@pollen-robotics/reachy-mini-sdk 1.7.3-main.5cd69ad

package/reachy-mini-sdk.js

@@ -0,0 +1,2618 @@
+/**
+ * reachy-mini.js — Browser SDK for controlling a Reachy Mini robot over WebRTC.
+ * https://github.com/pollen-robotics/reachy-mini
+ *
+ * QUICK START
+ * ───────────
+ *   import { ReachyMini } from "./reachy-mini-sdk.js";
+ *   const robot = new ReachyMini();
+ *
+ *   // 1. Auth (HuggingFace OAuth — required for the signaling server)
+ *   if (!await robot.authenticate()) { robot.login(); return; }
+ *
+ *   // 2. Connect to signaling server (SSE)
+ *   await robot.connect();
+ *
+ *   // 3. Pick a robot once the list arrives
+ *   robot.addEventListener("robotsChanged", (e) => {
+ *       const robots = e.detail.robots;  // [{ id, meta: { name } }, ...]
+ *   });
+ *
+ *   // 4. Start a WebRTC session (resolves when video + data channel ready)
+ *   const detach = robot.attachVideo(document.querySelector("video"));
+ *   await robot.startSession(robotId);
+ *
+ *   // 5. Send commands — degree-friendly helpers, all built on setTarget()
+ *   robot.setHeadRpyDeg(0, 10, -5);   // roll, pitch, yaw in degrees
+ *   robot.setAntennasDeg(30, -30);    // right, left in degrees
+ *   robot.setBodyYawDeg(15);          // body yaw in degrees
+ *
+ *   // …or compose an atomic update in raw wire units (full SE(3); no XYZ loss):
+ *   robot.setTarget({
+ *       head: rpyToMatrix(0, 10, -5).flat(),  // number[16] flat row-major 4×4
+ *       antennas: [degToRad(30), degToRad(-30)],
+ *       body_yaw: degToRad(15),
+ *   });
+ *   robot.playSound("wake_up.wav");   // filename on robot
+ *   const ver = await robot.getVersion(); // e.g. "1.5.1"
+ *
+ *   // …or play a recorded move (motion + optional audio) on the daemon's
+ *   //  local clock — smooth on wireless robots, single-clock A/V sync.
+ *   await robot.playMove(motion, { audioBlob, audioLeadMs: -100 });
+ *   //  robot.cancelMove() to stop early.
+ *   //
+ *   //  For record-time flows that need the same audio pipeline at both
+ *   //  capture and replay:
+ *   //    const audioId = await robot.uploadAudio(blob);
+ *   //    await robot.playUploadedAudio(audioId);   // sync anchor
+ *   //    // …start your motion capture now…
+ *   //    robot.cancelAudio();                       // when capture stops
+ *
+ *   // 6. Receive live state (emitted every ~500 ms while streaming; call
+ *   //    robot.requestState() yourself for higher rates — see its JSDoc).
+ *   //    State payload is the daemon's raw wire shape — use the math
+ *   //    utilities exported from this module for degree conversions.
+ *   robot.addEventListener("state", (e) => {
+ *       const { head, antennas, body_yaw, motor_mode, is_move_running } = e.detail;
+ *       // head:            number[16]   — flat row-major 4×4 (full SE(3))
+ *       // antennas:        [rightRad, leftRad]
+ *       // body_yaw:        number       — radians
+ *       // motor_mode:      "enabled" | "disabled" | "gravity_compensation"
+ *       // is_move_running: boolean
+ *       // For human-friendly head RPY:
+ *       //   const rpy = matrixToRpy(head);   // { roll, pitch, yaw } in degrees
+ *   });
+ *
+ *   // 7. Audio controls
+ *   robot.setAudioMuted(false);   // unmute robot speaker (muted by default)
+ *   robot.setMicMuted(false);     // unmute your mic → robot speaker (if supported)
+ *
+ *   // 8. Cleanup
+ *   detach();                      // remove video binding
+ *   await robot.stopSession();     // back to 'connected'
+ *   robot.disconnect();            // back to 'disconnected' (keeps auth)
+ *   robot.logout();                // clear HF credentials too
+ *
+ *
+ * STATE MACHINE
+ * ─────────────
+ *   'disconnected' ──connect()──▸ 'connected' ──startSession()──▸ 'streaming'
+ *        ▴ disconnect()                ▴ stopSession()
+ *        └─────────────────────────────┘
+ *
+ *
+ * CONSTRUCTOR OPTIONS
+ * ───────────────────
+ *   new ReachyMini({
+ *     signalingUrl:              string,   // default: "https://pollen-robotics-reachy-mini-central.hf.space"
+ *     enableMicrophone:          boolean,  // default: true  — acquire mic for bidirectional audio
+ *     videoJitterBufferTargetMs: number,   // default: 0     — receiver-side jitter buffer hint, ms
+ *                                          //                  0 = "render ASAP" (teleop). Spec range [0, 4000].
+ *                                          //                  Raise (100–400) on flaky links to trade latency for resilience.
+ *     autoStartFromUrl:          boolean,  // default: false — when true AND the URL carries a `robot_peer_id` hint,
+ *                                          //                  auto-call `startSession(preselectedRobotId)` after
+ *                                          //                  `connect()` resolves and that robot appears online.
+ *                                          //                  One-shot per page load; suits iframe-embedded apps
+ *                                          //                  that want zero-tap entry from the host shell.
+ *   })
+ *
+ *
+ * READ-ONLY PROPERTIES
+ * ────────────────────
+ *   .state            "disconnected" | "connected" | "streaming"
+ *   .robots           Array<{ id: string, meta: { name: string } }>
+ *   .robotState       Mirror of the latest "state" event detail —
+ *                     { head: number[16], antennas: [rightRad, leftRad],
+ *                       body_yaw, motor_mode, is_move_running }
+ *                     (fields only present once the daemon sends them;
+ *                      see EVENTS below)
+ *   .username         string | null     — HF username after authenticate()
+ *   .isAuthenticated  boolean           — true if a valid HF token is available
+ *   .micSupported     boolean           — true if robot offers bidirectional audio
+ *   .micMuted         boolean           — your microphone mute state
+ *   .audioMuted       boolean           — robot speaker mute state (local)
+ *   .preselectedRobotId string | null   — peer id from `?robot_peer_id=` /
+ *                                          `#robot_peer_id=`; null if absent.
+ *                                          Use it to skip your robot picker
+ *                                          when a host iframe (e.g. the
+ *                                          Reachy Mini mobile shell) embeds
+ *                                          this app.
+ *   .isEmbedded       boolean           — true iff `preselectedRobotId !==
+ *                                          null`. Branch your UX on this:
+ *                                          when true, hide the robot picker
+ *                                          and your sign-in screen (the
+ *                                          host has already handled both).
+ *
+ *
+ * EVENTS  (EventTarget — use addEventListener)
+ * ──────────────────────────────────────────────
+ *   "connected"       { peerId: string }
+ *   "disconnected"    { reason: string }
+ *   "robotsChanged"   { robots: Array<{ id, meta }> }
+ *   "streaming"       { sessionId: string, robotId: string }
+ *   "sessionStopped"  { reason: string }
+ *   "state"           { head: number[16],                    // flat row-major 4×4, when daemon sends head_pose
+ *                       antennas: [rightRad, leftRad],       // when daemon sends antennas
+ *                       body_yaw: number,                    // radians, when daemon sends body_yaw
+ *                       motor_mode: string,                  // when daemon sends motor_mode
+ *                       is_move_running: boolean }           // when daemon sends is_move_running
+ *   "videoTrack"      { track: MediaStreamTrack, stream: MediaStream }
+ *   "micSupported"    { supported: boolean }
+ *   "error"           { source: "signaling"|"webrtc"|"robot", error: Error|string }
+ *
+ *
+ * EXPORTS
+ * ───────
+ *   export default ReachyMini;
+ *   export { ReachyMini, rpyToMatrix, matrixToRpy, degToRad, radToDeg };
+ */
+
+import {
+    oauthHandleRedirectIfPresent,
+    oauthLoginUrl,
+} from "@huggingface/hub";
+
+// ─── Math utilities ──────────────────────────────────────────────────────────
+
+/** @param {number} deg @returns {number} */
+export function degToRad(deg) { return deg * Math.PI / 180; }
+
+/** @param {number} rad @returns {number} */
+export function radToDeg(rad) { return rad * 180 / Math.PI; }
+
+/**
+ * Roll/pitch/yaw (degrees) → 4×4 rotation matrix (ZYX convention).
+ * This is the wire format for the robot's `set_target` command.
+ * @param {number} rollDeg  @param {number} pitchDeg  @param {number} yawDeg
+ * @returns {number[][]} 4×4 matrix
+ */
+export function rpyToMatrix(rollDeg, pitchDeg, yawDeg) {
+    const r = degToRad(rollDeg), p = degToRad(pitchDeg), y = degToRad(yawDeg);
+    const cy = Math.cos(y), sy = Math.sin(y);
+    const cp = Math.cos(p), sp = Math.sin(p);
+    const cr = Math.cos(r), sr = Math.sin(r);
+    return [
+        [cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr, 0],
+        [sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr, 0],
+        [-sp, cp * sr, cp * cr, 0],
+        [0, 0, 0, 1],
+    ];
+}
+
+/**
+ * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.
+ * @param {number[][]} m  @returns {{ roll: number, pitch: number, yaw: number }}
+ */
+export function matrixToRpy(m) {
+    return {
+        roll: radToDeg(Math.atan2(m[2][1], m[2][2])),
+        pitch: radToDeg(Math.asin(-m[2][0])),
+        yaw: radToDeg(Math.atan2(m[1][0], m[0][0])),
+    };
+}
+
+// ─── Internal helpers ────────────────────────────────────────────────────────
+
+/** Clamp a volume to [0, 100] and round to integer — mirrors the server-side
+ *  Field(..., ge=0, le=100) validator so calling setVolume(150) doesn't 400. */
+function clampVolume(v) {
+    const n = Math.round(Number(v) || 0);
+    return Math.max(0, Math.min(100, n));
+}
+
+/**
+ * Pick up HuggingFace credentials passed via the URL fragment and move them
+ * into `sessionStorage`, where `authenticate()` looks them up.
+ *
+ * This is the bridge that lets a host page (e.g. the Reachy Mini mobile
+ * app, or the vibe-coder preview iframe) embed a Space hosting a SDK
+ * consumer despite `X-Frame-Options: SAMEORIGIN` on `huggingface.co/login`:
+ * the host already holds a valid token (through its own OAuth flow) and
+ * appends it to the iframe URL as
+ *
+ *     #hf_token=<jwt>&hf_username=<handle>&hf_token_expires=<iso>
+ *
+ * Fragments are NOT sent over HTTP, so the credentials never leak to
+ * the HF Space backend or to intermediate proxies.
+ *
+ * Why all three keys: `authenticate()`'s cache check requires the token,
+ * the username AND a future expiry to ALL be present in `sessionStorage`,
+ * otherwise it returns `false` and the app falls through to a full OAuth
+ * round-trip — which can't complete inside an iframe.
+ *
+ * Called once from the top of `authenticate()` so SDK consumers don't
+ * need any boilerplate of their own. We clear the fragment right after
+ * reading it so a page reload does not keep the credentials visible in
+ * the address bar.
+ *
+ * No-op when:
+ *   - there is no `window` (SSR / Worker contexts),
+ *   - the URL has no fragment,
+ *   - the fragment carries no `hf_token` (other apps may use the
+ *     fragment for theme / route / etc.; we leave those alone).
+ */
+function consumeFragmentCredentials() {
+    if (typeof window === 'undefined' || !window.location.hash) return;
+    const raw = window.location.hash.startsWith('#')
+        ? window.location.hash.slice(1)
+        : window.location.hash;
+    let params;
+    try { params = new URLSearchParams(raw); } catch (_e) { return; }
+    const token = params.get('hf_token');
+    if (!token) return;
+    // `hf_username` is required by the cache check. Hosts that haven't
+    // resolved the user's HF handle yet may pass a literal "user"
+    // placeholder; the SDK only uses the value for display and never
+    // round-trips it server-side, so the placeholder is harmless.
+    const username = params.get('hf_username') || 'user';
+    // `hf_token_expires` is a far-future ISO date for personal access
+    // tokens (no real expiry). Hosts typically synthesise ~1 year out;
+    // we accept whatever was sent and fall back to "1 year from now"
+    // if the parameter is missing or unparseable, so a partial fragment
+    // still gets the user logged in.
+    const expiresParam = params.get('hf_token_expires');
+    const expires =
+        expiresParam && !Number.isNaN(new Date(expiresParam).getTime())
+            ? expiresParam
+            : new Date(Date.now() + 365 * 24 * 60 * 60 * 1000).toISOString();
+    try {
+        sessionStorage.setItem('hf_token', token);
+        sessionStorage.setItem('hf_username', username);
+        sessionStorage.setItem('hf_token_expires', expires);
+    } catch (err) {
+        console.warn('[reachy-mini] could not persist pre-seeded HF credentials:', err);
+    }
+    // Strip the auth keys from the address bar but keep any other hash
+    // params the app or SDK might care about (theme, embedded, …).
