sessionStorage.getItem('hf_token')).toBeNull();
+    });
+    it('keeps a token idle for less than the window (plain reload)', () => {
+        seed({ lastSeenAgoMs: TOKEN_MAX_IDLE_MS - 1 });
+        expect(readUsableToken(NOW)).not.toBeNull();
+    });
+    it('accepts and stamps a legacy bundle without a last-seen key', () => {
+        seed({ lastSeenAgoMs: null });
+        expect(readUsableToken(NOW)).not.toBeNull();
+        expect(sessionStorage.getItem('hf_token_last_seen')).toBe(new Date(NOW).toISOString());
+    });
+    it('drops a token whose last-seen stamp is unparsable', () => {
+        seed();
+        sessionStorage.setItem('hf_token_last_seen', 'not-a-date');
+        expect(readUsableToken(NOW)).toBeNull();
+    });
+});
+describe('consumeOAuthErrorParams', () => {
+    it('returns null and leaves the URL alone without an error param', () => {
+        window.history.replaceState(null, '', '/?config=abc');
+        expect(consumeOAuthErrorParams()).toBeNull();
+        expect(window.location.search).toBe('?config=abc');
+    });
+    it('consumes a silent-auth decline and scrubs only the OAuth params', () => {
+        window.history.replaceState(null, '', '/?config=abc&error=login_required&error_description=User+must+be+logged+in&state=xyz');
+        expect(consumeOAuthErrorParams()).toBe('login_required');
+        expect(window.location.search).toBe('?config=abc');
+    });
+});
+//# sourceMappingURL=token-store.test.js.map

package/dist/lib/token-store.test.js.map

@@ -0,0 +1 @@
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package/dist/lib/types.d.ts

@@ -44,16 +44,57 @@ export interface FaceTarget {
     roll?: number | null;
     ts?: number | null;
 }
+/**
+ * Sound Direction of Arrival from the robot's ReSpeaker microphone array.
+ * Streamed inside `RobotState` (wire shape), so it rides the same ~30 Hz
+ * pose push / `get_state` replies as the pose - no extra round-trip.
+ */
+export interface DoA {
+    /**
+     * Angle in radians (ReSpeaker convention): `0` = left, `π/2` =
+     * front/back, `π` = right.
+     */
+    angle: number;
+    /** Whether the array currently detects speech coming from that angle. */
+    speech_detected: boolean;
+}
+/**
+ * One IMU reading from the robot's BMI088 (wireless version only).
+ * Wire shape of the daemon's `ImuDataMsg`, minus the `type` envelope.
+ */
+export interface ImuData {
+    /** [x, y, z] linear acceleration, m/s². */
+    accelerometer: number[];
+    /** [x, y, z] angular velocity, rad/s. */
+    gyroscope: number[];
+    /** [w, x, y, z] orientation estimate. */
+    quaternion: number[];
+    /** Sensor die temperature, °C. */
+    temperature: number;
+}
 export interface RobotState {
     /** Flat row-major 4×4 head pose (16 numbers). */
     head?: number[];
     /** [rightRad, leftRad]. */
     antennas?: number[];
+    /**
+     * Per-motor head joint values (7 numbers, body yaw at [0]), streamed by
+     * the daemon alongside `head` so clients can check the physical pose
+     * motor by motor (e.g. the first wake-up wizard's sleep-position check).
+     * The antennas need no twin field: `antennas` already is the two motor
+     * values. Absent on daemons that predate the field.
+     */
+    head_joint_positions?: number[];
     /** Radians. */
     body_yaw?: number;
     motor_mode?: 'enabled' | 'disabled' | 'gravity_compensation';
     is_move_running?: boolean;
     face_target?: FaceTarget;
+    /**
+     * Sound Direction of Arrival, or absent when the robot has no mic array
+     * (or no reading yet). Refreshed by the daemon at ~10 Hz.
+     */
+    doa?: DoA;
 }
 /** SDK constructor options. */
 export interface ReachyMiniOptions {
@@ -82,6 +123,40 @@ export interface ReachyMiniOptions {
      * per page load; the host iframe relies on this to skip the picker.
