@pollen-robotics/reachy-mini-sdk 1.7.3-main.b44388c

package/host/dist/chunks/reachy-mini-sdk-CM-WMoGJ.js.map

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+{"version":3,"file":"reachy-mini-sdk-CM-WMoGJ.js","sources":["../../../node_modules/@huggingface/hub/dist/browser/chunk-NHABU752.mjs","../../../node_modules/@huggingface/hub/dist/browser/index.mjs","../../../reachy-mini-sdk.js"],"sourcesContent":["var __defProp = Object.defineProperty;\nvar __defNormalProp = (obj, key, value) => key in obj ? __defProp(obj, key, { enumerable: true, configurable: true, writable: true, value }) : obj[key] = value;\nvar __publicField = (obj, key, value) => {\n  __defNormalProp(obj, typeof key !== \"symbol\" ? key + \"\" : key, value);\n  return value;\n};\n\nexport {\n  __publicField\n};\n","import {\n  __publicField\n} from \"./chunk-NHABU752.mjs\";\n\n// src/consts.ts\nvar HUB_URL = \"https://huggingface.co\";\n\n// src/error.ts\nasync function createApiError(response, opts) {\n  var _a, _b;\n  const error = new HubApiError(response.url, response.status, (_a = response.headers.get(\"X-Request-Id\")) != null ? _a : opts == null ? void 0 : opts.requestId);\n  error.message = `Api error with status ${error.statusCode}${(opts == null ? void 0 : opts.message) ? `. ${opts.message}` : \"\"}`;\n  const trailer = [`URL: ${error.url}`, error.requestId ? `Request ID: ${error.requestId}` : void 0].filter(Boolean).join(\". \");\n  if ((_b = response.headers.get(\"Content-Type\")) == null ? void 0 : _b.startsWith(\"application/json\")) {\n    const json = await response.json();\n    error.message = json.error || json.message || error.message;\n    error.data = json;\n  } else {\n    error.data = { message: await response.text() };\n  }\n  error.message += `. ${trailer}`;\n  throw error;\n}\nvar HubApiError = class extends Error {\n  constructor(url, statusCode, requestId, message) {\n    super(message);\n    __publicField(this, \"statusCode\");\n    __publicField(this, \"url\");\n    __publicField(this, \"requestId\");\n    __publicField(this, \"data\");\n    this.statusCode = statusCode;\n    this.requestId = requestId;\n    this.url = url;\n  }\n};\nvar InvalidApiResponseFormatError = class extends Error {\n};\n\n// src/utils/checkCredentials.ts\nfunction checkCredentials(credentials) {\n  if (!credentials || credentials.accessToken === void 0 || credentials.accessToken === null) {\n    return;\n  }\n  if (!credentials.accessToken.startsWith(\"hf_\")) {\n    throw new TypeError(\"Your access token must start with 'hf_'\");\n  }\n}\n\n// src/utils/range.ts\nfunction range(n, b) {\n  return b ? Array(b - n).fill(0).map((_, i) => n + i) : Array(n).fill(0).map((_, i) => i);\n}\n\n// src/utils/chunk.ts\nfunction chunk(arr, chunkSize) {\n  if (isNaN(chunkSize) || chunkSize < 1) {\n    throw new RangeError(\"Invalid chunk size: \" + chunkSize);\n  }\n  if (!arr.length) {\n    return [];\n  }\n  if (arr.length <= chunkSize) {\n    return [arr];\n  }\n  return range(Math.ceil(arr.length / chunkSize)).map((i) => {\n    return arr.slice(i * chunkSize, (i + 1) * chunkSize);\n  });\n}\n\n// src/utils/promisesQueue.ts\nasync function promisesQueue(factories, concurrency) {\n  const results = [];\n  const executing = /* @__PURE__ */ new Set();\n  let index = 0;\n  for (const factory of factories) {\n    const closureIndex = index++;\n    const e = factory().then((r) => {\n      results[closureIndex] = r;\n      executing.delete(e);\n    });\n    executing.add(e);\n    if (executing.size >= concurrency) {\n      await Promise.race(executing);\n    }\n  }\n  await Promise.all(executing);\n  return results;\n}\n\n// src/utils/promisesQueueStreaming.ts\nasync function promisesQueueStreaming(factories, concurrency) {\n  const executing = [];\n  for await (const factory of factories) {\n    const e = factory().then(() => {\n      executing.splice(executing.indexOf(e), 1);\n    });\n    executing.push(e);\n    if (executing.length >= concurrency) {\n      await Promise.race(executing);\n    }\n  }\n  await Promise.all(executing);\n}\n\n// src/utils/eventToGenerator.ts\nasync function* eventToGenerator(cb) {\n  const promises = [];\n  function addPromise() {\n    let resolve2;\n    let reject;\n    const p = new Promise((res, rej) => {\n      resolve2 = res;\n      reject = rej;\n    });\n    promises.push({ p, resolve: resolve2, reject });\n  }\n  addPromise();\n  const callbackRes = Promise.resolve().then(\n    () => cb(\n      (y) => {\n        var _a;\n        addPromise();\n        (_a = promises.at(-2)) == null ? void 0 : _a.resolve({ done: false, value: y });\n      },\n      (r) => {\n        var _a;\n        addPromise();\n        (_a = promises.at(-2)) == null ? void 0 : _a.resolve({ done: true, value: r });\n      },\n      (err) => {\n        var _a;\n        return (_a = promises.shift()) == null ? void 0 : _a.reject(err);\n      }\n    )\n  ).catch((err) => {\n    var _a;\n    return (_a = promises.shift()) == null ? void 0 : _a.reject(err);\n  });\n  while (1) {\n    const p = promises[0];\n    if (!p) {\n      throw new Error(\"Logic error in eventGenerator, promises should never be empty\");\n    }\n    const result = await p.p;\n    promises.shift();\n    if (result.done) {\n      await callbackRes;\n      return result.value;\n    }\n    yield result.value;\n  }\n  throw new Error(\"Unreachable\");\n}\n\n// src/utils/hexFromBytes.ts\nfunction hexFromBytes(arr) {\n  if (globalThis.Buffer) {\n    return globalThis.Buffer.from(arr).toString(\"hex\");\n  } else {\n    const bin = [];\n    arr.forEach((byte) => {\n      bin.push(byte.toString(16).padStart(2, \"0\"));\n    });\n    return bin.join(\"\");\n  }\n}\n\n// src/utils/isBackend.ts\nvar isBrowser = typeof window !== \"undefined\" && typeof window.document !== \"undefined\";\nvar isWebWorker = typeof self === \"object\" && self.constructor && self.constructor.name === \"DedicatedWorkerGlobalScope\";\nvar isBackend = !isBrowser && !isWebWorker;\n\n// src/utils/isFrontend.ts\nvar isFrontend = !isBackend;\n\n// src/utils/sha256.ts\nasync function getWebWorkerCode() {\n  const sha256Module = await import(\"./sha256-wrapper-2GO3XT7J.mjs\");\n  return URL.createObjectURL(new Blob([sha256Module.createSHA256WorkerCode()]));\n}\nvar pendingWorkers = [];\nvar runningWorkers = /* @__PURE__ */ new Set();\nvar resolve;\nvar waitPromise = new Promise((r) => {\n  resolve = r;\n});\nasync function getWorker(poolSize) {\n  {\n    const worker2 = pendingWorkers.pop();\n    if (worker2) {\n      runningWorkers.add(worker2);\n      return worker2;\n    }\n  }\n  if (!poolSize) {\n    const worker2 = new Worker(await getWebWorkerCode());\n    runningWorkers.add(worker2);\n    return worker2;\n  }\n  if (poolSize <= 0) {\n    throw new TypeError(\"Invalid webworker pool size: \" + poolSize);\n  }\n  while (runningWorkers.size >= poolSize) {\n    await waitPromise;\n  }\n  const worker = new Worker(await getWebWorkerCode());\n  runningWorkers.add(worker);\n  return worker;\n}\nasync function freeWorker(worker, poolSize) {\n  if (!poolSize) {\n    return destroyWorker(worker);\n  }\n  runningWorkers.delete(worker);\n  pendingWorkers.push(worker);\n  const r = resolve;\n  waitPromise = new Promise((r2) => {\n    resolve = r2;\n  });\n  r();\n}\nfunction destroyWorker(worker) {\n  runningWorkers.delete(worker);\n  worker.terminate();\n  const r = resolve;\n  waitPromise = new Promise((r2) => {\n    resolve = r2;\n  });\n  r();\n}\nasync function* sha256(buffer, opts) {\n  var _a, _b;\n  yield 0;\n  const maxCryptoSize = typeof (opts == null ? void 0 : opts.useWebWorker) === \"object\" && (opts == null ? void 0 : opts.useWebWorker.minSize) !