+    params.delete('hf_token');
+    params.delete('hf_username');
+    params.delete('hf_token_expires');
+    const remaining = params.toString();
+    const cleanUrl =
+        window.location.pathname +
+        window.location.search +
+        (remaining ? '#' + remaining : '');
+    try { window.history.replaceState(null, '', cleanUrl); } catch (_e) {}
+}
+
+/**
+ * Pick up a preselected robot peer id from the URL.
+ *
+ * Looked up in this order:
+ *   1. URL fragment   (`#robot_peer_id=<peerId>`)
+ *   2. URL query      (`?robot_peer_id=<peerId>`)
+ *
+ * Both spellings are accepted because:
+ *   - the Reachy Mini mobile shell sends it in the query today,
+ *   - the vibe-coder preview / future hosts may prefer the fragment for
+ *     symmetry with `consumeFragmentCredentials`,
+ *   - the value is NOT a secret (peer ids are public on the central
+ *     signaling server's robot listing) so query is fine.
+ *
+ * Returns `null` when no peer id is found in either location, when there
+ * is no `window` (SSR / Worker context), or on parse error. Unlike
+ * credentials, we do NOT strip the param from the URL: the value is
+ * harmless to keep visible and removing it would break tools that read
+ * the URL for context.
+ *
+ * @returns {string|null}
+ */
+function readPreselectedRobotIdFromUrl() {
+    if (typeof window === 'undefined') return null;
+    // 1. Fragment (`#robot_peer_id=…`).
+    if (window.location.hash) {
+        const raw = window.location.hash.startsWith('#')
+            ? window.location.hash.slice(1)
+            : window.location.hash;
+        try {
+            const params = new URLSearchParams(raw);
+            const fromHash = params.get('robot_peer_id');
+            if (fromHash) return fromHash;
+        } catch (_e) { /* malformed fragment — fall through */ }
+    }
+    // 2. Query (`?robot_peer_id=…`).
+    if (window.location.search) {
+        try {
+            const params = new URLSearchParams(window.location.search);
+            const fromQuery = params.get('robot_peer_id');
+            if (fromQuery) return fromQuery;
+        } catch (_e) { /* malformed query — fall through */ }
+    }
+    return null;
+}
+
+/** Check if the audio m= section of an SDP has a=sendrecv (bidirectional audio). */
+function sdpHasAudioSendRecv(sdp) {
+    const lines = sdp.split('\r\n');
+    let inAudio = false;
+    for (const line of lines) {
+        if (line.startsWith('m=audio')) inAudio = true;
+        else if (line.startsWith('m=')) inAudio = false;
+        if (inAudio && line === 'a=sendrecv') return true;
+    }
+    return false;
+}
+
+// ─── Daemon-side upload helpers ──────────────────────────────────────────────
+// Wire-level constants and pure helpers used by playMove / uploadAudio /
+// playUploadedAudio. Private to this module — apps call the public methods.
+
+// Conservative per-message size for the data channel. 16 KB is the cross-
+// browser safe ceiling; we slice payloads at 12 KB and let the JSON envelope
+// add ~80 bytes.
+const UPLOAD_CHUNK_SIZE = 12 * 1024;
+// Backpressure thresholds: pause sending if `bufferedAmount` climbs over the
+// high watermark; resume once it drains below the low watermark. WebRTC's
+// SCTP can buffer plenty, but spiking it to tens of megabytes degrades every
+// other channel on the same peer connection.
+const UPLOAD_BUFFERED_HIGH_WATER = 1 * 1024 * 1024;
+const UPLOAD_BUFFERED_LOW_WATER = 512 * 1024;
+
+function hasCompressionStream() {
+    return typeof CompressionStream !== "undefined";
+}
+
+/** Cheap unique upload id; collision odds within a session are negligible. */
+function makeUploadId() {
+    return "u" + Math.random().toString(36).slice(2, 11)
+        + Date.now().toString(36);
+}
+
+/** Base64-encode a Uint8Array, chunking to avoid call-stack overflow on multi-MB blobs. */
+function bytesToBase64(bytes) {
+    let str = "";
+    const STEP = 0x8000;
+    for (let i = 0; i < bytes.length; i += STEP) {
+        str += String.fromCharCode.apply(null, bytes.subarray(i, i + STEP));
+    }
+    return btoa(str);
+}
+
+/** Base64(gzip(utf8(s))) via the browser CompressionStream API. */
+async function gzipBase64(jsonStr) {
+    const enc = new TextEncoder().encode(jsonStr);
+    const compressed = await new Response(
+        new Blob([enc]).stream().pipeThrough(new CompressionStream("gzip"))
+    ).arrayBuffer();
+    return bytesToBase64(new Uint8Array(compressed));
+}
+
+// ─── ReachyMini class ────────────────────────────────────────────────────────
+
+export class ReachyMini extends EventTarget {
+
+    /** @param {{ signalingUrl?: string, enableMicrophone?: boolean, clientId?: string, appName?: string, videoJitterBufferTargetMs?: number, autoStartFromUrl?: boolean }} [options] */
+    constructor(options = {}) {
+        super();
+        this._signalingUrl = options.signalingUrl || 'https://pollen-robotics-reachy-mini-central.hf.space';
+        // Deprecated: SDK no longer acquires the user's microphone. Parsed
+        // for backward compat; has no effect. Apps that want to send the
+        // user's mic to the robot speaker do so explicitly via getUserMedia
+        // + replaceTrack on the audio sender from this._pc.
+        this._enableMicrophone = options.enableMicrophone !== false;
+        this._clientId = options.clientId || null;
+        this._appName = options.appName || 'unknown';
+        // Hint to the receiver's WebRTC jitter buffer (ms). 0 = "render ASAP",
+        // appropriate for teleop. Spec range [0, 4000]. Browsers that don't
+        // implement RTCRtpReceiver.jitterBufferTarget fall back to default
+        // buffering (~150-200 ms).
+        this._videoJitterBufferTargetMs = options.videoJitterBufferTargetMs ?? 0;
+        // When true AND the URL carried a `robot_peer_id` hint at
+        // construction (so `preselectedRobotId !== null`), the SDK
+        // auto-calls `startSession(preselectedRobotId)` as soon as
+        // that robot appears in the central's robot list after the
+        // app's own `connect()` resolves. Lets host-iframe-embedded
+        // consumers (mobile shell, vibe-coder preview) skip their
+        // robot picker AND skip the manual `startSession` call —
+        // they just `await robot.connect()` and receive a `streaming`
+        // event when the SDK has dialed in. One-shot: a manual
+        // `stopSession()` followed by another `startSession()` is
+        // not auto-replayed. Default `false` keeps the standalone
+        // Space behavior unchanged.
+        this._autoStartFromUrl = options.autoStartFromUrl === true;
+        this._autoStartAttempted = false;
+
+        this._state = 'disconnected';                 // 'disconnected' | 'connected' | 'streaming'
+        this._robots = [];                             // latest robot list from signaling
+        this._robotState = {};                         // populated from daemon state events (wire shape)
+
+        // Preselected robot peer id read from the URL at construction
+        // time. When a host iframe (typically the Reachy Mini mobile
+        // shell) embeds an SDK consumer, it appends the peer id of the
+        // robot it's already connected to via
+        // `?robot_peer_id=…` (or `#robot_peer_id=…`). Apps can read
+        // `robot.preselectedRobotId` and call `startSession(id)`
+        // directly to skip their robot picker. Captured ONCE at
+        // construction so subsequent URL changes (history navigation,
+        // hash mutations from `consumeFragmentCredentials`) don't move
+        // the target out from under the consumer.
+        this._preselectedRobotId = readPreselectedRobotIdFromUrl();
+
+        // Auth
+        this._token = null;
+        this._username = null;
+        this._tokenExpires = null;
+
+        // Signaling
+        this._peerId = null;
+        this._sseAbortController = null;
+
+        // WebRTC
+        this._pc = null;           // RTCPeerConnection
+        this._dc = null;           // RTCDataChannel (robot commands)
+        this._sessionId = null;
+        this._selectedRobotId = null;
+
+        // Audio
+        this._micStream = null;    // Silent placeholder MediaStream; apps replaceTrack their own audio onto the sender
+        this._micMuted = true;
+        this._audioMuted = true;
+        this._micSupported = false; // set after SDP negotiation
+
+        // Timers
+        this._latencyMonitorId = null;
+        this._stateRefreshInterval = null;
+
+        // getVersion() / getHardwareId() promise plumbing
+        this._versionResolve = null;
+        this._hardwareIdResolve = null;
+
+        // Volume getter/setter promise plumbing (get_volume / set_volume).
+        // Speaker and microphone are tracked separately so two in-flight
+        // requests can't collide on the same slot.
+        this._volumeResolve = null;
+        this._micVolumeResolve = null;
+
+        // subscribeLogs(): a Set of {onLine, onError} subscribers. The
+        // first add sends `subscribe_logs`; removing the last sends
+        // `unsubscribe_logs`. We keep a single daemon-side stream and
+        // fan out to local subscribers in `_handleRobotMessage`.
+        this._logSubscribers = new Set();
+
+        // Pending one-shot broadcast waiters used by playMove /
+        // playUploadedAudio. Each entry is a { predicate, resolve, timer }
+        // installed by `_waitForBroadcast`. Dispatched in `_handleRobotMessage`
+        // when the daemon broadcasts a matching {type, upload_id, ...}
+        // event. LIFO order so the most recently registered waiter wins
+        // on duplicates (rare but possible during reconnect).
+        this._broadcastWaiters = [];
+
+        // upload_id of the in-flight playMove / playUploadedAudio so
+        // the parameter-less `cancelMove()` / `cancelAudio()` calls
+        // can target the right run. The daemon now requires upload_id
+        // on cancels (otherwise back-to-back plays would cross-cancel).
+        // Apps that hold the id themselves can pass it explicitly
+        // instead — see the cancelMove / cancelAudio JSDoc.
+        this._activeMoveUploadId = null;
+        this._activeAudioUploadId = null;
+
+        // startSession() promise plumbing
+        this._sessionResolve = null;
+        this._sessionReject = null;
+        this._iceConnected = false;
+        this._dcOpen = false;
+
+        // Motion-completion plumbing for wakeUp() / gotoSleep().
+        //
+        // The daemon's data-channel handler dispatches `wake_up` and
+        // `goto_sleep` as async tasks and replies with
+        // `{status: "ok", command, completed: true}` when the trajectory
+        // ACTUALLY finishes (or with `{error, command}` on failure). We
+        // surface that as a Promise so callers can `await robot.gotoSleep()`
+        // and chain `setMotorMode('disabled')` without racing the
+        // trajectory player.
+        //
+        // Queues, not single slots: the data-channel protocol has no
+        // request IDs, but FIFO ordering is guaranteed by the daemon's
+        // serialised dispatcher, so the N-th response matches the N-th
+        // request. A queue makes back-to-back calls (e.g. teardown firing
+        // on top of an in-flight wake_up) safe; a single slot would
+        // silently drop the earlier awaiter.
+        this._pendingMotionCompletions = {
+            wake_up: [],
+            goto_sleep: [],
+        };
+
+        // Set by attachVideo()
+        this._videoElement = null;
+    }
+
+    // ─── Read-only properties ────────────────────────────────────────────
+
+    /** @returns {"disconnected"|"connected"|"streaming"} */
+    get state() { return this._state; }
+
+    /** @returns {Array<{id: string, meta: {name: string}}>} */
+    get robots() { return this._robots; }
+
+    /**
+     * Latest robot state (same shape as the "state" event detail).
+     * Mirrors the daemon's wire format — fields appear only once the
+     * daemon has sent the corresponding source field. Use the exported
+     * math utilities (``matrixToRpy``, ``radToDeg``) for human units.
+     * @returns {{
+     *   head?: number[],
+     *   antennas?: number[],
+     *   body_yaw?: number,
+     *   motor_mode?: "enabled"|"disabled"|"gravity_compensation",
+     *   is_move_running?: boolean,
+     * }}
+     */
+    get robotState() { return this._robotState; }
+
+    /** @returns {string|null} HuggingFace username, set after authenticate(). */
+    get username() { return this._username; }
+
+    /** @returns {boolean} True if a valid HF token is available. */
+    get isAuthenticated() { return !!this._token; }
+
+    /** @returns {boolean} True if the robot's SDP offered bidirectional audio. */
+    get micSupported() { return this._micSupported; }
+
+    /** @returns {boolean} */
+    get micMuted() { return this._micMuted; }
+
+    /** @returns {boolean} */
+    get audioMuted() { return this._audioMuted; }
+
+    /**
+     * Peer id of the robot the embedding host wants this session to
+     * target, captured from the URL at construction time. Apps that
+     * want to support iframe-embedding without forcing the user to
+     * re-pick a robot read this and pass it straight to
+     * `startSession()` once `connect()` resolves:
+     *
+     *     await robot.connect();
+     *     await robot.startSession(robot.preselectedRobotId ?? pickedId);
+     *
+     * Returns `null` when the URL carries no `robot_peer_id` (typical
+     * standalone Space load). The value is also exposed on the
+     * "robotsChanged" payload via the `meta` sidecar for
+     * convenience, but the most direct read is right here.
+     *
+     * @returns {string|null}
+     */
+    get preselectedRobotId() { return this._preselectedRobotId; }
+
+    /**
+     * Convenience flag for apps that want to branch their UX on
+     * "am I embedded in a host shell?". True iff the URL carried a
+     * `robot_peer_id` hint at construction time (which only happens
+     * when a host iframe — mobile shell, vibe-coder preview, etc. —
+     * is the parent). Apps typically use it to skip their robot
+     * picker and their sign-in screen, since both are duplicated
+     * work the host has already done.