      */
     autoStartFromUrl?: boolean;
+    /**
+     * Automatic session re-dial (default `true`). When an ESTABLISHED
+     * session's transport dies for good (ICE `failed` past its grace
+     * window, stuck `disconnected`, or expired while the tab was
+     * backgrounded), the SDK tears the dead RTCPeerConnection down and
+     * re-dials the same robot through the signaling server — up to 5
+     * attempts with backoff (~22 s window). The app sees
+     * `sessionReconnecting` per attempt, then either `sessionReconnected`
+     * followed by a fresh `streaming` event, or a terminal
+     * `sessionStopped` with reason `reconnect_failed`. Failures during
+     * the INITIAL `startSession()` handshake still reject the promise —
+     * the caller owns that retry. Set to `false` to restore the previous
+     * fatal-`error` behaviour.
+     */
+    autoReconnect?: boolean;
+}
+/** Options accepted by `login()`. */
+export interface LoginOptions {
+    /**
+     * OIDC prompt behaviour for the OAuth redirect.
+     *
+     * `'none'` performs a SILENT authorization: a user who is logged in
+     * to Hugging Face and has already authorized the app comes straight
+     * back with a code (no screen, no interaction); everyone else comes
+     * back immediately with `?error=login_required` /
+     * `consent_required` instead of landing on the HF login page. The
+     * error return is consumed and stripped by `authenticate()`, which
+     * then simply reports "not signed in". Supported by the HF
+     * authorize endpoint although absent from its discovery metadata
+     * (verified empirically).
+     *
+     * Omit for the regular interactive flow.
+     */
+    prompt?: 'none';
 }
 /** Options accepted by `autoConnect()`. */
 export interface AutoConnectOptions {
@@ -136,6 +211,35 @@ export interface SubscribeLogsOptions {
     }) => void;
     onError?: (error: string) => void;
 }
+/** `request()` options. */
+export interface RequestOptions {
+    /**
+     * Milliseconds to wait for a matching reply before fail-opening to
+     * `null`. Defaults to the SDK's shared command round-trip timeout (4 s).
+     */
+    timeoutMs?: number;
+    /**
+     * Override the reply matcher. Default: the first robot message whose
+     * `command` field equals the sent command's `type` (the daemon's
+     * reply convention).
+     */
+    match?: (msg: Record<string, unknown>) => boolean;
+}
+/** One progress event from an in-flight `startDaemonUpdate()`. */
+export interface UpdateProgressEvent {
+    status: 'in_progress' | 'done' | 'failed';
+    /** A log line of the underlying update job (when `in_progress`). */
+    line?: string;
+    /** Set when `status === 'failed'`. */
+    error?: string;
+}
+/** `startDaemonUpdate()` argument. */
+export interface StartDaemonUpdateOptions {
+    /** Install the latest pre-release instead of the latest stable. */
+    preRelease?: boolean;
+    /** Receives one event per log line of the update job. */
+    onProgress?: (event: UpdateProgressEvent) => void;
+}
 /** Single XVF3800 parameter write. */
 export interface AudioConfigEntry {
     name: string;
@@ -247,6 +351,19 @@ export interface NetworkChangeEventDetail {
     rtt?: number;
     saveData?: boolean;
 }
+/**
+ * One auto-reconnect attempt is starting (fires once per attempt,
+ * BEFORE its backoff wait). Show a "Reconnecting…" UI on the first one
+ * and keep it until `sessionReconnected` or a `sessionStopped` with
+ * reason `reconnect_failed`. Motion/RPC calls made while reconnecting
+ * fail exactly as they would on a stopped session.