== void 0 ? opts.useWebWorker.minSize : 1e7;\n  if (buffer.size < maxCryptoSize && ((_a = globalThis.crypto) == null ? void 0 : _a.subtle)) {\n    const res = hexFromBytes(\n      new Uint8Array(\n        await globalThis.crypto.subtle.digest(\"SHA-256\", buffer instanceof Blob ? await buffer.arrayBuffer() : buffer)\n      )\n    );\n    yield 1;\n    return res;\n  }\n  if (isFrontend) {\n    if (opts == null ? void 0 : opts.useWebWorker) {\n      try {\n        const poolSize = typeof (opts == null ? void 0 : opts.useWebWorker) === \"object\" ? opts.useWebWorker.poolSize : void 0;\n        const worker = await getWorker(poolSize);\n        return yield* eventToGenerator((yieldCallback, returnCallback, rejectCallack) => {\n          worker.addEventListener(\"message\", (event) => {\n            var _a2;\n            if (event.data.sha256) {\n              freeWorker(worker, poolSize);\n              returnCallback(event.data.sha256);\n            } else if (event.data.progress) {\n              yieldCallback(event.data.progress);\n              try {\n                (_a2 = opts.abortSignal) == null ? void 0 : _a2.throwIfAborted();\n              } catch (err) {\n                destroyWorker(worker);\n                rejectCallack(err);\n              }\n            } else {\n              destroyWorker(worker);\n              rejectCallack(event);\n            }\n          });\n          worker.addEventListener(\"error\", (event) => {\n            destroyWorker(worker);\n            rejectCallack(event.error);\n          });\n          worker.postMessage({ file: buffer });\n        });\n      } catch (err) {\n        console.warn(\"Failed to use web worker for sha256\", err);\n      }\n    }\n    if (!wasmModule) {\n      wasmModule = await import(\"./sha256-wrapper-2GO3XT7J.mjs\");\n    }\n    const sha2562 = await wasmModule.createSHA256();\n    sha2562.init();\n    const reader = buffer.stream().getReader();\n    const total = buffer.size;\n    let bytesDone = 0;\n    while (true) {\n      const { done, value } = await reader.read();\n      if (done) {\n        break;\n      }\n      sha2562.update(value);\n      bytesDone += value.length;\n      yield bytesDone / total;\n      (_b = opts == null ? void 0 : opts.abortSignal) == null ? void 0 : _b.throwIfAborted();\n    }\n    return sha2562.digest(\"hex\");\n  }\n  if (!cryptoModule) {\n    cryptoModule = await import(\"./sha256-node-TNZ2WHTI.mjs\");\n  }\n  return yield* cryptoModule.sha256Node(buffer, { abortSignal: opts == null ? void 0 : opts.abortSignal });\n}\nvar cryptoModule;\nvar wasmModule;\n\n// src/utils/toRepoId.ts\nfunction toRepoId(repo) {\n  if (typeof repo !== \"string\") {\n    return repo;\n  }\n  if (repo.startsWith(\"model/\") || repo.startsWith(\"models/\")) {\n    throw new TypeError(\n      \"A repo designation for a model should not start with 'models/', directly specify the model namespace / name\"\n    );\n  }\n  if (repo.startsWith(\"space/\")) {\n    throw new TypeError(\"Spaces should start with 'spaces/', plural, not 'space/'\");\n  }\n  if (repo.startsWith(\"dataset/\")) {\n    throw new TypeError(\"Datasets should start with 'dataset/', plural, not 'dataset/'\");\n  }\n  const slashes = repo.split(\"/\").length - 1;\n  if (repo.startsWith(\"spaces/\")) {\n    if (slashes !== 2) {\n      throw new TypeError(\"Space Id must include namespace and name of the space\");\n    }\n    return {\n      type: \"space\",\n      name: repo.slice(\"spaces/\".length)\n    };\n  }\n  if (repo.startsWith(\"datasets/\")) {\n    if (slashes > 2) {\n      throw new TypeError(\"Too many slashes in repo designation: \" + repo);\n    }\n    return {\n      type: \"dataset\",\n      name: repo.slice(\"datasets/\".length)\n    };\n  }\n  if (slashes > 1) {\n    throw new TypeError(\"Too many slashes in repo designation: \" + repo);\n  }\n  return {\n    type: \"model\",\n    name: repo\n  };\n}\n\n// src/utils/WebBlob.ts\nvar WebBlob = class extends Blob {\n  constructor(url, start, end, contentType, full, customFetch) {\n    super([]);\n    __publicField(this, \"url\");\n    __publicField(this, \"start\");\n    __publicField(this, \"end\");\n    __publicField(this, \"contentType\");\n    __publicField(this, \"full\");\n    __publicField(this, \"fetch\");\n    this.url = url;\n    this.start = start;\n    this.end = end;\n    this.contentType = contentType;\n    this.full = full;\n    this.fetch = customFetch;\n  }\n  static async create(url, opts) {\n    var _a, _b;\n    const customFetch = (_a = opts == null ? void 0 : opts.fetch) != null ? _a : fetch;\n    const response = await customFetch(url, { method: \"HEAD\" });\n    const size = Number(response.headers.get(\"content-length\"));\n    const contentType = response.headers.get(\"content-type\") || \"\";\n    const supportRange = response.headers.get(\"accept-ranges\") === \"bytes\";\n    if (!supportRange || size < ((_b = opts == null ? void 0 : opts.cacheBelow) != null ? _b : 1e6)) {\n      return await (await customFetch(url)).blob();\n    }\n    return new WebBlob(url, 0, size, contentType, true, customFetch);\n  }\n  get size() {\n    return this.end - this.start;\n  }\n  get type() {\n    return this.contentType;\n  }\n  slice(start = 0, end = this.size) {\n    if (start < 0 || end < 0) {\n      new TypeError(\"Unsupported negative start/end on FileBlob.slice\");\n    }\n    const slice = new WebBlob(\n      this.url,\n      this.start + start,\n      Math.min(this.start + end, this.end),\n      this.contentType,\n      start === 0 && end === this.size ? this.full : false,\n      this.fetch\n    );\n    return slice;\n  }\n  async arrayBuffer() {\n    const result = await this.fetchRange();\n    return result.arrayBuffer();\n  }\n  async text() {\n    const result = await this.fetchRange();\n    return result.text();\n  }\n  stream() {\n    const stream = new TransformStream();\n    this.fetchRange().then((response) => {\n      var _a;\n      return (_a = response.body) == null ? void 0 : _a.pipeThrough(stream);\n    }).catch((error) => stream.writable.abort(error.message));\n    return stream.readable;\n  }\n  fetchRange() {\n    const fetch2 = this.fetch;\n    if (this.full) {\n      return fetch2(this.url);\n    }\n    return fetch2(this.url, {\n      headers: {\n        Range: `bytes=${this.start}-${this.end - 1}`\n      }\n    });\n  }\n};\n\n// src/utils/createBlob.ts\nasync function createBlob(url, opts) {\n  if (url.protocol === \"http:\" || url.protocol === \"https:\") {\n    return WebBlob.create(url, { fetch: opts == null ? void 0 : opts.fetch });\n  }\n  if (isFrontend) {\n    throw new TypeError(`Unsupported URL protocol \"${url.protocol}\"`);\n  }\n  if (url.protocol === \"file:\") {\n    const { FileBlob } = await import(\"./FileBlob-7MRLQ6TG.mjs\");\n    return FileBlob.create(url);\n  }\n  throw new TypeError(`Unsupported URL protocol \"${url.protocol}\"`);\n}\n\n// src/utils/base64FromBytes.ts\nfunction base64FromBytes(arr) {\n  if (globalThis.Buffer) {\n    return globalThis.Buffer.from(arr).toString(\"base64\");\n  } else {\n    const bin = [];\n    arr.forEach((byte) => {\n      bin.push(String.fromCharCode(byte));\n    });\n    return globalThis.btoa(bin.join(\"\"));\n  }\n}\n\n// src/lib/commit.ts\nvar CONCURRENT_SHAS = 5;\nvar CONCURRENT_LFS_UPLOADS = 5;\nvar MULTIPART_PARALLEL_UPLOAD = 5;\nfunction isFileOperation(op) {\n  const ret = op.operation === \"addOrUpdate\";\n  if (ret && !