+     *
+     * @returns {boolean}
+     */
+    get isEmbedded() { return this._preselectedRobotId !== null; }
+
+    /**
+     * Internal: try to honour the `autoStartFromUrl` constructor
+     * option. Called from the signaling-message handler after every
+     * `robotsChanged` emit, so a robot that comes online after the
+     * SDK is already `connected` still triggers the auto-start.
+     * No-op unless `autoStartFromUrl` is set, the URL carries a
+     * preselect, the SDK is `connected`, the preselected robot is
+     * in the latest list, and we haven't already attempted in this
+     * page load. Errors are swallowed to a `console.warn` — the
+     * normal `startSession` rejection / `sessionRejected` event
+     * still fires for app-level handling.
+     *
+     * Defers the actual `startSession()` call by one macrotask
+     * (`setTimeout(..., 0)`) so it runs OUTSIDE the
+     * `_handleSignalingMessage` callstack that just processed the
+     * `'list'` message. Reproduced on Android WebView: firing
+     * `startSession` synchronously inside the SSE handler races the
+     * daemon's setup, leading to a connected-but-no-keyframe state
+     * where the receiver eternally NACKs and the iframe shows a
+     * black <video>. The macrotask-deferral is the minimum nudge
+     * that consistently resolves the race in our reproduction; if
+     * it ever proves insufficient on slower hardware, bump to
+     * a small explicit delay (e.g. 250 ms).
+     */
+    _maybeAutoStart() {
+        if (!this._autoStartFromUrl) return;
+        if (this._autoStartAttempted) return;
+        if (!this._preselectedRobotId) return;
+        if (this._state !== 'connected') return;
+        const match = this._robots.find((r) => r.id === this._preselectedRobotId);
+        if (!match) return;
+        this._autoStartAttempted = true;
+        const peerId = this._preselectedRobotId;
+        setTimeout(() => {
+            // Re-check state in case a manual stopSession / disconnect
+            // landed between the schedule and the fire.
+            if (this._state !== 'connected') return;
+            this.startSession(peerId).catch((err) => {
+                console.warn('[reachy-mini] autoStartFromUrl: startSession rejected:', err);
+            });
+        }, 0);
+    }
+
+    // ─── Auth ────────────────────────────────────────────────────────────
+
+    /**
+     * Check for a valid HuggingFace token.
+     *
+     * Resolution order:
+     *   1. URL fragment hand-off (`#hf_token=…&hf_username=…&hf_token_expires=…`).
+     *      A host iframe — typically the Reachy Mini mobile app or a
+     *      vibe-coder preview — can pass credentials through the URL
+     *      fragment to bypass HF's `X-Frame-Options: SAMEORIGIN` block
+     *      on `huggingface.co/login`. Seeded into `sessionStorage` and
+     *      then stripped from the address bar so a page reload does not
+     *      keep the credentials visible.
+     *   2. OAuth redirect callback (standalone Space, first sign-in).
+     *   3. `sessionStorage` cache (subsequent loads in any context).
+     *
+     * @returns {Promise<boolean>} true → token ready, false → call login()
+     */
+    async authenticate() {
+        try {
+            // 1. Iframe hand-off. No-op when the URL has no fragment or
+            //    the fragment carries no `hf_token`, so this is free on
+            //    standalone Space loads.
+            consumeFragmentCredentials();
+
+            // 2. OAuth redirect callback.
+            const result = await oauthHandleRedirectIfPresent();
+            if (result) {
+                this._username = result.userInfo.preferred_username || result.userInfo.name;
+                this._token = result.accessToken;
+                this._tokenExpires = result.accessTokenExpiresAt;
+                sessionStorage.setItem('hf_token', this._token);
+                sessionStorage.setItem('hf_username', this._username);
+                sessionStorage.setItem('hf_token_expires', this._tokenExpires);
+                return true;
+            }
+
+            // 3. sessionStorage cache. Both paths above also write here,
+            //    so this is the canonical lookup for any subsequent call.
+            const t = sessionStorage.getItem('hf_token');
+            const u = sessionStorage.getItem('hf_username');
+            const e = sessionStorage.getItem('hf_token_expires');
+            if (t && u && e && new Date(e) > new Date()) {
+                this._token = t;
+                this._username = u;
+                this._tokenExpires = e;
+                return true;
+            }
+            return false;
+        } catch (e) {
+            console.error('Auth error:', e);
+            return false;
+        }
+    }
+
+    /** Redirect the browser to the HuggingFace OAuth login page. */
+    async login() {
+        const opts = {};
+        if (this._clientId) opts.clientId = this._clientId;
+        window.location.href = await oauthLoginUrl(opts);
+    }
+
+    /** Clear stored HF credentials and disconnect everything. */
+    logout() {
+        sessionStorage.removeItem('hf_token');
+        sessionStorage.removeItem('hf_username');
+        sessionStorage.removeItem('hf_token_expires');
+        this._username = null;
+        this._tokenExpires = null;
+        this.disconnect();
+    }
+
+    // ─── Lifecycle ───────────────────────────────────────────────────────
+
+    /**
+     * Open SSE signaling connection.  Resolves once the server sends `welcome`.
+     * Emits "robotsChanged" as robots come and go.
+     * @param {string} [token] — HF access token.  Omit to use the one from authenticate().
+     * @returns {Promise<void>}
+     */
+    async connect(token) {
+        if (this._state !== 'disconnected') throw new Error('Already connected');
+        if (token) this._token = token;
+        if (!this._token) throw new Error('No token — call authenticate() first or pass a token');
+        this._sseAbortController = new AbortController();
+
+        let res;
+        try {
+            // Token goes in the Authorization header, not the URL —
+            // keeps it out of DevTools Network tab, browser history,
+            // Referer, and any server/proxy access log. We use fetch
+            // + manual stream reader (below) rather than EventSource
+            // specifically to allow custom headers.
+            res = await fetch(
+                `${this._signalingUrl}/events`,
+                {
+                    signal: this._sseAbortController.signal,
+                    headers: { 'Authorization': `Bearer ${this._token}` },
+                },
+            );
+        } catch (e) {
+            this._sseAbortController = null;
+            throw e;
+        }
+        if (!res.ok) {
+            this._sseAbortController = null;
+            throw new Error(`HTTP ${res.status}`);
+        }
+
+        return new Promise((resolve, reject) => {
+            let welcomed = false;
+            const reader = res.body.getReader();
+            const decoder = new TextDecoder();
+            let buffer = '';
+
+            const readLoop = async () => {
+                try {
+                    while (true) {
+                        const { done, value } = await reader.read();
+                        if (done) break;
+                        buffer += decoder.decode(value, { stream: true });
+                        const lines = buffer.split('\n');
+                        buffer = lines.pop();
+                        for (const line of lines) {
+                            if (!line.startsWith('data:')) continue;
+                            try {
+                                const msg = JSON.parse(line.slice(5).trim());
+                                if (!welcomed && msg.type === 'welcome') {
+                                    welcomed = true;
+                                    this._peerId = msg.peerId;
+                                    this._state = 'connected';
+                                    await this._sendToServer({
+                                        type: 'setPeerStatus',
+                                        roles: ['listener'],
+                                        meta: { name: this._appName },
+                                    });
+                                    this._emit('connected', { peerId: msg.peerId });
+                                    resolve();
+                                }
+                                this._handleSignalingMessage(msg);
+                            } catch (_) { /* malformed JSON — skip */ }
+                        }
+                    }
+                } catch (e) {
+                    if (e.name !== 'AbortError') {
+                        this._emit('error', { source: 'signaling', error: e });
+                    }
+                    if (!welcomed) { reject(e); return; }
+                }
+                // SSE stream ended (server closed or network drop)
+                if (this._state !== 'disconnected') {
+                    this._state = 'disconnected';
+                    this._emit('disconnected', { reason: 'SSE closed' });
+                }
+                if (!welcomed) reject(new Error('Connection closed before welcome'));
+            };
+
+            readLoop();
+        });
+    }
+
+    /**
+     * One-shot bring-up: auth → SSE connect → robot selection → session →
+     * wake up. The all-in-one entry point that captures the common
+     * "embed *or* standalone, just get me streaming" flow so each
+     * consumer does not have to re-implement it.
+     *
+     * What it does, in order:
+     *   1. **Auth.** If `this._token` is not set, calls `authenticate()`
+     *      (which honours the iframe URL-fragment hand-off, the OAuth
+     *      redirect callback, and the `sessionStorage` cache). Throws if
+     *      none yield a token — the consumer should call `login()` and
+     *      retry after the redirect. Pass an explicit `token` to skip
+     *      `authenticate()` entirely.
+     *   2. **Connect.** If `state === 'disconnected'`, opens the SSE
+     *      signaling channel.
+     *   3. **Pick a robot.**
+     *      - **Embed mode** (`this.isEmbedded`): uses
+     *        `this._preselectedRobotId` from the URL. No picker callback
+     *        invoked; we briefly wait for that robot to appear in the
+     *        SSE list, then proceed.
+     *      - **Standalone**: GETs `/api/robot-status` for the owner's
+     *        robots with busy state, dedupes by `install_id`, sorts by
+     *        freshness. If `autoPickIfSingle` and exactly one free, picks
+     *        it. Else calls the consumer-supplied `pickRobot(robots)`
+     *        callback. Throws if neither yields an id.
+     *   4. **Start session.** Awaits `startSession(robotId)` (ICE + DC).
+     *   5. **Wake up.** Awaits `ensureAwake()` so sliders don't silently
+     *      no-op against a torque-off robot.
+     *
+     * @param {{
+     *   token?: string,                           // skip authenticate(); use this raw HF token
+     *   pickRobot?: (robots: Array<{
+     *     id: string,
+     *     name: string|null,
+     *     busy: boolean,
+     *     activeApp: string|null,
+     *     meta: object,
+     *     lastSeenAgeSeconds: number|null,
+     *   }>) => Promise<string|null>,              // called only in standalone, multi-robot case
+     *   autoPickIfSingle?: boolean,               // default true — skip the callback when 1 free robot
+     *   filterBusy?: boolean,                     // default true — hide busy robots from the picker
+     *   wakeOnConnect?: boolean,                  // default true — call ensureAwake() after startSession
+     * }} [options]
+     * @returns {Promise<{
+     *   robotId: string,
+     *   robotName: string|null,
+     *   isEmbedded: boolean,
+     *   alreadyStreaming?: boolean,
+     * }>}
+     */
+    async autoConnect(options = {}) {
+        const {
+            token = null,
+            pickRobot = null,
+            autoPickIfSingle = true,
+            filterBusy = true,
+            wakeOnConnect = true,
+        } = options;
+
+        // Idempotent fast-path: caller invoked autoConnect() on an
+        // already-streaming session (e.g. on a route change inside an
+        // SPA). Return the current selection rather than tearing down.
+        if (this._state === 'streaming') {
+            const cur = this._robots?.find((r) => r.id === this._selectedRobotId);
+            return {
+                robotId: this._selectedRobotId,
+                robotName: cur?.meta?.name ?? null,
+                isEmbedded: this.isEmbedded,
+                alreadyStreaming: true,
+            };
+        }
+
+        // autoConnect takes over the bring-up — disable the SDK's
+        // own `autoStartFromUrl` so the two paths don't race and
+        // both call `startSession()` against the same preselected
+        // robot. The race used to manifest as central rejecting the
+        // second attempt with "Robot is busy: <appName>" — the
+        // appName being our own first attempt. Restored on the way
+        // out so a later `stopSession()` followed by a fresh
+        // listener attach still benefits from auto-start.
+        const _prevAutoStartFromUrl = this._autoStartFromUrl;
+        this._autoStartFromUrl = false;
+
+        try {
+        // 1. Auth.
+        if (token) {
+            this._token = token;
+        } else if (!this._token) {
+            const ok = await this.authenticate();
+            if (!ok) {
+                // login() does a full page redirect; we don't trigger
+                // it here so the consumer can decide (a desktop tray
+                // wants different recovery than a standalone Space).
+                throw new Error('Not authenticated — call login() or pass a token');
+            }
+        }
+
+        // 2. SSE connect.
+        if (this._state === 'disconnected') {
+            await this.connect();
+        }
+
+        // 3. Resolve the target robot.
+        let robotId;
+        let robotName = null;
+        if (this.isEmbedded) {
+            robotId = this._preselectedRobotId;
+            // Wait briefly for the preselected robot to surface in the
+            // SSE list. Best-effort: if it never shows we still try
+            // startSession() — central may know about a robot the SSE
+            // list pushes only a moment later.
+            try {
+                await this._waitForRobotInList(robotId, 5000);
+            } catch (_) { /* fall through */ }
+            const found = this._robots?.find((r) => r.id === robotId);
+            robotName = found?.meta?.name ?? null;
+        } else {
+            const robots = await this._fetchOwnedRobots({ filterBusy });
+            if (robots.length === 0) {
+                throw new Error('No reachable robots');
+            }
+            if (autoPickIfSingle && robots.length === 1 && !robots[0].busy) {
+                robotId = robots[0].id;
+                robotName = robots[0].name;
+            } else if (pickRobot) {
+                const picked = await pickRobot(robots);
+                if (!picked) throw new Error('Robot selection cancelled');
+                robotId = picked;
+                robotName = robots.find((r) => r.id === picked)?.name ?? null;
+            } else {
+                throw new Error(
+                    'Multiple robots available — pass a pickRobot callback to autoConnect()',
+                );
+            }
+        }
+
+        // 4. Session.