+ */
+export interface SessionReconnectingEventDetail {
+    attempt: number;
+    maxAttempts: number;
+    /** Human-readable description of what killed the transport. */
+    cause: string;
+}
 /** Map of event names to their detail shapes. */
 export interface ReachyMiniEventMap {
     connected: CustomEvent<ConnectedEventDetail>;
@@ -263,6 +380,18 @@ export interface ReachyMiniEventMap {
     networkOnline: CustomEvent<Record<string, never>>;
     networkOffline: CustomEvent<Record<string, never>>;
     networkChange: CustomEvent<NetworkChangeEventDetail>;
+    sessionReconnecting: CustomEvent<SessionReconnectingEventDetail>;
+    /**
+     * Auto-reconnect succeeded; the detail is the 1-based attempt that
+     * got through. A fresh `streaming` event fires alongside (same
+     * robot, new sessionId); video re-attaches automatically through
+     * the `videoTrack` listener installed by `attachVideo()`. App-level
+     * state that lives daemon-side per session (motor mode override, a
+     * replaced audio sender track, …) must be re-asserted by the app.
+     */
+    sessionReconnected: CustomEvent<{
+        attempt: number;
+    }>;
 }
 /** Public surface of a ReachyMini SDK instance. */
 export interface ReachyMiniInstance extends EventTarget {
@@ -282,8 +411,24 @@ export interface ReachyMiniInstance extends EventTarget {
     readonly preselectedRobotId: string | null;
     /** `true` iff `preselectedRobotId !== null`. UX branching helper. */
     readonly isEmbedded: boolean;
+    /**
+     * Live RTCPeerConnection, or `null` between sessions. Read-only escape
+     * hatch for stats sampling (`getStats()`); mutating it is unsupported.
+     * Auto-reconnect re-dials REPLACE this object, so re-read it on every
+     * use — never capture it across ticks.
+     */
+    readonly peerConnection: RTCPeerConnection | null;
+    /**
+     * Build version of this SDK (npm package `version`), injected from
+     * package.json at build time. The JS SDK's OWN version — distinct from
+     * `getVersion()`, which asks the DAEMON its version over the data
+     * channel. `0.0.0-managed-by-ci` means an unreleased/branch build.
+     */
+    readonly sdkVersion: string;
     /** Underlying RTCPeerConnection. Apps can read it to inspect
-     *  audio / video transceivers. */
+     *  audio / video transceivers.
+     *  @deprecated Use `peerConnection`. Kept for compatibility with
+     *  app bundles that predate the getter. */
     _pc: RTCPeerConnection | null;
     /** Silent placeholder MediaStream the SDK feeds the WebRTC audio
      *  sender so robot-speaker output can negotiate sendrecv. Apps inject
@@ -291,7 +436,7 @@ export interface ReachyMiniInstance extends EventTarget {
      *  `replaceTrack()` on the audio sender from `_pc.getSenders()`. */
     _micStream: MediaStream | null;
     authenticate(): Promise<boolean>;
-    login(): Promise<void>;
+    login(options?: LoginOptions): Promise<void>;
     logout(): void;
     connect(token?: string): Promise<void>;
     /**
@@ -303,6 +448,20 @@ export interface ReachyMiniInstance extends EventTarget {
     disconnect(): void;
     startSession(robotId: string): Promise<void>;
     stopSession(): Promise<void>;
+    /**
+     * Enable/disable the automatic session re-dial at runtime (see the
+     * `autoReconnect` constructor option). Disabling aborts any re-dial
+     * already in flight. Meant for flows that EXPECT the transport to
+     * die, e.g. a daemon self-update reboot.
+     *
+     * Sharp edge: aborting an in-flight re-dial leaves the session torn
+     * down (the loop closed the transport on entry) WITHOUT emitting
+     * `sessionStopped` or `error` — the caller owns the terminal event.
+     * The daemon-update flow relies on exactly that (its own
+     * `sessionStopped` arrives from the reboot); any other caller must
+     * surface the end of the session itself.
+     */
+    setAutoReconnect(enabled: boolean): void;
     attachVideo(el: HTMLVideoElement): () => void;
     setHeadRpyDeg(roll: number, pitch: number, yaw: number): boolean;
     setAntennasDeg(right: number, left: number): boolean;
@@ -331,8 +490,60 @@ export interface ReachyMiniInstance extends EventTarget {
     }): boolean;
     /** Send an arbitrary JSON message on the data channel. */
     sendRaw(data: unknown): boolean;
+    /**
+     * Generic command round-trip for daemon commands the SDK has no typed
+     * wrapper for: send `command` and await the matching reply, `null` on
+     * the fail-open timeout (daemon predates the command). Lets an app use
+     * a newer daemon feature without waiting for an SDK release.