(op.content instanceof Blob)) {\n    throw new TypeError(\"Precondition failed: op.content should be a Blob\");\n  }\n  return ret;\n}\nasync function* commitIter(params) {\n  var _a, _b, _c, _d, _e, _f, _g;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  yield { event: \"phase\", phase: \"preuploading\" };\n  const lfsShas = /* @__PURE__ */ new Map();\n  const abortController = new AbortController();\n  const abortSignal = abortController.signal;\n  if (!abortSignal.throwIfAborted) {\n    abortSignal.throwIfAborted = () => {\n      if (abortSignal.aborted) {\n        throw new DOMException(\"Aborted\", \"AbortError\");\n      }\n    };\n  }\n  if (params.abortSignal) {\n    params.abortSignal.addEventListener(\"abort\", () => abortController.abort());\n  }\n  try {\n    const allOperations = await Promise.all(\n      params.operations.map(async (operation) => {\n        if (operation.operation !== \"addOrUpdate\") {\n          return operation;\n        }\n        if (!(operation.content instanceof URL)) {\n          return { ...operation, content: operation.content };\n        }\n        const lazyBlob = await createBlob(operation.content, { fetch: params.fetch });\n        abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n        return {\n          ...operation,\n          content: lazyBlob\n        };\n      })\n    );\n    const gitAttributes = (_a = allOperations.filter(isFileOperation).find((op) => op.path === \".gitattributes\")) == null ? void 0 : _a.content;\n    for (const operations of chunk(allOperations.filter(isFileOperation), 100)) {\n      const payload = {\n        gitAttributes: gitAttributes && await gitAttributes.text(),\n        files: await Promise.all(\n          operations.map(async (operation) => ({\n            path: operation.path,\n            size: operation.content.size,\n            sample: base64FromBytes(new Uint8Array(await operation.content.slice(0, 512).arrayBuffer()))\n          }))\n        )\n      };\n      abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n      const res = await ((_b = params.fetch) != null ? _b : fetch)(\n        `${(_c = params.hubUrl) != null ? _c : HUB_URL}/api/${repoId.type}s/${repoId.name}/preupload/${encodeURIComponent(\n          (_d = params.branch) != null ? _d : \"main\"\n        )}` + (params.isPullRequest ? \"?create_pr=1\" : \"\"),\n        {\n          method: \"POST\",\n          headers: {\n            ...params.credentials && { Authorization: `Bearer ${params.credentials.accessToken}` },\n            \"Content-Type\": \"application/json\"\n          },\n          body: JSON.stringify(payload),\n          signal: abortSignal\n        }\n      );\n      if (!res.ok) {\n        throw await createApiError(res);\n      }\n      const json = await res.json();\n      for (const file of json.files) {\n        if (file.uploadMode === \"lfs\") {\n          lfsShas.set(file.path, null);\n        }\n      }\n    }\n    yield { event: \"phase\", phase: \"uploadingLargeFiles\" };\n    for (const operations of chunk(\n      allOperations.filter(isFileOperation).filter((op) => lfsShas.has(op.path)),\n      100\n    )) {\n      const shas = yield* eventToGenerator((yieldCallback, returnCallback, rejectCallack) => {\n        return promisesQueue(\n          operations.map((op) => async () => {\n            const iterator = sha256(op.content, { useWebWorker: params.useWebWorkers, abortSignal });\n            let res2;\n            do {\n              res2 = await iterator.next();\n              if (!res2.done) {\n                yieldCallback({ event: \"fileProgress\", path: op.path, progress: res2.value, state: \"hashing\" });\n              }\n            } while (!res2.done);\n            const sha = res2.value;\n            lfsShas.set(op.path, res2.value);\n            return sha;\n          }),\n          CONCURRENT_SHAS\n        ).then(returnCallback, rejectCallack);\n      });\n      abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n      const payload = {\n        operation: \"upload\",\n        // multipart is a custom protocol for HF\n        transfers: [\"basic\", \"multipart\"],\n        hash_algo: \"sha_256\",\n        ...!params.isPullRequest && {\n          ref: {\n            name: (_e = params.branch) != null ? _e : \"main\"\n          }\n        },\n        objects: operations.map((op, i) => ({\n          oid: shas[i],\n          size: op.content.size\n        }))\n      };\n      const res = await ((_f = params.fetch) != null ? _f : fetch)(\n        `${(_g = params.hubUrl) != null ? _g : HUB_URL}/${repoId.type === \"model\" ? \"\" : repoId.type + \"s/\"}${repoId.name}.git/info/lfs/objects/batch`,\n        {\n          method: \"POST\",\n          headers: {\n            ...params.credentials && { Authorization: `Bearer ${params.credentials.accessToken}` },\n            Accept: \"application/vnd.git-lfs+json\",\n            \"Content-Type\": \"application/vnd.git-lfs+json\"\n          },\n          body: JSON.stringify(payload),\n          signal: abortSignal\n        }\n      );\n      if (!res.ok) {\n        throw await createApiError(res);\n      }\n      const json = await res.json();\n      const batchRequestId = res.headers.get(\"X-Request-Id\") || void 0;\n      const shaToOperation = new Map(operations.map((op, i) => [shas[i], op]));\n      yield* eventToGenerator((yieldCallback, returnCallback, rejectCallback) => {\n        return promisesQueueStreaming(\n          json.objects.map((obj) => async () => {\n            var _a2, _b2, _c2;\n            const op = shaToOperation.get(obj.oid);\n            if (!op) {\n              throw new InvalidApiResponseFormatError(\"Unrequested object ID in response\");\n            }\n            abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n            if (obj.error) {\n              const errorMessage = `Error while doing LFS batch call for ${operations[shas.indexOf(obj.oid)].path}: ${obj.error.message}${batchRequestId ? ` - Request ID: ${batchRequestId}` : \"\"}`;\n              throw new HubApiError(res.url, obj.error.code, batchRequestId, errorMessage);\n            }\n            if (!