+        await this.startSession(robotId);
+
+        // 5. Wake.
+        if (wakeOnConnect && typeof this.ensureAwake === 'function') {
+            try { await this.ensureAwake(); }
+            catch (e) { console.warn('[reachy-mini] autoConnect: ensureAwake failed:', e); }
+        }
+
+        return { robotId, robotName, isEmbedded: this.isEmbedded };
+        } finally {
+            this._autoStartFromUrl = _prevAutoStartFromUrl;
+        }
+    }
+
+    /**
+     * Fetch the caller's robots with busy state, deduped + sorted.
+     * One-shot snapshot — no live subscription. Falls back to the SSE
+     * `_robots` cache if `/api/robot-status` is unavailable (older
+     * central deployments don't expose it).
+     *
+     * Dedup: same physical robot can appear twice transiently after a
+     * daemon reinstall (new peerId, same install_id). Last-writer-wins
+     * on `install_id`, then `hardware_id`, then `peerId` (= no dedup).
+     *
+     * @returns {Promise<Array<{
+     *   id: string,
+     *   name: string|null,
+     *   busy: boolean,
+     *   activeApp: string|null,
+     *   meta: object,
+     *   lastSeenAgeSeconds: number|null,
+     * }>>}
+     */
+    async _fetchOwnedRobots({ filterBusy = true } = {}) {
+        try {
+            const res = await fetch(`${this._signalingUrl}/api/robot-status`, {
+                headers: { 'Authorization': `Bearer ${this._token}` },
+            });
+            if (!res.ok) throw new Error(`HTTP ${res.status}`);
+            const json = await res.json();
+            const seen = new Map();  // dedup key → projected robot
+            for (const r of (json.robots || [])) {
+                if (filterBusy && r.busy) continue;
+                const key = r.meta?.install_id ?? r.meta?.hardware_id ?? r.peerId;
+                seen.set(key, {
+                    id: r.peerId,
+                    name: r.robotName ?? r.meta?.name ?? null,
+                    busy: !!r.busy,
+                    activeApp: r.activeApp ?? null,
+                    meta: r.meta ?? {},
+                    lastSeenAgeSeconds: r.last_seen_age_seconds ?? null,
+                });
+            }
+            return Array.from(seen.values()).sort(
+                (a, b) => (a.lastSeenAgeSeconds ?? Infinity) - (b.lastSeenAgeSeconds ?? Infinity),
+            );
+        } catch (e) {
+            console.warn('[reachy-mini] /api/robot-status unavailable, using SSE list:', e);
+            return (this._robots || []).map((r) => ({
+                id: r.id,
+                name: r.meta?.name ?? null,
+                busy: false,             // unknown — SSE list does not carry busy state
+                activeApp: null,
+                meta: r.meta ?? {},
+                lastSeenAgeSeconds: null,
+            }));
+        }
+    }
+
+    /**
+     * Resolve once `robotId` appears in `_robots`, or reject after
+     * `timeoutMs`. Used by `autoConnect()`'s embed branch so the preselected
+     * robot has a chance to surface from the first SSE `list` push before
+     * `startSession()` is fired.
+     */
+    _waitForRobotInList(robotId, timeoutMs) {
+        if (this._robots?.find((r) => r.id === robotId)) return Promise.resolve();
+        return new Promise((resolve, reject) => {
+            const onChange = () => {
+                if (this._robots?.find((r) => r.id === robotId)) {
+                    this.removeEventListener('robotsChanged', onChange);
+                    clearTimeout(timeoutId);
+                    resolve();
+                }
+            };
+            const timeoutId = setTimeout(() => {
+                this.removeEventListener('robotsChanged', onChange);
+                reject(new Error(`Timeout waiting for robot ${robotId} in list`));
+            }, timeoutMs);
+            this.addEventListener('robotsChanged', onChange);
+        });
+    }
+
+    /**
+     * Start a WebRTC session with the given robot.
+     * Acquires the microphone (if enabled), negotiates SDP, and waits for
+     * both ICE connection and data channel to be ready before resolving.
+     * Emits "videoTrack" when the robot's camera stream arrives.
+     * Emits "micSupported" once SDP negotiation reveals whether the robot
+     * accepts bidirectional audio.
+     * @param {string} robotId — one of the ids from the robots list
+     * @returns {Promise<void>}
+     */
+    async startSession(robotId) {
+        if (this._state !== 'connected') throw new Error('Not connected');
+        this._selectedRobotId = robotId;
+        this._iceConnected = false;
+        this._dcOpen = false;
+        this._micSupported = false;
+        // Buffer for ICE candidates that arrive before the SDP
+        // exchange completes (see _handlePeerMessage). Reset on every
+        // fresh session so stale candidates from a previous attempt
+        // don't get applied to a new RTCPeerConnection.
+        this._pendingRemoteIce = [];
+
+        // Silent placeholder audio track for the WebRTC audio sender.
+        // The SDK does NOT call navigator.mediaDevices.getUserMedia — the
+        // user's microphone is the app's responsibility. WebRTC needs a
+        // sendrecv audio sender for robot-speaker output to work, so we
+        // always set up a 0-gain oscillator → MediaStreamDestination as
+        // the initial track. Apps that want to send actual audio (TTS,
+        // prerecorded files, the user's mic for teleop, …) do so by
+        // calling sender.replaceTrack() on the audio sender exposed via
+        // this._pc after the `streaming` event fires.
+        try {
+            const ctx = new (window.AudioContext || window.webkitAudioContext)();
+            const dst = ctx.createMediaStreamDestination();
+            const osc = ctx.createOscillator();
+            const gain = ctx.createGain();
+            gain.gain.value = 0;
+            osc.connect(gain).connect(dst);
+            osc.start();
+            this._micStream = dst.stream;
+            this._micStream.getAudioTracks().forEach(t => { t.enabled = false; });
+            this._micMuted = true;
+            this._silentMicFallback = { ctx, osc };
+        } catch (e) {
+            console.warn('Audio sender placeholder setup failed:', e);
+            this._micStream = null;
+        }
+
+        this._pc = new RTCPeerConnection({
+            iceServers: [{ urls: 'stun:stun.l.google.com:19302' }],
+        });
+
+        return new Promise((resolve, reject) => {
+            this._sessionResolve = resolve;
+            this._sessionReject = reject;
+
+            this._pc.ontrack = (e) => {
+                if (e.track.kind === 'video') {
+                    // Tell the receiver's jitter buffer to minimise its hold
+                    // time. Both properties target the same internal buffer;
+                    // browsers ignore whichever they don't implement.
+                    const ms = this._videoJitterBufferTargetMs;
+                    try { e.receiver.jitterBufferTarget = ms; } catch (_) {}
+                    try { e.receiver.playoutDelayHint = ms / 1000; } catch (_) {}
+                    this._emit('videoTrack', { track: e.track, stream: e.streams[0] });
+                }
+            };
+
+            this._pc.onicecandidate = async (e) => {
+                if (e.candidate && this._sessionId) {
+                    await this._sendToServer({
+                        type: 'peer',
+                        sessionId: this._sessionId,
+                        ice: {
+                            candidate: e.candidate.candidate,
+                            sdpMLineIndex: e.candidate.sdpMLineIndex,
+                            sdpMid: e.candidate.sdpMid,
+                        },
+                    });
+                }
+            };
+
+            this._pc.oniceconnectionstatechange = () => {
+                const s = this._pc?.iceConnectionState;
+                if (!s) return;
+                if (s === 'connected' || s === 'completed') {
+                    this._iceConnected = true;
+                    this._checkSessionReady();
+                } else if (s === 'failed') {
+                    const err = new Error('ICE connection failed');
+                    if (this._sessionReject) {
+                        this._sessionReject(err);
+                        this._sessionResolve = null;
+                        this._sessionReject = null;
+                    }
+                    this._emit('error', { source: 'webrtc', error: err });
+                } else if (s === 'disconnected') {
+                    this._emit('error', { source: 'webrtc', error: new Error('ICE disconnected') });
+                }
+            };
+
+            this._pc.ondatachannel = (e) => {
+                this._dc = e.channel;
+                this._dc.onopen = () => {
+                    this._dcOpen = true;
+                    this._checkSessionReady();
+                };
+                this._dc.onmessage = (ev) => this._handleRobotMessage(JSON.parse(ev.data));
+            };
+
+            this._sendToServer({ type: 'startSession', peerId: robotId }).then((r) => {
+                if (r?.type === 'sessionRejected') {
+                    this._failSessionRejected(r);
+                    return;
+                }
+                if (r?.sessionId) this._sessionId = r.sessionId;
+            });
+        });
+    }
+
+    /**
+     * Internal: handle a sessionRejected response from central.
+     * Releases resources allocated by startSession() (RTCPeerConnection,
+     * microphone stream) and rejects the pending startSession() promise
+     * with an Error carrying `.reason` and `.activeApp`.
+     *
+     * Called from both the POST-response path (primary) and the SSE
+     * handler (defensive, in case the server changes).
+     */
+    _failSessionRejected(msg) {
+        const err = new Error(
+            msg.reason === 'robot_busy'
+                ? `Robot is busy: "${msg.activeApp || 'another app'}" is already connected`
+                : `Session rejected: ${msg.reason || 'unknown reason'}`
+        );
+        err.reason = msg.reason;
+        err.activeApp = msg.activeApp;
+
+        // Release resources allocated optimistically in startSession()
+        // before we knew the server would refuse.
+        if (this._pc) { this._pc.close(); this._pc = null; }
+        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }
+        this._iceConnected = false;
+        this._dcOpen = false;
+        this._micMuted = true;
+        this._micSupported = false;
+
+        this._emit('sessionRejected', { reason: msg.reason, activeApp: msg.activeApp });
+
+        if (this._sessionReject) {
+            const reject = this._sessionReject;
+            this._sessionResolve = null;
+            this._sessionReject = null;
+            reject(err);
+        }
+    }
+
+    /**
+     * End the WebRTC session.  Returns to "connected" state so you can
+     * startSession() again with the same or a different robot.
+     * @returns {Promise<void>}
+     */
+    async stopSession() {
+        if (this._versionResolve) { this._versionResolve(null); this._versionResolve = null; }
+        if (this._hardwareIdResolve) { this._hardwareIdResolve(null); this._hardwareIdResolve = null; }
+        if (this._volumeResolve) { this._volumeResolve(null); this._volumeResolve = null; }
+        if (this._micVolumeResolve) { this._micVolumeResolve(null); this._micVolumeResolve = null; }
+        // Drop any active log subscribers — the daemon-side subprocess
+        // is torn down on peer-disconnect, so resubscribing across a
+        // reconnect requires a fresh subscribeLogs() call from the
+        // consumer.
+        this._logSubscribers.clear();
+        // Drain any in-flight wakeUp() / gotoSleep() awaiters before
+        // the data channel is killed below, so callers don't sit on a
+        // promise that can never resolve.
+        this._rejectPendingMotionCompletions(new Error('Session stopped'));
+        if (this._sessionReject) {
+            this._sessionReject(new Error('Session stopped'));
+            this._sessionResolve = null;
+            this._sessionReject = null;
+        }
+
+        if (this._stateRefreshInterval) { clearInterval(this._stateRefreshInterval); this._stateRefreshInterval = null; }
+        if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }
+
+        if (this._sessionId) {
+            await this._sendToServer({ type: 'endSession', sessionId: this._sessionId });
+        }
+
+        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }
+        this._micMuted = true;
+        this._micSupported = false;
+
+        if (this._pc) { this._pc.close(); this._pc = null; }
+        if (this._dc) { this._dc.close(); this._dc = null; }
+
+        this._sessionId = null;
+        this._iceConnected = false;
+        this._dcOpen = false;
+
+        const wasStreaming = this._state === 'streaming';
+        if (wasStreaming) {
+            this._state = 'connected';
+            this._emit('sessionStopped', { reason: 'user' });
+        }
+    }
+
+    /**
+     * Full teardown — abort SSE, close WebRTC.
+     * Auth state is preserved (call logout() to also clear credentials).
+     */
+    disconnect() {
+        if (this._sseAbortController) { this._sseAbortController.abort(); this._sseAbortController = null; }
+
+        if (this._versionResolve) { this._versionResolve(null); this._versionResolve = null; }
+        if (this._hardwareIdResolve) { this._hardwareIdResolve(null); this._hardwareIdResolve = null; }
+        if (this._volumeResolve) { this._volumeResolve(null); this._volumeResolve = null; }
+        if (this._micVolumeResolve) { this._micVolumeResolve(null); this._micVolumeResolve = null; }
+        this._logSubscribers.clear();
+        // Same rationale as in stopSession(): drain pending motion
+        // awaiters before tearing down the data channel.