+     */
+    request(command: {
+        type: string;
+    } & Record<string, unknown>, options?: RequestOptions): Promise<Record<string, unknown> | null>;
     /** Play a sound file on the robot's speakers (basename). */
     playSound(file: string): boolean;
+    /**
+     * Play a named recorded move (motion + its bundled sound) from a HF
+     * dataset, daemon-side. Fire-and-forget: returns `true` once the command
+     * is sent on the data channel (not when playback finishes), `false` if the
+     * channel isn't open. `dataset` defaults to the daemon's emotions library
+     * (`pollen-robotics/reachy-mini-emotions-library`), already pre-downloaded
+     * on the robot; pass it to source a move from another repo.
+     * `initialGotoDuration` (seconds) eases into the move's first frame
+     * instead of snapping. The daemon self-guards against a concurrent move,
+     * so a rapid double call is a no-op.
+     */
+    playRecordedMove(moveName: string, opts?: {
+        dataset?: string;
+        initialGotoDuration?: number;
+    }): boolean;
+    /**
+     * Stop whatever move is currently playing on the daemon (recorded move,
+     * uploaded move, goto), silencing its bundled sound too. Fire-and-forget
+     * and idempotent: a stop with no move running is acked as a no-op, not
+     * an error. Returns `false` if the data channel is not open.
+     */
+    stopMove(): boolean;
+    /**
+     * Ask the daemon to pre-download a recorded-move dataset into its local
+     * HF cache, so a later `playRecordedMove` from that dataset starts
+     * instantly instead of blocking on the download. Send it right after
+     * connecting for any non-official dataset you plan to play (the daemon
+     * only preloads the official pollen-robotics libraries by itself).
+     * Fire-and-forget and idempotent: cache-first daemon-side, so repeats
+     * are cheap; on failure `playRecordedMove` still downloads on demand.
+     */
+    preloadDataset(dataset: string): boolean;
+    /**
+     * Like `preloadDataset()`, but resolves once the daemon acks the preload,
+     * i.e. when the dataset is actually in the local HF cache. `true` on
+     * success, `false` on a daemon-reported download failure, `null` on the
+     * fail-open timeout (slow download, or a daemon that predates the
+     * command). Rejects when the channel isn't open or the session tears
+     * down mid-flight.
+     */
+    preloadDatasetAndWait(dataset: string, options?: {
+        timeoutMs?: number;
+    }): Promise<boolean | null>;
     /** Drop incoming audio queued for the robot speaker (barge-in). */
     clearIncomingAudio(): boolean;
     /** Enable daemon-side visual head tracking. */
@@ -347,6 +558,25 @@ export interface ReachyMiniInstance extends EventTarget {
     setVolume(volume: number): Promise<number | null>;
     getMicrophoneVolume(): Promise<number | null>;
     setMicrophoneVolume(volume: number): Promise<number | null>;
+    /**
+     * Query the persisted robot display name. `null` when none is set, the
+     * channel isn't open, or the daemon predates the `get_robot_name` command.
+     */
+    getRobotName(): Promise<string | null>;
+    /**
+     * Query whether the first wake-up setup wizard has been completed
+     * (robot-wide, persisted). `null` when the channel isn't open or the
+     * daemon predates the command (callers should fail-open).
+     */
+    getFirstWakeUp(): Promise<boolean | null>;
+    /** Persist the first wake-up wizard completion flag on the robot. */
+    setFirstWakeUp(isCompleted: boolean): Promise<boolean | null>;
+    /**
+     * Set and persist the robot display name. Applied live by the daemon
+     * (status + central relay + mDNS), so it takes effect right away without a
+     * restart. Resolves with the stored name, or `null` on error.
+     */
+    setRobotName(name: string): Promise<string | null>;
     /**
      * Apply a batch of XVF3800 audio-board parameters on the robot.
      * Mirrors the on-robot `AudioBase.apply_audio_config()` SDK call.