((_a2 = obj.actions) == null ? void 0 : _a2.upload)) {\n              yieldCallback({\n                event: \"fileProgress\",\n                path: op.path,\n                progress: 1,\n                state: \"uploading\"\n              });\n              return;\n            }\n            yieldCallback({\n              event: \"fileProgress\",\n              path: op.path,\n              progress: 0,\n              state: \"uploading\"\n            });\n            const content = op.content;\n            const header = obj.actions.upload.header;\n            if (header == null ? void 0 : header.chunk_size) {\n              const chunkSize = parseInt(header.chunk_size);\n              const completionUrl = obj.actions.upload.href;\n              const parts = Object.keys(header).filter((key) => /^[0-9]+$/.test(key));\n              if (parts.length !== Math.ceil(content.size / chunkSize)) {\n                throw new Error(\"Invalid server response to upload large LFS file, wrong number of parts\");\n              }\n              const completeReq = {\n                oid: obj.oid,\n                parts: parts.map((part) => ({\n                  partNumber: +part,\n                  etag: \"\"\n                }))\n              };\n              const progressCallback = (progress) => yieldCallback({ event: \"fileProgress\", path: op.path, progress, state: \"uploading\" });\n              await promisesQueueStreaming(\n                parts.map((part) => async () => {\n                  var _a3;\n                  abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n                  const index = parseInt(part) - 1;\n                  const slice = content.slice(index * chunkSize, (index + 1) * chunkSize);\n                  const res3 = await ((_a3 = params.fetch) != null ? _a3 : fetch)(header[part], {\n                    method: \"PUT\",\n                    /** Unfortunately, browsers don't support our inherited version of Blob in fetch calls */\n                    body: slice instanceof WebBlob && isFrontend ? await slice.arrayBuffer() : slice,\n                    signal: abortSignal,\n                    ...{\n                      progressHint: {\n                        path: op.path,\n                        part: index,\n                        numParts: parts.length,\n                        progressCallback\n                      }\n                      // eslint-disable-next-line @typescript-eslint/no-explicit-any\n                    }\n                  });\n                  if (!res3.ok) {\n                    throw await createApiError(res3, {\n                      requestId: batchRequestId,\n                      message: `Error while uploading part ${part} of ${operations[shas.indexOf(obj.oid)].path} to LFS storage`\n                    });\n                  }\n                  const eTag = res3.headers.get(\"ETag\");\n                  if (!eTag) {\n                    throw new Error(\"Cannot get ETag of part during multipart upload\");\n                  }\n                  completeReq.parts[Number(part) - 1].etag = eTag;\n                }),\n                MULTIPART_PARALLEL_UPLOAD\n              );\n              abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n              const res2 = await ((_b2 = params.fetch) != null ? _b2 : fetch)(completionUrl, {\n                method: \"POST\",\n                body: JSON.stringify(completeReq),\n                headers: {\n                  Accept: \"application/vnd.git-lfs+json\",\n                  \"Content-Type\": \"application/vnd.git-lfs+json\"\n                },\n                signal: abortSignal\n              });\n              if (!res2.ok) {\n                throw await createApiError(res2, {\n                  requestId: batchRequestId,\n                  message: `Error completing multipart upload of ${operations[shas.indexOf(obj.oid)].path} to LFS storage`\n                });\n              }\n              yieldCallback({\n                event: \"fileProgress\",\n                path: op.path,\n                progress: 1,\n                state: \"uploading\"\n              });\n            } else {\n              const res2 = await ((_c2 = params.fetch) != null ? _c2 : fetch)(obj.actions.upload.href, {\n                method: \"PUT\",\n                headers: {\n                  ...batchRequestId ? { \"X-Request-Id\": batchRequestId } : void 0\n                },\n                /** Unfortunately, browsers don't support our inherited version of Blob in fetch calls */\n                body: content instanceof WebBlob && isFrontend ? await content.arrayBuffer() : content,\n                signal: abortSignal,\n                ...{\n                  progressHint: {\n                    path: op.path,\n                    progressCallback: (progress) => yieldCallback({\n                      event: \"fileProgress\",\n                      path: op.path,\n                      progress,\n                      state: \"uploading\"\n                    })\n                  }\n                  // eslint-disable-next-line @typescript-eslint/no-explicit-any\n                }\n              });\n              if (!res2.ok) {\n                throw await createApiError(res2, {\n                  requestId: batchRequestId,\n                  message: `Error while uploading ${operations[shas.indexOf(obj.oid)].path} to LFS storage`\n                });\n              }\n              yieldCallback({\n                event: \"fileProgress\",\n                path: op.path,\n                progress: 1,\n                state: \"uploading\"\n              });\n            }\n          }),\n          CONCURRENT_LFS_UPLOADS\n        ).then(returnCallback, rejectCallback);\n      });\n    }\n    abortSignal == null ? void 0 : abortSignal.throwIfAborted();\n    yield { event: \"phase\", phase: \"committing\" };\n    return yield* eventToGenerator(\n      async (yieldCallback, returnCallback, rejectCallback) => {\n        var _a2, _b2, _c2;\n        return ((_a2 = params.fetch) != null ? _a2 : fetch)(\n          `${(_b2 = params.hubUrl) != null ? _b2 : HUB_URL}/api/${repoId.type}s/${repoId.name}/commit/${encodeURIComponent(\n            (_c2 = params.branch) != null ? _c2 : \"main\"\n          )}` + (params.isPullRequest ? \"?create_pr=1\" : \"\"),\n          {\n            method: \"POST\",\n            headers: {\n              ...params.credentials && { Authorization: `Bearer ${params.credentials.accessToken}` },\n              \"Content-Type\": \"application/x-ndjson\"\n            },\n            body: [\n              {\n                key: \"header\",\n                value: {\n                  summary: params.title,\n                  description: params.description,\n                  parentCommit: params.parentCommit\n                }\n              },\n              ...await Promise.all(\n                allOperations.map((operation) => {\n                  if (isFileOperation(operation)) {\n                    const sha = lfsShas.get(operation.path);\n                    if (sha) {\n                      return {\n                        key: \"lfsFile\",\n                        value: {\n                          path: operation.path,\n                          algo: \"sha256\",\n                          size: operation.content.size,\n                          oid: sha\n                        }\n                      };\n                    }\n                  }\n                  return convertOperationToNdJson(operation);\n                })\n              )\n            ].map((x) => JSON.stringify(x)).join(\"\\n\"),\n            signal: abortSignal,\n            ...