+        this._rejectPendingMotionCompletions(new Error('Disconnected'));
+        if (this._sessionReject) {
+            this._sessionReject(new Error('Disconnected'));
+            this._sessionResolve = null;
+            this._sessionReject = null;
+        }
+
+        if (this._stateRefreshInterval) { clearInterval(this._stateRefreshInterval); this._stateRefreshInterval = null; }
+        if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }
+
+        if (this._sessionId && this._token) {
+            this._sendToServer({ type: 'endSession', sessionId: this._sessionId }); // fire-and-forget
+        }
+
+        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }
+        if (this._pc) { this._pc.close(); this._pc = null; }
+        if (this._dc) { this._dc.close(); this._dc = null; }
+
+        this._sessionId = null;
+        this._micMuted = true;
+        this._micSupported = false;
+        this._iceConnected = false;
+        this._dcOpen = false;
+        this._peerId = null;
+        this._robots = [];
+        this._state = 'disconnected';
+        this._emit('disconnected', { reason: 'user' });
+    }
+
+    // ─── Commands ────────────────────────────────────────────────────────
+    // All return false if the data channel is not open, true if sent.
+
+    /**
+     * Send a target pose to the robot. Wire-shape, raw units only —
+     * single source of truth for motion commands. Every field is
+     * optional; omitted fields leave the daemon's previous target
+     * unchanged, so partial updates compose naturally.
+     *
+     * For human units (degrees), use the ``setHeadRpyDeg`` /
+     * ``setAntennasDeg`` / ``setBodyYawDeg`` thin wrappers below.
+     *
+     * @param {object} [target]
+     * @param {number[]} [target.head] 16-element flat row-major 4×4
+     *   matrix (full SE(3); preserves translation, no XYZ loss).
+     * @param {number[]} [target.antennas] ``[rightRad, leftRad]``.
+     * @param {number} [target.body_yaw] Body yaw in radians.
+     * @returns {boolean} false if the data channel is not open.
+     * @throws {TypeError} if any provided field has the wrong shape or
+     *   contains a non-finite value (NaN, Infinity). Validation runs at
+     *   the JS boundary so caller mistakes surface with a stack trace
+     *   pointing to the call site, not as a confusing daemon-side error.
+     */
+    setTarget({ head, antennas, body_yaw } = {}) {
+        const cmd = { type: "set_full_target" };
+        if (head !== undefined) {
+            if (!Array.isArray(head) || head.length !== 16
+                || !head.every((n) => Number.isFinite(n))) {
+                throw new TypeError(
+                    'setTarget: head must be a 16-element flat row-major 4×4 matrix '
+                    + `of finite numbers; got ${Array.isArray(head) ? `Array(${head.length})` : typeof head}`
+                );
+            }
+            cmd.head = head;
+        }
+        if (antennas !== undefined) {
+            if (!Array.isArray(antennas) || antennas.length !== 2
+                || !antennas.every((n) => Number.isFinite(n))) {
+                throw new TypeError(
+                    'setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); '
+                    + `got ${Array.isArray(antennas) ? `Array(${antennas.length})` : typeof antennas}`
+                );
+            }
+            cmd.antennas = antennas;
+        }
+        if (body_yaw !== undefined) {
+            if (!Number.isFinite(body_yaw)) {
+                throw new TypeError(
+                    `setTarget: body_yaw must be a finite number (radians); got ${body_yaw}`
+                );
+            }
+            cmd.body_yaw = body_yaw;
+        }
+        return this._sendCommand(cmd);
+    }
+
+    /**
+     * Smooth daemon-side interpolation to a target pose over
+     * ``duration`` seconds. Mirrors ``setTarget``'s wire shape (head
+     * is a 16-element flat row-major 4×4, antennas are
+     * ``[rightRad, leftRad]``, body_yaw is radians) and adds a
+     * required ``duration`` field. The daemon dispatches the command
+     * to its lerp planner instead of jumping to the target.
+     *
+     * Use this for one-shot smooth approaches to an arbitrary pose
+     * (e.g. soft-return-to-base after recording, or pre-positioning
+     * before a streamed playback). For continuous streamed motion,
+     * use ``setTarget`` and lerp client-side.
+     *
+     * @param {{head?: number[], antennas?: number[], body_yaw?: number, duration: number}} args
+     * @returns {boolean} false if the data channel is not open.
+     * @throws {TypeError} if any provided field has the wrong shape
+     *   or contains a non-finite value (NaN, Infinity), or if
+     *   ``duration`` is missing or non-positive.
+     */
+    gotoTarget({ head, antennas, body_yaw, duration } = {}) {
+        const cmd = { type: "goto_target" };
+        if (head !== undefined) {
+            if (!Array.isArray(head) || head.length !== 16
+                || !head.every((n) => Number.isFinite(n))) {
+                throw new TypeError(
+                    'gotoTarget: head must be a 16-element flat row-major 4×4 matrix '
+                    + `of finite numbers; got ${Array.isArray(head) ? `Array(${head.length})` : typeof head}`
+                );
+            }
+            cmd.head = head;
+        }
+        if (antennas !== undefined) {
+            if (!Array.isArray(antennas) || antennas.length !== 2
+                || !antennas.every((n) => Number.isFinite(n))) {
+                throw new TypeError(
+                    'gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); '
+                    + `got ${Array.isArray(antennas) ? `Array(${antennas.length})` : typeof antennas}`
+                );
+            }
+            cmd.antennas = antennas;
+        }
+        if (body_yaw !== undefined) {
+            if (!Number.isFinite(body_yaw)) {
+                throw new TypeError(
+                    `gotoTarget: body_yaw must be a finite number (radians); got ${body_yaw}`
+                );
+            }
+            cmd.body_yaw = body_yaw;
+        }
+        if (!Number.isFinite(duration) || duration <= 0) {
+            throw new TypeError(
+                `gotoTarget: duration must be a positive finite number (seconds); got ${duration}`
+            );
+        }
+        cmd.duration = duration;
+        return this._sendCommand(cmd);
+    }
+
+    /**
+     * Set head orientation from roll/pitch/yaw in degrees.
+     * Convenience wrapper over ``setTarget``.
+     * @param {number} rollDeg @param {number} pitchDeg @param {number} yawDeg
+     * @returns {boolean}
+     */
+    setHeadRpyDeg(rollDeg, pitchDeg, yawDeg) {
+        return this.setTarget({ head: rpyToMatrix(rollDeg, pitchDeg, yawDeg).flat() });
+    }
+
+    /**
+     * Set antenna positions from degrees.
+     * Convenience wrapper over ``setTarget``.
+     * @param {number} rightDeg @param {number} leftDeg
+     * @returns {boolean}
+     */
+    setAntennasDeg(rightDeg, leftDeg) {
+        return this.setTarget({ antennas: [degToRad(rightDeg), degToRad(leftDeg)] });
+    }
+
+    /**
+     * Set body yaw from degrees.
+     * Convenience wrapper over ``setTarget``.
+     * @param {number} yawDeg
+     * @returns {boolean}
+     */
+    setBodyYawDeg(yawDeg) {
+        return this.setTarget({ body_yaw: degToRad(yawDeg) });
+    }
+
+    /**
+     * Play a sound file on the robot.
+     * @param {string} file — filename available on the robot (e.g. "wake_up.wav")
+     * @returns {boolean}
+     */
+    playSound(file) {
+        return this._sendCommand({ type: "play_sound", file });
+    }
+
+    /**
+     * Set the motor control mode.
+     *
+     * @param {"enabled"|"disabled"|"gravity_compensation"} mode
+     *   - "enabled"              torque on, position-controlled.
+     *   - "disabled"             torque off; the robot is backdrivable
+     *                            and will not hold any pose.
+     *   - "gravity_compensation" torque on in current-control mode;
+     *                            motors actively cancel gravity so the
+     *                            robot is easy to move by hand.
+     * @returns {boolean} false if the data channel is not open.
+     */
+    setMotorMode(mode) {
+        return this._sendCommand({ type: "set_motor_mode", mode });
+    }
+
+    /**
+     * Toggle torque on/off, optionally per-motor.
+     *
+     * @param {boolean} on
+     * @param {string[]} [ids]  motor names (e.g. ["left_antenna"]). When
+     *   omitted, applies globally — equivalent to setMotorMode("enabled"
+     *   | "disabled").
+     * @returns {boolean} false if the data channel is not open.
+     */
+    setMotorTorque(on, ids = null) {
+        return this._sendCommand({ type: "set_torque", on, ids });
+    }
+
+    /**
+     * Play the wake-up animation (full head/antennas trajectory on the
+     * robot, ~1-3 s depending on the starting head pose) and resolve
+     * when the daemon reports the trajectory player has actually
+     * finished.
+     *
+     * This helper sends a ``set_motor_mode: "enabled"`` command *before*
+     * the ``wake_up`` command so the animation actually moves the motors.
+     * The robot's ``wake_up`` handler does not touch motor mode itself;
+     * if torque is off when the trajectory runs, the commanded positions
+     * are silently ignored and the robot stays limp. Both commands
+     * travel over the same data channel so ordering at the backend is
+     * preserved.
+     *
+     * The returned promise resolves on the daemon's
+     * ``{command: "wake_up", completed: true}`` response (sent after
+     * the trajectory player is fully done, not just when the command
+     * is enqueued). Lets a UI overlay (e.g. the host's "Wake-up" step)
+     * stay up for exactly the right duration, and lets callers chain
+     * setup that depends on the head being in the awake pose without
+     * racing the trajectory.
+     *
+     * Semantics match the REST endpoint ``POST /api/move/play/wake_up``
+     * plus the LAN convention of enabling motors before playing motion
+     * trajectories.
+     *
+     * @param {object} [options]
+     * @param {number} [options.timeoutMs=8000] hard upper bound; the
+     *   promise rejects with a TimeoutError-shaped Error if the daemon
+     *   stops responding (e.g. data channel went down mid-animation
+     *   without firing close events).
+     * @returns {Promise<void>}
+     */
+    wakeUp({ timeoutMs = 8000 } = {}) {
+        this._sendCommand({ type: "set_motor_mode", mode: "enabled" });
+        return this._sendCommandAwaitCompletion("wake_up", timeoutMs);
+    }
+
+    /**
+     * Play the goto-sleep animation and resolve when the daemon reports
+     * the trajectory player has finished. See ``wakeUp`` for the
+     * completion-signal rationale.
+     *
+     * Does NOT touch motor mode: the daemon's ``goto_sleep`` handler
+     * manages the transition out of torque on its own (motors must stay
+     * powered during the trajectory to move into the sleep pose, then
+     * are typically disabled by the daemon once the pose is reached).
+     *
+     * The awaitable form lets callers chain ``setMotorMode('disabled')``
+     * AFTER the trajectory lands instead of racing it, which previously
+     * caused the head to drop mid-animation when consumers tore down
+     * too eagerly.
+     *
+     * Semantics match ``POST /api/move/play/goto_sleep`` and the
+     * ``"goto_sleep"`` WebRTC command.
+     *
+     * @param {object} [options]
+     * @param {number} [options.timeoutMs=8000]
+     * @returns {Promise<void>}
+     */
+    gotoSleep({ timeoutMs = 8000 } = {}) {
+        return this._sendCommandAwaitCompletion("goto_sleep", timeoutMs);
+    }
+
+    /**
+     * Internal: send a motion command and resolve when the daemon's
+     * matching ``{command, completed: true}`` response lands.
+     *
+     * Pushes one entry onto ``_pendingMotionCompletions[command]``; the
+     * data-channel reader (``_handleRobotMessage``) shifts the oldest
+     * entry off the queue when a response arrives, which preserves the
+     * FIFO matching that the daemon's serialised dispatcher relies on.
+     *
+     * Rejects immediately if the data channel is not open; the underlying
+     * ``_sendCommand`` returns false in that case and we never enqueue an
+     * awaiter that the daemon could never reach.
+     *
+     * @param {"wake_up"|"goto_sleep"} command
+     * @param {number} timeoutMs
+     * @returns {Promise<void>}
+     */
+    _sendCommandAwaitCompletion(command, timeoutMs) {
+        if (!this._sendCommand({ type: command })) {
+            return Promise.reject(new Error(`${command}: data channel not open`));
+        }
+        return new Promise((resolve, reject) => {
+            const entry = {
+                resolve,
+                reject,
+                timer: setTimeout(() => {
+                    const queue = this._pendingMotionCompletions[command];
+                    const idx = queue.indexOf(entry);
+                    if (idx !== -1) queue.splice(idx, 1);
+                    reject(new Error(`${command} timed out after ${timeoutMs}ms`));
+                }, timeoutMs),
+            };
+            this._pendingMotionCompletions[command].push(entry);
+        });
+    }
+
+    /**
+     * Internal: drain every pending motion-completion resolver with the
+     * given error. Called by ``stopSession()`` and ``disconnect()`` so a
+     * teardown that interrupts an in-flight ``gotoSleep`` does not leave
+     * the caller awaiting forever.
+     */
+    _rejectPendingMotionCompletions(error) {
+        for (const command of Object.keys(this._pendingMotionCompletions)) {
+            const queue = this._pendingMotionCompletions[command];
+            while (queue.length) {
+                const entry = queue.shift();
+                clearTimeout(entry.timer);
+                entry.reject(error);
+            }
+        }
+    }
+
+    /**
+     * Whether the robot's motors are currently powered (the "awake" state).
+     *
+     * Reads ``motor_mode`` from the last state event. Both ``"enabled"``
+     * and ``"gravity_compensation"`` count as awake: in gravity-comp the
+     * motors are actively holding the arm against gravity, so the robot
+     * is *not* limp and playing wake_up on top would fight the user.