@@ -366,10 +596,38 @@ export interface ReachyMiniInstance extends EventTarget {
     getVersion(): Promise<string | null>;
     /** Hardware ID (USB serial), or `null` on developer machines. */
     getHardwareId(): Promise<string | null>;
+    /**
+     * One-shot IMU reading (accelerometer, gyroscope, quaternion,
+     * temperature). Resolves `null` when the robot has no IMU (Lite
+     * version, simulation) or the daemon predates the `get_imu` command.
+     */
+    getImu(): Promise<ImuData | null>;
     /** Force a `state` event right now (background poll runs at 500 ms). */
     requestState(): boolean;
+    /**
+     * Ask the daemon to *push* the robot state (~30 Hz, delivered as `state`
+     * events) over the dedicated unreliable/unordered `pose` channel instead
+     * of polling `requestState` - immune to the Wi-Fi round-trip lag of the
+     * reliable control channel. Refcounted: pair every `subscribePose()` with
+     * exactly one `unsubscribePose()`; multiple consumers share one daemon-side
+     * subscription. No-op against a daemon that predates the pose channel (the
+     * SDK's ~2 Hz self-poll keeps `state` updated there).
+     */
+    subscribePose(): boolean;
+    /** Release one pose-stream consumer; sends `unsubscribe_pose` on the last. */
+    unsubscribePose(): boolean;
     /** Subscribe to daemon `journalctl` logs over the data channel. */
     subscribeLogs(options: SubscribeLogsOptions): () => void;
+    /**
+     * Ask the daemon to update itself from PyPI (Wireless only) and
+     * restart. Fire-and-ack: returns `false` only when the data channel
+     * isn't open. A *successful* update restarts the daemon before a
+     * `done` event can arrive, so treat the session teardown followed by
+     * a successful reconnect as the success signal; `onProgress` fires
+     * with `status: 'failed'` when the daemon declines the job or the
+     * install errors before the restart.
+     */
+    startDaemonUpdate(options?: StartDaemonUpdateOptions): boolean;
     /**
      * Motor torque mode: `enabled` (position control), `disabled`
      * (limp), `gravity_compensation` (float-by-hand). Returns
@@ -392,11 +650,22 @@ export interface ReachyMiniInstance extends EventTarget {
      * completion. Does NOT touch motor mode; caller manages it.
      */
     gotoSleep(options?: MotionAwaitOptions): Promise<void>;
-    /** Read the awake state from the cached `motor_mode`. */
+    /**
+     * Read the awake state from the cached `motor_mode`. Gravity
+     * compensation counts as awake: the robot is standing, even though
+     * it won't follow position targets in that mode.
+     */
     isAwake(): boolean;
     /**
-     * Idempotent wakeUp: noop when already awake. Resolves with
-     * the post-call awake state. Does NOT await the trajectory.
+     * Idempotent bring-up to a state where the robot follows position
+     * targets. Plays the wake trajectory when asleep and awaits it, so
+     * callers can start commanding poses on resolution without fighting
+     * the emote; switches back to position control (no emote) when the
+     * robot is up but in gravity compensation; noop when already there.
+     *
+     * `timeoutMs` bounds only the initial `motor_mode` read; the wake
+     * trajectory gets its own internal budget. Never rejects - a robot
+     * that won't confirm the wake still lets the app boot.
      */
     ensureAwake(timeoutMs?: number): Promise<boolean>;
     /** Upload a recorded move (and optional audio) and play it on the daemon's local clock. */
@@ -412,7 +681,12 @@ export interface ReachyMiniInstance extends EventTarget {
     /** Cancel an in-flight `playUploadedAudio`. */
     cancelAudio(uploadId?: string | null): boolean;
 }
-export type ReachyMiniConstructor = new (options?: ReachyMiniOptions) => ReachyMiniInstance;
+export type ReachyMiniConstructor = (new (options?: ReachyMiniOptions) => ReachyMiniInstance) & {
+    /** Build version of the SDK (npm package `version`), reachable without
+     *  an instance via `ReachyMini.version`. Mirror of the instance
+     *  `sdkVersion`. */
+    readonly version: string;
+};
 /**
  * Internal "session reject" error shape. Surfaced by `startSession()`
  * rejections; consumers can downcast a caught `Error` to read the