{\n              progressHint: {\n                progressCallback: (progress) => {\n                  for (const op of allOperations) {\n                    if (isFileOperation(op) && !lfsShas.has(op.path)) {\n                      yieldCallback({\n                        event: \"fileProgress\",\n                        path: op.path,\n                        progress,\n                        state: \"uploading\"\n                      });\n                    }\n                  }\n                }\n              }\n              // eslint-disable-next-line @typescript-eslint/no-explicit-any\n            }\n          }\n        ).then(async (res) => {\n          if (!res.ok) {\n            throw await createApiError(res);\n          }\n          const json = await res.json();\n          returnCallback({\n            pullRequestUrl: json.pullRequestUrl,\n            commit: {\n              oid: json.commitOid,\n              url: json.commitUrl\n            },\n            hookOutput: json.hookOutput\n          });\n        }).catch(rejectCallback);\n      }\n    );\n  } catch (err) {\n    abortController.abort();\n    throw err;\n  }\n}\nasync function commit(params) {\n  const iterator = commitIter(params);\n  let res = await iterator.next();\n  while (!res.done) {\n    res = await iterator.next();\n  }\n  return res.value;\n}\nasync function convertOperationToNdJson(operation) {\n  switch (operation.operation) {\n    case \"addOrUpdate\": {\n      return {\n        key: \"file\",\n        value: {\n          content: base64FromBytes(new Uint8Array(await operation.content.arrayBuffer())),\n          path: operation.path,\n          encoding: \"base64\"\n        }\n      };\n    }\n    case \"delete\": {\n      return {\n        key: \"deletedFile\",\n        value: {\n          path: operation.path\n        }\n      };\n    }\n    default:\n      throw new TypeError(\"Unknown operation: \" + operation.operation);\n  }\n}\n\n// src/lib/count-commits.ts\nasync function countCommits(params) {\n  var _a, _b, _c, _d;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const url = `${(_a = params.hubUrl) != null ? _a : HUB_URL}/api/${repoId.type}s/${repoId.name}/commits/${(_b = params.revision) != null ? _b : \"main\"}?limit=1`;\n  const res = await ((_c = params.fetch) != null ? _c : fetch)(url, {\n    headers: params.credentials ? { Authorization: `Bearer ${params.credentials.accessToken}` } : {}\n  });\n  if (!res.ok) {\n    throw await createApiError(res);\n  }\n  return parseInt((_d = res.headers.get(\"x-total-count\")) != null ? _d : \"0\", 10);\n}\n\n// src/lib/create-repo.ts\nasync function createRepo(params) {\n  var _a, _b;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const [namespace, repoName] = repoId.name.split(\"/\");\n  if (!namespace || !repoName) {\n    throw new TypeError(\n      `\"${repoId.name}\" is not a fully qualified repo name. It should be of the form \"{namespace}/{repoName}\".`\n    );\n  }\n  const res = await ((_a = params.fetch) != null ? _a : fetch)(`${(_b = params.hubUrl) != null ? _b : HUB_URL}/api/repos/create`, {\n    method: \"POST\",\n    body: JSON.stringify({\n      name: repoName,\n      private: params.private,\n      organization: namespace,\n      license: params.license,\n      ...repoId.type === \"space\" ? {\n        type: \"space\",\n        sdk: \"static\"\n      } : {\n        type: repoId.type\n      },\n      files: params.files ? await Promise.all(\n        params.files.map(async (file) => ({\n          encoding: \"base64\",\n          path: file.path,\n          content: base64FromBytes(\n            new Uint8Array(file.content instanceof Blob ? await file.content.arrayBuffer() : file.content)\n          )\n        }))\n      ) : void 0\n    }),\n    headers: {\n      Authorization: `Bearer ${params.credentials.accessToken}`,\n      \"Content-Type\": \"application/json\"\n    }\n  });\n  if (!res.ok) {\n    throw await createApiError(res);\n  }\n  const output = await res.json();\n  return { repoUrl: output.url };\n}\n\n// src/lib/delete-file.ts\nfunction deleteFile(params) {\n  var _a;\n  return commit({\n    credentials: params.credentials,\n    repo: params.repo,\n    operations: [\n      {\n        operation: \"delete\",\n        path: params.path\n      }\n    ],\n    title: (_a = params.commitTitle) != null ? _a : `Delete ${params.path}`,\n    description: params.commitDescription,\n    hubUrl: params.hubUrl,\n    branch: params.branch,\n    isPullRequest: params.isPullRequest,\n    parentCommit: params.parentCommit,\n    fetch: params.fetch\n  });\n}\n\n// src/lib/delete-files.ts\nfunction deleteFiles(params) {\n  var _a;\n  return commit({\n    credentials: params.credentials,\n    repo: params.repo,\n    operations: params.paths.map((path) => ({\n      operation: \"delete\",\n      path\n    })),\n    title: (_a = params.commitTitle) != null ? _a : `Deletes ${params.paths.length} files`,\n    description: params.commitDescription,\n    hubUrl: params.hubUrl,\n    branch: params.branch,\n    isPullRequest: params.isPullRequest,\n    parentCommit: params.parentCommit,\n    fetch: params.fetch\n  });\n}\n\n// src/lib/delete-repo.ts\nasync function deleteRepo(params) {\n  var _a, _b;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const [namespace, repoName] = repoId.name.split(\"/\");\n  const res = await ((_a = params.fetch) != null ? _a : fetch)(`${(_b = params.hubUrl) != null ? _b : HUB_URL}/api/repos/delete`, {\n    method: \"DELETE\",\n    body: JSON.stringify({\n      name: repoName,\n      organization: namespace,\n      type: repoId.type\n    }),\n    headers: {\n      Authorization: `Bearer ${params.credentials.accessToken}`,\n      \"Content-Type\": \"application/json\"\n    }\n  });\n  if (!res.ok) {\n    throw await createApiError(res);\n  }\n}\n\n// src/lib/download-file.ts\nasync function downloadFile(params) {\n  var _a, _b, _c;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const url = `${(_a = params.hubUrl) != null ? _a : HUB_URL}/${repoId.type === \"model\" ? \"\" : `${repoId.type}s/`}${repoId.name}/${params.raw ? \"raw\" : \"resolve\"}/${encodeURIComponent((_b = params.revision) != null ? _b : \"main\")}/${params.path}`;\n  const resp = await ((_c = params.fetch) != null ? _c : fetch)(url, {\n    headers: {\n      ...params.credentials ? {\n        Authorization: `Bearer ${params.credentials.accessToken}`\n      } : {},\n      ...params.range ? {\n        Range: `bytes=${params.range[0]}-${params.range[1]}`\n      } : {}\n    }\n  });\n  if (resp.status === 404 && resp.headers.get(\"X-Error-Code\") === \"EntryNotFound\") {\n    return null;\n  } else if (!resp.ok) {\n    throw await createApiError(resp);\n  }\n  return resp;\n}\n\n// src/lib/file-download-info.ts\nasync function fileDownloadInfo(params) {\n  var _a, _b, _c;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const hubUrl = (_a = params.hubUrl) != null ? _a : HUB_URL;\n  const url = `${hubUrl}/${repoId.type === \"model\" ? \"\" : `${repoId.type}s/`}${repoId.name}/${params.raw ? \"raw\" : \"resolve\"}/${encodeURIComponent((_b = params.revision) != null ? _b : \"main\")}/${params.path}` + (params.noContentDisposition ? \"?noContentDisposition=1\" : \"\");\n  const resp = await ((_c = params.fetch) != null ? _c : fetch)(url, {\n    method: \"GET\",\n    headers: {\n      ...params.credentials && {\n        Authorization: `Bearer ${params.credentials.accessToken}`\n      },\n      Range: \"bytes=0-0\"\n    }\n  });\n  if (resp.status === 404 && resp.headers.get(\"X-Error-Code\") === \"EntryNotFound\") {\n    return null;\n  }\n  if (!resp.ok) {\n    throw await createApiError(resp);\n  }\n  const etag = resp.headers.get(\"ETag\");\n  if (!etag) {\n    throw new InvalidApiResponseFormatError(\"Expected ETag\");\n  }\n  const contentRangeHeader = resp.headers.get(\"content-range\");\n  if (!contentRangeHeader) {\n    throw new InvalidApiResponseFormatError(\"Expected size information\");\n  }\n  const [, parsedSize] = contentRangeHeader.split(\"/\");\n  const size = parseInt(parsedSize);\n  if (isNaN(size)) {\n    throw new InvalidApiResponseFormatError(\"Invalid file size received\");\n  }\n  return {\n    etag,\n    size,\n    downloadLink: new URL(resp.url).hostname !== new URL(hubUrl).hostname ? resp.url : null\n  };\n}\n\n// src/lib/file-exists.ts\nasync function fileExists(params) {\n  var _a, _b, _c;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  const hubUrl = (_a = params.hubUrl) != null ? _a : HUB_URL;\n  const url = `${hubUrl}/${repoId.type === \"model\" ? \"\" : `${repoId.type}s/`}${repoId.name}/raw/${encodeURIComponent(\n    (_b = params.revision) != null ? _b : \"main\"\n  )}/${params.path}`;\n  const resp = await ((_c = params.fetch) != null ? _c : fetch)(url, {\n    method: \"HEAD\",\n    headers: params.credentials ? { Authorization: `Bearer ${params.credentials.accessToken}` } : {}\n  });\n  if (resp.status === 404) {\n    return false;\n  }\n  if (!resp.ok) {\n    throw await createApiError(resp);\n  }\n  return true;\n}\n\n// src/utils/parseLinkHeader.ts\nfunction parseLinkHeader(header) {\n  const regex = /<(https?:[/][/][^>]+)>;\\s+rel=\"([^\"]+)\"/g;\n  return Object.fromEntries([...header.matchAll(regex)].map(([, url, rel]) => [rel, url]));\n}\n\n// src/lib/list-commits.ts\nasync function* listCommits(params) {\n  var _a, _b, _c, _d;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  let url = `${(_a = params.hubUrl) != null ? _a : HUB_URL}/api/${repoId.type}s/${repoId.name}/commits/${(_b = params.revision) != null ? _b : \"main\"}?limit=${(_c = params.batchSize) != null ? _c : 100}`;\n  while (url) {\n    const res = await ((_d = params.fetch) != null ? _d : fetch)(url, {\n      headers: params.credentials ? { Authorization: `Bearer ${params.credentials.accessToken}` } : {}\n    });\n    if (!res.ok) {\n      throw await createApiError(res);\n    }\n    const resJson = await res.json();\n    for (const commit2 of resJson) {\n      yield {\n        oid: commit2.id,\n        title: commit2.title,\n        message: commit2.message,\n        authors: commit2.authors.map((author) => ({\n          username: author.user,\n          avatarUrl: author.avatar\n        })),\n        date: new Date(commit2.date)\n      };\n    }\n    const linkHeader = res.headers.get(\"Link\");\n    url = linkHeader ? parseLinkHeader(linkHeader).next : void 0;\n  }\n}\n\n// src/utils/pick.ts\nfunction pick(o, props) {\n  return Object.assign(\n    {},\n    ...props.map((prop) => {\n      if (o[prop] !== void 0) {\n        return { [prop]: o[prop] };\n      }\n    })\n  );\n}\n\n// src/lib/list-datasets.ts\nvar EXPAND_KEYS = [\n  \"private\",\n  \"downloads\",\n  \"gated\",\n  \"likes\",\n  \"lastModified\"\n];\nasync function* listDatasets(params) {\n  var _a, _b, _c, _d, _e, _f, _g, _h, _i;\n  checkCredentials(params == null ? void 0 : params.credentials);\n  let totalToFetch = (_a = params == null ? void 0 : params.limit) != null ? _a : Infinity;\n  const search = new URLSearchParams([\n    ...Object.entries({\n      limit: String(Math.min(totalToFetch, 500)),\n      ...((_b = params == null ? void 0 : params.search) == null ? void 0 : _b.owner) ? { author: params.search.owner } : void 0,\n      ...((_c = params == null ? void 0 : params.search) == null ? void 0 : _c.query) ? { search: params.search.query } : void 0\n    }),\n    ...(_f = (_e = (_d = params == null ? void 0 : params.search) == null ? void 0 : _d.tags) == null ? void 0 : _e.map((tag) => [\"filter\", tag])) != null ? _f : [],\n    ...EXPAND_KEYS.map((val) => [\"expand\", val]),\n    ...(_h = (_g = params == null ? void 0 : params.additionalFields) == null ? void 0 : _g.map((val) => [\"expand\", val])) != null ? _h : []\n  ]).toString();\n  let url = `${(params == null ? void 0 : params.hubUrl) || HUB_URL}/api/datasets` + (search ? \"?\" + search : \"\");\n  while (url) {\n    const res = await ((_i = params == null ? void 0 : params.fetch) != null ? _i : fetch)(url, {\n      headers: {\n        accept: \"application/json\",\n        ...(params == null ? void 0 : params.credentials) ? { Authorization: `Bearer ${params.credentials.accessToken}` } : void 0\n      }\n    });\n    if (!res.ok) {\n      throw await createApiError(res);\n    }\n    const items = await res.json();\n    for (const item of items) {\n      yield {\n        ...(params == null ? void 0 : params.additionalFields) && pick(item, params.additionalFields),\n        id: item._id,\n        name: item.id,\n        private: item.private,\n        downloads: item.downloads,\n        likes: item.likes,\n        gated: item.gated,\n        updatedAt: new Date(item.lastModified)\n      };\n      totalToFetch--;\n      if (totalToFetch <= 0) {\n        return;\n      }\n    }\n    const linkHeader = res.headers.get(\"Link\");\n    url = linkHeader ? parseLinkHeader(linkHeader).next : void 0;\n  }\n}\n\n// src/lib/list-files.ts\nasync function* listFiles(params) {\n  var _a;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  let url = `${params.hubUrl || HUB_URL}/api/${repoId.type}s/${repoId.name}/tree/${params.revision || \"main\"}${params.path ? \"/\" + params.path : \"\"}?recursive=${!!params.recursive}&expand=${!!params.expand}`;\n  while (url) {\n    const res = await ((_a = params.fetch) != null ? _a : fetch)(url, {\n      headers: {\n        accept: \"application/json\",\n        ...params.credentials ? { Authorization: `Bearer ${params.credentials.accessToken}` } : void 0\n      }\n    });\n    if (!res.ok) {\n      throw await createApiError(res);\n    }\n    const items = await res.json();\n    for (const item of items) {\n      yield item;\n    }\n    const linkHeader = res.headers.get(\"Link\");\n    url = linkHeader ? parseLinkHeader(linkHeader).next : void 0;\n  }\n}\n\n// src/lib/list-models.ts\nvar EXPAND_KEYS2 = [\n  \"pipeline_tag\",\n  \"private\",\n  \"gated\",\n  \"downloads\",\n  \"likes\",\n  \"lastModified\"\n];\nasync function* listModels(params) {\n  var _a, _b, _c, _d, _e, _f, _g, _h, _i, _j;\n  checkCredentials(params == null ? void 0 : params.credentials);\n  let totalToFetch = (_a = params == null ? void 0 : params.limit) != null ? _a : Infinity;\n  const search = new URLSearchParams([\n    ...Object.entries({\n      limit: String(Math.min(totalToFetch, 500)),\n      ...