+     * Only ``"disabled"`` (true sleep) is considered not-awake.
+     *
+     * Returns ``false`` before the first state event arrives (typical
+     * right after ``startSession()``). Use ``ensureAwake()`` if you want
+     * to wait for the first state before deciding.
+     *
+     * @returns {boolean}
+     */
+    isAwake() {
+        const mode = this._robotState?.motor_mode;
+        return mode === "enabled" || mode === "gravity_compensation";
+    }
+
+    /**
+     * Wake the robot up if it is currently asleep, otherwise no-op.
+     *
+     * Intended as the first line of any app after ``startSession()``
+     * resolves — robots are often left in the sleep pose (torque off,
+     * head resting on the base) and commanded positions are silently
+     * ignored in that state.
+     *
+     * If no state event has arrived yet, waits up to ``timeoutMs`` for
+     * one before deciding. If still no state, falls back to sending
+     * ``wakeUp()`` (safe: the daemon's wake_up handler is idempotent
+     * at the motion level — it moves to the awake pose from wherever
+     * the head currently is).
+     *
+     * @param {number} [timeoutMs=1000] how long to wait for the first
+     *   state event before falling through to wakeUp().
+     * @returns {Promise<boolean>} true if the robot is awake afterwards.
+     */
+    async ensureAwake(timeoutMs = 1000) {
+        if (this._robotState?.motor_mode === undefined) {
+            await new Promise((resolve) => {
+                const done = () => {
+                    this.removeEventListener('state', done);
+                    clearTimeout(timer);
+                    resolve();
+                };
+                const timer = setTimeout(done, timeoutMs);
+                this.addEventListener('state', done);
+                this.requestState();
+            });
+        }
+        if (this.isAwake()) return true;
+        // wakeUp() now returns a Promise. Fire-and-forget here — we
+        // intentionally do not await the trajectory completion, the
+        // caller of ensureAwake() decides whether to block on the
+        // animation. Catch the rejection so a teardown that interrupts
+        // the wake doesn't surface an unhandledrejection event from
+        // this internal helper.
+        this.wakeUp().catch(() => { /* swallow: caller may have torn down */ });
+        return true;
+    }
+
+    /**
+     * Request the daemon version.
+     * Resolves with the version string (or null if unavailable).
+     * @returns {Promise<string|null>}
+     */
+    getVersion() {
+        return new Promise((resolve, reject) => {
+            if (!this._dc || this._dc.readyState !== 'open') {
+                reject(new Error('Data channel not open'));
+                return;
+            }
+            if (this._versionResolve) {
+                this._versionResolve(null);
+            }
+            this._versionResolve = resolve;
+            this._sendCommand({ type: "get_version" });
+        });
+    }
+
+    /**
+     * Request the robot's unique hardware ID — the Pollen audio device's
+     * USB serial. Same value across Lite and Wireless variants, stable
+     * across reboots and OS reinstalls. Useful for fleet management,
+     * per-robot calibration cache keys, or identifying which physical
+     * robot a session is bound to.
+     * Resolves with the hardware ID string (or null if no robot is
+     * attached, e.g. the daemon is running on a developer machine).
+     * @returns {Promise<string|null>}
+     */
+    getHardwareId() {
+        return new Promise((resolve, reject) => {
+            if (!this._dc || this._dc.readyState !== 'open') {
+                reject(new Error('Data channel not open'));
+                return;
+            }
+            if (this._hardwareIdResolve) {
+                this._hardwareIdResolve(null);
+            }
+            this._hardwareIdResolve = resolve;
+            this._sendCommand({ type: "get_hardware_id" });
+        });
+    }
+
+    /**
+     * Query the current speaker volume (0-100).
+     * Resolves with null if volume control is unavailable (platform unsupported
+     * or audio stack down).
+     * @returns {Promise<number|null>}
+     */
+    getVolume() {
+        return this._volumeRoundtrip({ type: "get_volume" }, "_volumeResolve");
+    }
+
+    /**
+     * Set the speaker volume (0-100). Persists for the next connection
+     * (same semantics as the REST /api/volume/set endpoint).
+     * Resolves with the applied volume, or null on failure.
+     * @param {number} volume 0-100
+     * @returns {Promise<number|null>}
+     */
+    setVolume(volume) {
+        return this._volumeRoundtrip(
+            { type: "set_volume", volume: clampVolume(volume) },
+            "_volumeResolve",
+        );
+    }
+
+    /**
+     * Query the current microphone input volume (0-100).
+     * @returns {Promise<number|null>}
+     */
+    getMicrophoneVolume() {
+        return this._volumeRoundtrip(
+            { type: "get_microphone_volume" },
+            "_micVolumeResolve",
+        );
+    }
+
+    /**
+     * Set the microphone input volume (0-100). Persists across sessions.
+     * @param {number} volume 0-100
+     * @returns {Promise<number|null>}
+     */
+    setMicrophoneVolume(volume) {
+        return this._volumeRoundtrip(
+            { type: "set_microphone_volume", volume: clampVolume(volume) },
+            "_micVolumeResolve",
+        );
+    }
+
+    /**
+     * Internal: send a volume command and await the single-slot response.
+     * The slot name selects which resolver (speaker vs mic) owns the
+     * pending request so the two can be in-flight concurrently without
+     * collision.
+     */
+    _volumeRoundtrip(command, slot) {
+        return new Promise((resolve, reject) => {
+            if (!this._dc || this._dc.readyState !== 'open') {
+                reject(new Error('Data channel not open'));
+                return;
+            }
+            // If a previous request on the same slot is still pending,
+            // resolve it to null so its caller doesn't hang forever.
+            if (this[slot]) this[slot](null);
+            this[slot] = resolve;
+            this._sendCommand(command);
+        });
+    }
+
+    /**
+     * Send an arbitrary JSON command over the data channel.
+     * @param {object} data  @returns {boolean}
+     */
+    sendRaw(data) {
+        return this._sendCommand(data);
+    }
+
+    /**
+     * Subscribe to the daemon's `journalctl -u reachy-mini-daemon`
+     * stream over the WebRTC data channel.
+     *
+     * One daemon-side subprocess is shared across all local subscribers:
+     * the first call sends `subscribe_logs`, removing the last subscriber
+     * sends `unsubscribe_logs`. Calling the returned `unsubscribe()`
+     * twice is a no-op.
+     *
+     * @param {{
+     *   onLine: (entry: { timestamp: string, line: string }) => void,
+     *   onError?: (error: string) => void,
+     * }} options
+     * @returns {() => void} unsubscribe
+     */
+    subscribeLogs({ onLine, onError } = {}) {
+        if (typeof onLine !== 'function') {
+            throw new TypeError('subscribeLogs: onLine callback is required');
+        }
+        const sub = { onLine, onError };
+        const wasEmpty = this._logSubscribers.size === 0;
+        this._logSubscribers.add(sub);
+        if (wasEmpty) this._sendCommand({ type: 'subscribe_logs' });
+
+        let detached = false;
+        return () => {
+            if (detached) return;
+            detached = true;
+            this._logSubscribers.delete(sub);
+            if (this._logSubscribers.size === 0) {
+                this._sendCommand({ type: 'unsubscribe_logs' });
+            }
+        };
+    }
+
+    /**
+     * Request a state snapshot.  The response arrives as a "state" event.
+     * Called automatically every 500 ms while streaming.
+     *
+     * Safe to call at a higher rate if you need faster telemetry: e.g.
+     * ``setInterval(() => robot.requestState(), 20)`` for ~50 Hz, or drive
+     * it from a ``requestAnimationFrame`` loop for display-rate updates.
+     * On LAN the daemon can sustain ~90-100 Hz round-trips over the
+     * datachannel; over the internet expect the WebRTC path's RTT to
+     * dominate. The built-in 500 ms poll keeps running in parallel — it
+     * is harmless, as state responses are idempotent.
+     *
+     * @returns {boolean}
+     */
+    requestState() {
+        return this._sendCommand({ type: "get_state" });
+    }
+
+    // ─── Audio ───────────────────────────────────────────────────────────
+
+    /**
+     * Mute/unmute the robot's audio playback (speaker) locally.
+     * Audio is muted by default — browsers require a user gesture to unmute.
+     * @param {boolean} muted
+     */
+    setAudioMuted(muted) {
+        this._audioMuted = muted;
+        if (this._videoElement) this._videoElement.muted = muted;
+    }
+
+    /**
+     * Mute/unmute your microphone.  Only works if micSupported is true.
+     * Mic is muted by default even after acquisition.
+     * @param {boolean} muted
+     */
+    setMicMuted(muted) {
+        this._micMuted = muted;
+        if (this._micStream) {
+            this._micStream.getAudioTracks().forEach(t => { t.enabled = !muted; });
+        }
+    }
+
+    // ─── Video helper ────────────────────────────────────────────────────
+
+    /**
+     * Bind a `<video>` element to this robot's stream.
+     * Call before startSession().  Sets srcObject when the video track arrives,
+     * applies audio mute state, and runs a latency monitor that snaps to the
+     * live edge if the buffer grows > 0.5 s.
+     *
+     * @param {HTMLVideoElement} videoElement
+     * @returns {() => void} cleanup function — call to detach video and stop monitoring
+     */
+    attachVideo(videoElement) {
+        this._videoElement = videoElement;
+        videoElement.muted = this._audioMuted;
+
+        const onVideoTrack = (e) => {
+            videoElement.srcObject = e.detail.stream;
+            videoElement.playsInline = true;
+            if ('requestVideoFrameCallback' in videoElement) {
+                this._startLatencyMonitor(videoElement);
+            }
+        };
+
+        const onSessionStopped = () => { videoElement.srcObject = null; };
+
+        this.addEventListener('videoTrack', onVideoTrack);
+        this.addEventListener('sessionStopped', onSessionStopped);
+
+        return () => {
+            this.removeEventListener('videoTrack', onVideoTrack);
+            this.removeEventListener('sessionStopped', onSessionStopped);
+            if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }
+            videoElement.srcObject = null;
+            this._videoElement = null;
+        };
+    }
+
+    // ─── Daemon-side recorded-move playback ──────────────────────────────
+    //
+    // These methods talk to the daemon's `feature/daemon-side-move-upload`
+    // protocol: motion (and optional audio) are uploaded once over the
+    // data channel, then the daemon's play_move loop runs at the requested
+    // frequency server-side — no per-frame WebRTC round-trip, smooth on
+    // wireless robots. Audio, when present, plays on the same daemon-side
+    // GStreamer pipeline so motion and sound share a single clock.
+    //
+    // For record-time flows that need the SAME audio pipeline at capture
+    // and replay (so pipeline latency cancels), use uploadAudio +
+    // playUploadedAudio to play audio standalone with a sync anchor.
+
+    /**
+     * Upload a recorded move (and optionally its audio) and play it on
+     * the daemon's local clock. Resolves when playback ends with the
+     * daemon's final broadcast — `{finished: true}`, `{cancelled: true}`,
+     * or `{error: string}`.
+     *
+     * `audioLeadMs` shifts audio relative to motion:
+     *  - Positive: audio fires N ms BEFORE motion (compensates motor pickup).
+     *  - Negative: motion fires N ms BEFORE audio (compensates pipeline warmup).
+     *  - Default `-100` is the empirically-measured system-wide constant
+     *    (combined motor + GStreamer playbin warmup); tune per setup only
+     *    if you've measured a different value.
+     *
+     * @param {{ time: number[], set_target_data: object[] }} motion
+     * @param {object} [opts]
+     * @param {Blob}    [opts.audioBlob]            - canonical 16 kHz mono PCM WAV
+     * @param {number}  [opts.audioLeadMs=-100]
+     * @param {string}  [opts.description="move"]
+     * @param {"gzip+base64"|"json"} [opts.encoding="gzip+base64"]
+     * @param {number}  [opts.playFrequency=100]
+     * @param {number}  [opts.initialGotoDuration=0]
+     * @param {number}  [opts.startTimeoutMs=8000]
+     * @param {(p: { phase: string, sent?: number, total?: number,
+     *               bytes?: number, encoding?: string,
+     *               duration_s?: number }) => void} [opts.onProgress]
+     * @param {(s: { duration_s: number, has_audio: boolean }) => void} [opts.onStarted]
+     * @returns {Promise<{ finished?: boolean, cancelled?: boolean,
+     *                     error?: string, has_audio?: boolean }>}
+     */
+    async playMove(motion, {
+        audioBlob = null,
+        audioLeadMs = -100,
+        description = "move",
+        encoding = "gzip+base64",
+        playFrequency = 100,
+        initialGotoDuration = 0,
+        startTimeoutMs = 8000,
+        onProgress = () => {},
+        onStarted = () => {},
+    } = {}) {
+        if (!this._dc || this._dc.readyState !== "open") {
+            throw new Error("data channel not open");
+        }
+        if (!motion?.time?.length || !motion?.set_target_data?.length) {
+            throw new Error("playMove: motion must have time + set_target_data");
+        }
+        const uploadId = makeUploadId();
+        // Publish the id so `cancelMove()` without args targets this
+        // run. Cleared in finally to avoid stale cancels biting the
+        // next run.
+        this._activeMoveUploadId = uploadId;
+
+        // Encode the move payload. gzip+base64 typically compresses
+        // recorded-move JSON ~3× thanks to repeated float patterns;
+        // falls back to plain JSON if CompressionStream is missing.
+        const moveDict = {
+            description,
+            time: motion.time,
+            set_target_data: motion.set_target_data,
+        };
+        const jsonStr = JSON.stringify(moveDict);
+        let payload;
+        let effectiveEncoding;
+        if (encoding === "gzip+base64" && hasCompressionStream()) {
+            payload = await gzipBase64(jsonStr);
+            effectiveEncoding = "gzip+base64";
+        } else {
+            payload = jsonStr;
+            effectiveEncoding = "json";
+        }
+        const totalChunks = Math.ceil(payload.length / UPLOAD_CHUNK_SIZE) || 1;
+
+        onProgress({
+            phase: "starting",
+            sent: 0,
+            total: totalChunks,
+            bytes: payload.length,
+            encoding: effectiveEncoding,
+        });
+
+        // 1. Open the move slot.
+        this._sendCommand({
+            type: "upload_move_start",
+            upload_id: uploadId,
+            total_chunks: totalChunks,
+            description,
+            encoding: effectiveEncoding,
+        });
+        // 2. Pipeline motion chunks. No per-chunk acks; pace on
+        //    bufferedAmount so a long song doesn't blow up the channel.
+        for (let i = 0; i < totalChunks; i++) {
+            if (this._dc.bufferedAmount > UPLOAD_BUFFERED_HIGH_WATER) {
+                await this._awaitDataChannelDrain();
+            }
+            const start = i * UPLOAD_CHUNK_SIZE;
+            this._sendCommand({
+                type: "upload_move_chunk",
+                upload_id: uploadId,
+                chunk_index: i,
+                chunk: payload.slice(start, start + UPLOAD_CHUNK_SIZE),
+            });
+            onProgress({ phase: "upload", sent: i + 1, total: totalChunks });
+        }
+        // 3. Close the slot. Daemon parses synchronously.
+        this._sendCommand({ type: "upload_move_finish", upload_id: uploadId });
+        onProgress({ phase: "uploaded", sent: totalChunks, total: totalChunks });
+
+        // 3b. Optional audio: pipelined under the SAME upload_id so the
+        //     daemon pairs it with the move at play time. Raw WAV bytes
+        //     are base64-encoded (no gzip; PCM compresses poorly).
+        if (audioBlob) {
+            const rawBytes = new Uint8Array(await audioBlob.arrayBuffer());
+            const audioB64 = bytesToBase64(rawBytes);
+            const audioTotal = Math.ceil(audioB64.length / UPLOAD_CHUNK_SIZE) || 1;
+            onProgress({
+                phase: "audio-starting",
+                sent: 0,
+                total: audioTotal,
+                bytes: audioB64.length,
+            });
+            this._sendCommand({
+                type: "upload_audio_start",
+                upload_id: uploadId,
+                total_chunks: audioTotal,
+                encoding: "wav-base64",
+                description,
+            });
+            for (let i = 0; i < audioTotal; i++) {
+                if (this._dc.bufferedAmount > UPLOAD_BUFFERED_HIGH_WATER) {
+                    await this._awaitDataChannelDrain();
+                }
+                const start = i * UPLOAD_CHUNK_SIZE;
+                this._sendCommand({
+                    type: "upload_audio_chunk",
+                    upload_id: uploadId,
+                    chunk_index: i,
+                    chunk: audioB64.slice(start, start + UPLOAD_CHUNK_SIZE),
+                });
+                onProgress({ phase: "audio-upload", sent: i + 1, total: audioTotal });
+            }
+            this._sendCommand({ type: "upload_audio_finish", upload_id: uploadId });
+            onProgress({ phase: "audio-uploaded", sent: audioTotal, total: audioTotal });
+        }
+
+        // 4. Trigger playback; await the daemon's "started" broadcast.
+        this._sendCommand({
+            type: "play_uploaded_move",
+            upload_id: uploadId,
+            play_frequency: playFrequency,
+            initial_goto_duration: initialGotoDuration,
+            audio_lead_ms: audioLeadMs,
+        });
+        let startedAck;
+        try {
+            startedAck = await this._waitForBroadcast(
+                (m) =>
+                    m?.type === "play_uploaded_move"
+                    && m?.upload_id === uploadId
+                    && (m.started === true || typeof m.error === "string"),
+                { timeoutMs: startTimeoutMs, debugLabel: "play_uploaded_move started" },
+            );
+        } catch (e) {
+            throw new Error(
+                "Daemon did not respond to play_uploaded_move "
+                + "(requires the reachy_mini daemon with feature/daemon-side-move-upload). "
+                + `Underlying: ${e.message}`,
+            );
+        }
+        if (typeof startedAck.error === "string") {
+            throw new Error(`play_uploaded_move: ${startedAck.error}`);
+        }
+        try {
+            onStarted({
+                duration_s: startedAck.duration_s,
+                has_audio: startedAck.has_audio === true,
+            });
+        } catch (e) {
+            // onStarted is user code — never let it abort playback.
+            console.warn("playMove.onStarted threw:", e);
+        }
+        onProgress({ phase: "playing", duration_s: startedAck.duration_s });
+
+        // 5. Wait for the final broadcast.
+        const final = await this._waitForBroadcast(
+            (m) =>
+                m?.type === "play_uploaded_move"
+                && m?.upload_id === uploadId
+                && (m.finished === true
+                    || m.cancelled === true
+                    || typeof m.error === "string"),
+            {
+                timeoutMs: (startedAck.duration_s + 30) * 1000,
+                debugLabel: "play_uploaded_move final",
+            },
+        );
+        // Release the "current move id" pointer so the next no-arg
+        // cancelMove() doesn't target an already-ended run. Guarded
+        // against the unlikely case that a concurrent playMove has
+        // already overwritten it.
+        if (this._activeMoveUploadId === uploadId) {
+            this._activeMoveUploadId = null;
+        }
+        return final;
+    }
+
+    /**
+     * Cancel an in-flight `playMove`. Fire-and-forget; the daemon
+     * broadcasts the cancelled event which `playMove` resolves with.
+     *
+     * Pass `uploadId` explicitly to target a specific run; defaults to
+     * the most recent in-flight `playMove`. The daemon now scopes
+     * cancels by upload_id so two back-to-back plays can't cross-cancel
+     * each other — a cancel with no live target is a no-op.
+     *
+     * @param {string} [uploadId] - optional; defaults to the active playMove id
+     * @returns {boolean} false if the data channel isn't open or no run to target
+     */
+    cancelMove(uploadId = null) {
+        const id = uploadId ?? this._activeMoveUploadId;
+        if (!id) return false;
+        return this._sendCommand({ type: "cancel_move", upload_id: id });
+    }
+
+    /**
+     * Upload audio to the daemon as a standalone slot (no motion attached).
+     * Used by recording flows that want the SAME audio pipeline at record
+     * time and play time — pipeline latency cancels, so a single per-system
+     * `audioLeadMs` is enough for sync.
+     *
+     * @param {Blob} audioBlob - canonical 16 kHz mono PCM WAV
+     * @param {object} [opts]
+     * @param {string} [opts.description="audio"]
+     * @param {(p: { phase: string, sent?: number, total?: number,
+     *               bytes?: number }) => void} [opts.onProgress]
+     * @returns {Promise<string>} uploadId — pair with playUploadedAudio
+     */
+    async uploadAudio(audioBlob, { description = "audio", onProgress = () => {} } = {}) {
+        if (!this._dc || this._dc.readyState !== "open") {
+            throw new Error("data channel not open");
+        }
+        if (!(audioBlob instanceof Blob)) {
+            throw new TypeError("uploadAudio: expected a Blob");
+        }
+        const uploadId = makeUploadId();
+        const rawBytes = new Uint8Array(await audioBlob.arrayBuffer());
+        const audioB64 = bytesToBase64(rawBytes);
+        const total = Math.ceil(audioB64.length / UPLOAD_CHUNK_SIZE) || 1;
+        onProgress({ phase: "audio-starting", sent: 0, total, bytes: audioB64.length });
+        this._sendCommand({
+            type: "upload_audio_start",
+            upload_id: uploadId,
+            total_chunks: total,
+            encoding: "wav-base64",
+            description,
+        });
+        for (let i = 0; i < total; i++) {
+            if (this._dc.bufferedAmount > UPLOAD_BUFFERED_HIGH_WATER) {
+                await this._awaitDataChannelDrain();
+            }
+            const start = i * UPLOAD_CHUNK_SIZE;
+            this._sendCommand({
+                type: "upload_audio_chunk",
+                upload_id: uploadId,
+                chunk_index: i,
+                chunk: audioB64.slice(start, start + UPLOAD_CHUNK_SIZE),
+            });
+            onProgress({ phase: "audio-upload", sent: i + 1, total });
+        }
+        this._sendCommand({ type: "upload_audio_finish", upload_id: uploadId });
+        onProgress({ phase: "audio-uploaded", sent: total, total });
+        return uploadId;
+    }
+
+    /**
+     * Trigger daemon-side playback of a previously-uploaded audio.
+     * Resolves when the daemon broadcasts the "started" event — this is
+     * the sync anchor callers use as t=0 for related capture.
+     *
+     * The daemon does NOT emit a finished event for standalone audio;
+     * callers know the duration from the WAV header and send
+     * `cancelAudio()` when they're done (e.g. recording stopped).
+     *
+     * @param {string} uploadId
+     * @param {object} [opts]
+     * @param {number} [opts.timeoutMs=8000]
+     * @returns {Promise<{ started: true }>}
+     */
+    async playUploadedAudio(uploadId, { timeoutMs = 8000 } = {}) {
+        if (!this._dc || this._dc.readyState !== "open") {
+            throw new Error("data channel not open");
+        }
+        const waiter = this._waitForBroadcast(
+            (m) =>
+                m?.type === "play_uploaded_audio"
+                && m?.upload_id === uploadId
+                && (m.started === true || typeof m.error === "string"),
+            { timeoutMs, debugLabel: "play_uploaded_audio started" },
+        );
+        this._sendCommand({ type: "play_uploaded_audio", upload_id: uploadId });
+        const ack = await waiter;
+        if (typeof ack.error === "string") throw new Error(ack.error);
+        // Publish the id so a no-arg `cancelAudio()` targets this run.
+        // The daemon has no "audio ended" event, so the id stays set
+        // until either cancelAudio() is called or playUploadedAudio()
+        // is called again with a different id.
+        this._activeAudioUploadId = uploadId;
+        return ack;
+    }
+
+    /**
+     * Cancel an in-flight `playUploadedAudio`. Fire-and-forget.
+     *
+     * Pass `uploadId` explicitly to target a specific run; defaults
+     * to the most recent `playUploadedAudio`. The daemon scopes
+     * cancels by upload_id so a stale cancel won't kill the audio
+     * attached to a concurrently-running `playMove`.
+     *
+     * @param {string} [uploadId] - optional; defaults to the active playUploadedAudio id
+     * @returns {boolean} false if the data channel isn't open or no run to target
+     */
+    cancelAudio(uploadId = null) {
+        const id = uploadId ?? this._activeAudioUploadId;
+        if (!id) return false;
+        if (this._activeAudioUploadId === id) {
+            this._activeAudioUploadId = null;
+        }
+        return this._sendCommand({ type: "cancel_audio", upload_id: id });
+    }
+
+    // ─── Private ─────────────────────────────────────────────────────────
+
+    _emit(name, detail) {
+        this.dispatchEvent(new CustomEvent(name, { detail }));
+    }
+
+    /**
+     * Register a one-shot waiter for a daemon broadcast event. Resolves
+     * with the matching payload, rejects on `timeoutMs`. Used internally
+     * by `playMove` / `playUploadedAudio`.
+     */
+    _waitForBroadcast(predicate, { timeoutMs = 5000, debugLabel = "" } = {}) {
+        return new Promise((resolve, reject) => {
+            const slot = { predicate, resolve };
+            slot.timer = setTimeout(() => {
+                const i = this._broadcastWaiters.indexOf(slot);
+                if (i !== -1) this._broadcastWaiters.splice(i, 1);
+                reject(new Error(`broadcast timeout (${timeoutMs} ms): ${debugLabel}`));
+            }, timeoutMs);
+            this._broadcastWaiters.push(slot);
+        });
+    }
+
+    /**
+     * Wait until `_dc.bufferedAmount` drops below the low watermark. Polls
+     * at ~30 ms; browsers don't expose a uniform event for SCTP data channels
+     * (`onbufferedamountlow` is patchy across engines).
+     */
+    async _awaitDataChannelDrain() {
+        while (this._dc && this._dc.bufferedAmount > UPLOAD_BUFFERED_LOW_WATER) {
+            await new Promise((r) => setTimeout(r, 30));
+            if (!this._dc || this._dc.readyState !== "open") {
+                throw new Error("data channel closed mid-upload");
+            }
+        }
+    }
+
+    async _sendToServer(message) {
+        // Mirrors connect()'s guard — a missing token between connect and
+        // send (e.g. logout mid-session) would otherwise produce
+        // "Authorization: Bearer undefined", which central correctly 401s
+        // but silently returns null to the caller, hiding the real cause.
+        if (!this._token) throw new Error('No token — authenticate() first');
+        try {
+            // Token in Authorization header, not URL — same reasoning as
+            // connect()'s SSE fetch: never put secrets in URLs.
+            const res = await fetch(`${this._signalingUrl}/send`, {
+                method: 'POST',
+                headers: {
+                    'Content-Type': 'application/json',
+                    'Authorization': `Bearer ${this._token}`,
+                },
+                body: JSON.stringify(message),
+            });
+            if (!res.ok) {
+                // Surface 4xx/5xx with the rejected message type. The
+                // browser already logs "Failed to load resource: <status>"
+                // but never says which call produced it, which makes
+                // tardy `peer`/`endSession`/`setPeerStatus` races
+                // (typical after a session has been torn down) hard to
+                // diagnose. Returning null preserves the historical
+                // contract for callers that only care about the success
+                // path.
+                let body = '';
+                try { body = await res.text(); } catch { /* ignore */ }
+                console.warn(
+                    `[reachy-mini] /send rejected (${res.status}) for type=${message?.type}; body=${body || '<empty>'}`,
+                );
+                return null;
+            }
+            return await res.json();
+        } catch (e) {
+            console.error('Send error:', e);
+            return null;
+        }
+    }
+
+    _sendCommand(cmd) {
+        if (!this._dc || this._dc.readyState !== 'open') return false;
+        this._dc.send(JSON.stringify(cmd));
+        return true;
+    }
+
+    /** Resolves the startSession() promise once both ICE and datachannel are ready. */
+    _checkSessionReady() {
+        if (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;
+        }
+    }
+
+    async _handleSignalingMessage(msg) {
+        switch (msg.type) {
+            case 'welcome':
+                break; // handled in connect()
+            case 'list':
+                this._robots = msg.producers || [];
+                this._emit('robotsChanged', { robots: this._robots });
+                this._maybeAutoStart();
+                break;
+            case 'peerStatusChanged': {
+                const list = await this._sendToServer({ type: 'list' });
+                if (list?.producers) {
+                    this._robots = list.producers;
+                    this._emit('robotsChanged', { robots: this._robots });
+                    this._maybeAutoStart();
+                }
+                break;
+            }
+            case 'sessionStarted':
+                this._sessionId = msg.sessionId;
+                break;
+            case 'sessionRejected':
+                // Defensive: the current central server returns sessionRejected
+                // as the direct POST response (handled at the startSession() call
+                // site). This branch is a safety net in case the server ever
+                // pushes the rejection over SSE instead.
+                this._failSessionRejected(msg);
+                break;
+            case 'endSession':
+                this._handleEndSession(msg);
+                break;
+            case 'peer':
+                this._handlePeerMessage(msg);
+                break;
+        }
+    }
+
+    /**
+     * Internal: handle an endSession pushed from central.
+     *
+     * Two user-visible scenarios converge here:
+     *
+     * 1. Pending startSession — central accepted our request but the
+     *    robot-side relay then refused (e.g. a local Python app holds
+     *    the daemon's robot lock). Without this handler, the client's
+     *    startSession() promise would hang forever because ICE/datachannel
+     *    never come up.
+     * 2. Streaming was evicted — a local Python app started on the robot
+     *    while we were connected, so the relay tore down our session.
+     *
+     * The ``reason`` is forwarded verbatim from the relay through central:
+     * - "robot_busy_local_app": daemon lock held by a local Python app
+     *   (refused before any media negotiation).
+     * - "local_app_started": a local Python app started mid-session and
+     *   evicted us.
+     * - "robot_busy_local": relay's safety-net for stale/concurrent
+     *   sessions (should be rare).
+     */
+    _handleEndSession(msg) {
+        const reason = msg.reason;
+        const friendly = reason === 'robot_busy_local_app'
+            ? 'Robot is busy: a local Python app is running'
+            : reason === 'local_app_started'
+                ? 'Disconnected: a local Python app started on the robot'
+                : reason === 'robot_busy_local'
+                    ? 'Robot is busy: another session is already active'
+                    : null;
+
+        // Case 1: a startSession() is still pending — reject its promise
+        // with the same error shape as sessionRejected so app code can
+        // treat both paths identically.
+        if (this._sessionReject) {
+            const err = new Error(
+                friendly || `Session ended before it could start: ${reason || 'unknown reason'}`
+            );
+            err.reason = reason;
+            this._emit('sessionRejected', { reason, activeApp: null });
+            // Release resources allocated optimistically by startSession().
+            if (this._pc) { this._pc.close(); this._pc = null; }
+            if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }
+            this._iceConnected = false;
+            this._dcOpen = false;
+            this._micMuted = true;
+            this._micSupported = false;
+            const reject = this._sessionReject;
+            this._sessionResolve = null;
+            this._sessionReject = null;
+            reject(err);
+            return;
+        }
+
+        // Case 2: we were streaming and got kicked. Leave cleanup of _pc,
+        // _dc, mic and timers to stopSession() so the event listener path
+        // matches the user-initiated stop path exactly.
+        if (this._state === 'streaming') {
+            this._emit('sessionStopped', {
+                reason: reason || 'remote_end',
+                message: friendly,
+            });
+            // Fire-and-forget: we just react to what the server already
+            // decided. stopSession() sends its own endSession back but
+            // central has already dropped the session, so the echo is
+            // harmless.
+            this.stopSession().catch(() => { });
+        }
+    }
+
+    async _handlePeerMessage(msg) {
+        if (!this._pc) return;
+        try {
+            if (msg.sdp) {
+                const sdp = msg.sdp;
+                if (sdp.type === 'offer') {
+                    const supportsMic = sdpHasAudioSendRecv(sdp.sdp);
+                    this._micSupported = supportsMic;
+                    this._emit('micSupported', { supported: supportsMic });
+
+                    // Mic track must be added BEFORE setRemoteDescription so the
+                    // generated answer naturally includes sendrecv for audio.
+                    if (supportsMic && this._micStream) {
+                        for (const track of this._micStream.getAudioTracks()) {
+                            this._pc.addTrack(track, this._micStream);
+                        }
+                    }
+
+                    await this._pc.setRemoteDescription(new RTCSessionDescription(sdp));
+                    const answer = await this._pc.createAnswer();
+                    await this._pc.setLocalDescription(answer);
+                    await this._sendToServer({
+                        type: 'peer',
+                        sessionId: this._sessionId,
+                        sdp: { type: 'answer', sdp: answer.sdp },
+                    });
+                } else {
+                    await this._pc.setRemoteDescription(new RTCSessionDescription(sdp));
+                }
+                // Replay any ICE candidates that arrived before the
+                // SDP exchange completed (see the buffering branch
+                // below for context).
+                const pending = this._pendingRemoteIce;
+                if (pending && pending.length) {
+                    this._pendingRemoteIce = [];
+                    for (const ice of pending) {
+                        try {
+                            await this._pc.addIceCandidate(new RTCIceCandidate(ice));
+                        } catch (err) {
+                            console.warn('[reachy-mini] buffered ICE candidate rejected:', err);
+                        }
+                    }
+                }
+            }
+            if (msg.ice) {
+                // Safari (and the iOS WKWebView Tauri ships on) rejects
+                // empty candidate strings with `OperationError: Expect
+                // line: candidate:<candidate-str>`. The signaling
+                // server uses an empty string as the end-of-candidates
+                // marker (legal per the WebRTC spec but optional).
+                // Chrome / Firefox swallow it silently; we mirror that
+                // here so the iOS WebView stops surfacing the noise as
+                // a robot-side WebRTC error event.
+                if (!msg.ice.candidate) return;
+                if (this._pc.remoteDescription) {
+                    await this._pc.addIceCandidate(new RTCIceCandidate(msg.ice));
+                } else {
+                    // The signaling transport (SSE through central) is
+                    // not strictly ordered across the offer / ICE
+                    // streams when the SDK runs inside a cross-origin
+                    // iframe or in Safari / iOS WKWebView: the first
+                    // ICE candidates can land before the offer SDP
+                    // does. Calling addIceCandidate before
+                    // setRemoteDescription throws
+                    // `InvalidStateError: The remote description was
+                    // null` and the candidate is silently lost,
+                    // sometimes wedging ICE altogether. Buffer here
+                    // and replay above as soon as the offer has been
+                    // applied.
+                    if (!this._pendingRemoteIce) this._pendingRemoteIce = [];
+                    this._pendingRemoteIce.push(msg.ice);
+                }
+            }
+        } catch (e) {
+            console.error('WebRTC error:', e);
+            this._emit('error', { source: 'webrtc', error: e });
+        }
+    }
+
+    /** Parse robot messages and dispatch. */
+    _handleRobotMessage(data) {
+        if ('version' in data && this._versionResolve) {
+            this._versionResolve(data.version);
+            this._versionResolve = null;
+            return;
+        }
+        if ('hardware_id' in data && this._hardwareIdResolve) {
+            this._hardwareIdResolve(data.hardware_id);
+            this._hardwareIdResolve = null;
+            return;
+        }
+        // Volume responses. Backend tags each response with `command` so we
+        // know which pending resolver (speaker vs mic) to fulfil. If a
+        // response arrives with no matching pending request (e.g. stale
+        // after reconnect), just ignore it — the data channel protocol
+        // has no multiplexing, so unmatched replies are expected.
+        if (data.command === 'get_volume' || data.command === 'set_volume') {
+            if (this._volumeResolve) {
+                this._volumeResolve(data.status === 'error' ? null : data.volume);
+                this._volumeResolve = null;
+            }
+            return;
+        }
+        if (data.command === 'get_microphone_volume' || data.command === 'set_microphone_volume') {
+            if (this._micVolumeResolve) {
+                this._micVolumeResolve(data.status === 'error' ? null : data.volume);
+                this._micVolumeResolve = null;
+            }
+            return;
+        }
+        // Motion completion responses. The daemon emits
+        // `{status: "ok", command: "wake_up"|"goto_sleep", completed: true}`
+        // after the trajectory player is fully done, or `{error, command}`
+        // on failure. Route them to the FIFO queue of pending awaiters
+        // populated by `_sendCommandAwaitCompletion`; the N-th response
+        // matches the N-th request thanks to the daemon's serialised
+        // dispatcher.
+        if (
+            (data.command === 'wake_up' || data.command === 'goto_sleep') &&
+            this._pendingMotionCompletions &&
+            this._pendingMotionCompletions[data.command]
+        ) {
+            const queue = this._pendingMotionCompletions[data.command];
+            if (data.completed === true && queue.length > 0) {
+                const entry = queue.shift();
+                clearTimeout(entry.timer);
+                entry.resolve();
+                return;
+            }
+            if (data.error && queue.length > 0) {
+                const entry = queue.shift();
+                clearTimeout(entry.timer);
+                entry.reject(new Error(`${data.command}: ${data.error}`));
+                return;
+            }
+        }
+        if (data.type === 'log_line') {
+            for (const sub of this._logSubscribers) {
+                try {
+                    sub.onLine({ timestamp: data.timestamp, line: data.line });
+                } catch (e) {
+                    console.error('subscribeLogs onLine threw:', e);
+                }
+            }
+            return;
+        }
+        if (data.type === 'log_stream_error') {
+            for (const sub of this._logSubscribers) {
+                if (typeof sub.onError === 'function') {
+                    try { sub.onError(data.error); }
+                    catch (e) { console.error('subscribeLogs onError threw:', e); }
+                }
+            }
+            return;
+        }
+        if (data.state) {
+            const s = data.state;
+            // Wire-shape pass-through. The daemon ships the head pose as a
+            // nested 4×4 (numpy tolist()); we flatten to 16 numbers so
+            // consumers can hand it straight to WebGL / Three.js / trajectory
+            // logs. Everything else is forwarded as-is.
+            if (s.head_pose) this._robotState.head = s.head_pose.flat();
+            if (s.antennas) this._robotState.antennas = [s.antennas[0], s.antennas[1]];
+            if (typeof s.body_yaw === 'number') this._robotState.body_yaw = s.body_yaw;
+            if (s.motor_mode) this._robotState.motor_mode = s.motor_mode;
+            if (typeof s.is_move_running === 'boolean') this._robotState.is_move_running = s.is_move_running;
+            this._emit('state', { ...this._robotState });
+        }
+        if (data.error) {
+            this._emit('error', { source: 'robot', error: data.error });
+        }
+        // Daemon-side upload/play broadcasts: dispatch to any waiter
+        // whose predicate matches. Iterating in reverse keeps the
+        // newest registration first (FIFO across same-predicate
+        // duplicates would yield the wrong upload on a stale resend).
+        if (this._broadcastWaiters.length > 0) {
+            for (let i = this._broadcastWaiters.length - 1; i >= 0; i--) {
+                const slot = this._broadcastWaiters[i];
+                if (slot.predicate(data)) {
+                    this._broadcastWaiters.splice(i, 1);
+                    clearTimeout(slot.timer);
+                    slot.resolve(data);
+                    return;
+                }
+            }
+        }
+    }
+
+    /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */
+    _startLatencyMonitor(video) {
+        if (this._latencyMonitorId) clearInterval(this._latencyMonitorId);
+        this._latencyMonitorId = setInterval(() => {
+            if (!video.srcObject || video.paused) return;
+            const buf = video.buffered;
+            if (buf.length > 0) {
+                const end = buf.end(buf.length - 1);
+                const lag = end - video.currentTime;
+                if (lag > 0.5) {
+                    console.log(`Latency correction: was ${lag.toFixed(2)}s behind`);
+                    video.currentTime = end - 0.1;
+                }
+            }
+        }, 2000);
+    }
+}
+
+export default ReachyMini;