((_b = params == null ? void 0 : params.search) == null ? void 0 : _b.owner) ? { author: params.search.owner } : void 0,\n      ...((_c = params == null ? void 0 : params.search) == null ? void 0 : _c.task) ? { pipeline_tag: params.search.task } : void 0,\n      ...((_d = params == null ? void 0 : params.search) == null ? void 0 : _d.query) ? { search: params.search.query } : void 0\n    }),\n    ...(_g = (_f = (_e = params == null ? void 0 : params.search) == null ? void 0 : _e.tags) == null ? void 0 : _f.map((tag) => [\"filter\", tag])) != null ? _g : [],\n    ...EXPAND_KEYS2.map((val) => [\"expand\", val]),\n    ...(_i = (_h = params == null ? void 0 : params.additionalFields) == null ? void 0 : _h.map((val) => [\"expand\", val])) != null ? _i : []\n  ]).toString();\n  let url = `${(params == null ? void 0 : params.hubUrl) || HUB_URL}/api/models?${search}`;\n  while (url) {\n    const res = await ((_j = params == null ? void 0 : params.fetch) != null ? _j : fetch)(url, {\n      headers: {\n        accept: \"application/json\",\n        ...(params == null ? void 0 : params.credentials) ? { Authorization: `Bearer ${params.credentials.accessToken}` } : void 0\n      }\n    });\n    if (!res.ok) {\n      throw await createApiError(res);\n    }\n    const items = await res.json();\n    for (const item of items) {\n      yield {\n        ...(params == null ? void 0 : params.additionalFields) && pick(item, params.additionalFields),\n        id: item._id,\n        name: item.id,\n        private: item.private,\n        task: item.pipeline_tag,\n        downloads: item.downloads,\n        gated: item.gated,\n        likes: item.likes,\n        updatedAt: new Date(item.lastModified)\n      };\n      totalToFetch--;\n      if (totalToFetch <= 0) {\n        return;\n      }\n    }\n    const linkHeader = res.headers.get(\"Link\");\n    url = linkHeader ? parseLinkHeader(linkHeader).next : void 0;\n  }\n}\n\n// src/lib/list-spaces.ts\nvar EXPAND_KEYS3 = [\"sdk\", \"likes\", \"private\", \"lastModified\"];\nasync function* listSpaces(params) {\n  var _a, _b, _c, _d, _e, _f, _g;\n  checkCredentials(params == null ? void 0 : params.credentials);\n  const search = new URLSearchParams([\n    ...Object.entries({\n      limit: \"500\",\n      ...((_a = params == null ? void 0 : params.search) == null ? void 0 : _a.owner) ? { author: params.search.owner } : void 0,\n      ...((_b = params == null ? void 0 : params.search) == null ? void 0 : _b.query) ? { search: params.search.query } : void 0\n    }),\n    ...(_e = (_d = (_c = params == null ? void 0 : params.search) == null ? void 0 : _c.tags) == null ? void 0 : _d.map((tag) => [\"filter\", tag])) != null ? _e : [],\n    ...[...EXPAND_KEYS3, ...(_f = params == null ? void 0 : params.additionalFields) != null ? _f : []].map((val) => [\"expand\", val])\n  ]).toString();\n  let url = `${(params == null ? void 0 : params.hubUrl) || HUB_URL}/api/spaces?${search}`;\n  while (url) {\n    const res = await ((_g = params == null ? void 0 : params.fetch) != null ? _g : fetch)(url, {\n      headers: {\n        accept: \"application/json\",\n        ...(params == null ? void 0 : params.credentials) ? { Authorization: `Bearer ${params.credentials.accessToken}` } : void 0\n      }\n    });\n    if (!res.ok) {\n      throw await createApiError(res);\n    }\n    const items = await res.json();\n    for (const item of items) {\n      yield {\n        ...(params == null ? void 0 : params.additionalFields) && pick(item, params.additionalFields),\n        id: item._id,\n        name: item.id,\n        sdk: item.sdk,\n        likes: item.likes,\n        private: item.private,\n        updatedAt: new Date(item.lastModified)\n      };\n    }\n    const linkHeader = res.headers.get(\"Link\");\n    url = linkHeader ? parseLinkHeader(linkHeader).next : void 0;\n  }\n}\n\n// src/lib/oauth-handle-redirect.ts\nasync function oauthHandleRedirect(opts) {\n  var _a, _b;\n  if (typeof window === \"undefined\") {\n    throw new Error(\"oauthHandleRedirect is only available in the browser\");\n  }\n  const searchParams = new URLSearchParams(window.location.search);\n  const [error, errorDescription] = [searchParams.get(\"error\"), searchParams.get(\"error_description\")];\n  if (error) {\n    throw new Error(`${error}: ${errorDescription}`);\n  }\n  const code = searchParams.get(\"code\");\n  const nonce = localStorage.getItem(\"huggingface.co:oauth:nonce\");\n  if (!code) {\n    throw new Error(\"Missing oauth code from query parameters in redirected URL\");\n  }\n  if (!nonce) {\n    throw new Error(\"Missing oauth nonce from localStorage\");\n  }\n  const codeVerifier = localStorage.getItem(\"huggingface.co:oauth:code_verifier\");\n  if (!codeVerifier) {\n    throw new Error(\"Missing oauth code_verifier from localStorage\");\n  }\n  const state = searchParams.get(\"state\");\n  if (!state) {\n    throw new Error(\"Missing oauth state from query parameters in redirected URL\");\n  }\n  let parsedState;\n  try {\n    parsedState = JSON.parse(state);\n  } catch (e) {\n    throw new Error(\"Invalid oauth state in redirected URL, unable to parse JSON: \" + state);\n  }\n  if (parsedState.nonce !== nonce) {\n    throw new Error(\"Invalid oauth state in redirected URL\");\n  }\n  const hubUrl = (opts == null ? void 0 : opts.hubUrl) || HUB_URL;\n  const openidConfigUrl = `${new URL(hubUrl).origin}/.well-known/openid-configuration`;\n  const openidConfigRes = await fetch(openidConfigUrl, {\n    headers: {\n      Accept: \"application/json\"\n    }\n  });\n  if (!openidConfigRes.ok) {\n    throw await createApiError(openidConfigRes);\n  }\n  const opendidConfig = await openidConfigRes.json();\n  const tokenRes = await fetch(opendidConfig.token_endpoint, {\n    method: \"POST\",\n    headers: {\n      \"Content-Type\": \"application/x-www-form-urlencoded\"\n    },\n    body: new URLSearchParams({\n      grant_type: \"authorization_code\",\n      code,\n      redirect_uri: parsedState.redirectUri,\n      code_verifier: codeVerifier\n    }).toString()\n  });\n  localStorage.removeItem(\"huggingface.co:oauth:code_verifier\");\n  localStorage.removeItem(\"huggingface.co:oauth:nonce\");\n  if (!tokenRes.ok) {\n    throw await createApiError(tokenRes);\n  }\n  const token = await tokenRes.json();\n  const accessTokenExpiresAt = new Date(Date.now() + token.expires_in * 1e3);\n  const userInfoRes = await fetch(opendidConfig.userinfo_endpoint, {\n    headers: {\n      Authorization: `Bearer ${token.access_token}`\n    }\n  });\n  if (!userInfoRes.ok) {\n    throw await createApiError(userInfoRes);\n  }\n  const userInfo = await userInfoRes.json();\n  return {\n    accessToken: token.access_token,\n    accessTokenExpiresAt,\n    userInfo: {\n      id: userInfo.sub,\n      name: userInfo.name,\n      fullname: userInfo.preferred_username,\n      email: userInfo.email,\n      emailVerified: userInfo.email_verified,\n      avatarUrl: userInfo.picture,\n      websiteUrl: userInfo.website,\n      isPro: userInfo.isPro,\n      orgs: (_b = (_a = userInfo.orgs) == null ? void 0 : _a.map((org) => ({\n        id: org.sub,\n        name: org.name,\n        fullname: org.name,\n        isEnterprise: org.isEnterprise,\n        canPay: org.canPay,\n        avatarUrl: org.picture,\n        roleInOrg: org.roleInOrg\n      }))) != null ? _b : []\n    },\n    state: parsedState.state,\n    scope: token.scope\n  };\n}\nasync function oauthHandleRedirectIfPresent(opts) {\n  if (typeof window === \"undefined\") {\n    throw new Error(\"oauthHandleRedirect is only available in the browser\");\n  }\n  const searchParams = new URLSearchParams(window.location.search);\n  if (searchParams.has(\"error\")) {\n    return oauthHandleRedirect(opts);\n  }\n  if (searchParams.has(\"code\")) {\n    if (!localStorage.getItem(\"huggingface.co:oauth:nonce\")) {\n      console.warn(\n        \"Missing oauth nonce from localStorage. This can happen when the user refreshes the page after logging in, without changing the URL.\"\n      );\n      return false;\n    }\n    return oauthHandleRedirect(opts);\n  }\n  return false;\n}\n\n// src/lib/oauth-login-url.ts\nasync function oauthLoginUrl(opts) {\n  var _a, _b;\n  if (typeof window === \"undefined\") {\n    throw new Error(\"oauthLogin is only available in the browser\");\n  }\n  const hubUrl = (opts == null ? void 0 : opts.hubUrl) || HUB_URL;\n  const openidConfigUrl = `${new URL(hubUrl).origin}/.well-known/openid-configuration`;\n  const openidConfigRes = await fetch(openidConfigUrl, {\n    headers: {\n      Accept: \"application/json\"\n    }\n  });\n  if (!openidConfigRes.ok) {\n    throw await createApiError(openidConfigRes);\n  }\n  const opendidConfig = await openidConfigRes.json();\n  const newNonce = globalThis.crypto.randomUUID();\n  const newCodeVerifier = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();\n  localStorage.setItem(\"huggingface.co:oauth:nonce\", newNonce);\n  localStorage.setItem(\"huggingface.co:oauth:code_verifier\", newCodeVerifier);\n  const redirectUri = (opts == null ? void 0 : opts.redirectUrl) || window.location.href;\n  const state = JSON.stringify({\n    nonce: newNonce,\n    redirectUri,\n    state: opts == null ? void 0 : opts.state\n  });\n  const variables = (_b = (_a = window == null ? void 0 : window.huggingface) == null ? void 0 : _a.variables) != null ? _b : null;\n  const clientId = (opts == null ? void 0 : opts.clientId) || (variables == null ? void 0 : variables.OAUTH_CLIENT_ID);\n  if (!clientId) {\n    if (variables) {\n      throw new Error(\"Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space\");\n    }\n    throw new Error(\"Missing clientId\");\n  }\n  const challenge = base64FromBytes(\n    new Uint8Array(await globalThis.crypto.subtle.digest(\"SHA-256\", new TextEncoder().encode(newCodeVerifier)))\n  ).replace(/[+]/g, \"-\").replace(/[/]/g, \"_\").replace(/=/g, \"\");\n  return `${opendidConfig.authorization_endpoint}?${new URLSearchParams({\n    client_id: clientId,\n    scope: (opts == null ? void 0 : opts.scopes) || (variables == null ? void 0 : variables.OAUTH_SCOPES) || \"openid profile\",\n    response_type: \"code\",\n    redirect_uri: redirectUri,\n    state,\n    code_challenge: challenge,\n    code_challenge_method: \"S256\"\n  }).toString()}`;\n}\n\n// src/utils/typedInclude.ts\nfunction typedInclude(arr, v) {\n  return arr.includes(v);\n}\n\n// src/utils/omit.ts\nfunction omit(o, props) {\n  const propsArr = Array.isArray(props) ? props : [props];\n  const letsKeep = Object.keys(o).filter((prop) => !typedInclude(propsArr, prop));\n  return pick(o, letsKeep);\n}\n\n// src/utils/typedEntries.ts\nfunction typedEntries(obj) {\n  return Object.entries(obj);\n}\n\n// src/lib/parse-safetensors-metadata.ts\nvar SAFETENSORS_FILE = \"model.safetensors\";\nvar SAFETENSORS_INDEX_FILE = \"model.safetensors.index.json\";\nvar RE_SAFETENSORS_FILE = /\\.safetensors$/;\nvar RE_SAFETENSORS_INDEX_FILE = /\\.safetensors\\.index\\.json$/;\nvar RE_SAFETENSORS_SHARD_FILE = /^(?<prefix>(?<basePrefix>.*?)[_-])(?<shard>\\d{5})-of-(?<total>\\d{5})\\.safetensors$/;\nfunction parseSafetensorsShardFilename(filename) {\n  const match = RE_SAFETENSORS_SHARD_FILE.exec(filename);\n  if (match && match.groups) {\n    return {\n      prefix: match.groups[\"prefix\"],\n      basePrefix: match.groups[\"basePrefix\"],\n      shard: match.groups[\"shard\"],\n      total: match.groups[\"total\"]\n    };\n  }\n  return null;\n}\nvar PARALLEL_DOWNLOADS = 20;\nvar MAX_HEADER_LENGTH = 25e6;\nvar SafetensorParseError = class extends Error {\n};\nasync function parseSingleFile(path, params) {\n  const firstResp = await downloadFile({\n    ...params,\n    path,\n    range: [0, 7]\n  });\n  if (!firstResp) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: failed to fetch safetensors header length.`);\n  }\n  const bufLengthOfHeaderLE = await firstResp.arrayBuffer();\n  const lengthOfHeader = new DataView(bufLengthOfHeaderLE).getBigUint64(0, true);\n  if (lengthOfHeader <= 0) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: safetensors header is malformed.`);\n  }\n  if (lengthOfHeader > MAX_HEADER_LENGTH) {\n    throw new SafetensorParseError(\n      `Failed to parse file ${path}: safetensor header is too big. Maximum supported size is ${MAX_HEADER_LENGTH} bytes.`\n    );\n  }\n  const secondResp = await downloadFile({ ...params, path, range: [8, 7 + Number(lengthOfHeader)] });\n  if (!secondResp) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: failed to fetch safetensors header.`);\n  }\n  try {\n    const header = await secondResp.json();\n    return header;\n  } catch (err) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: safetensors header is not valid JSON.`);\n  }\n}\nasync function parseShardedIndex(path, params) {\n  const indexResp = await downloadFile({\n    ...params,\n    path,\n    range: [0, 1e7]\n  });\n  if (!indexResp) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: failed to fetch safetensors index.`);\n  }\n  let index;\n  try {\n    index = await indexResp.json();\n  } catch (error) {\n    throw new SafetensorParseError(`Failed to parse file ${path}: not a valid JSON.`);\n  }\n  const pathPrefix = path.slice(0, path.lastIndexOf(\"/\") + 1);\n  const filenames = [...new Set(Object.values(index.weight_map))];\n  const shardedMap = Object.fromEntries(\n    await promisesQueue(\n      filenames.map(\n        (filename) => async () => [filename, await parseSingleFile(pathPrefix + filename, params)]\n      ),\n      PARALLEL_DOWNLOADS\n    )\n  );\n  return { index, headers: shardedMap };\n}\nasync function parseSafetensorsMetadata(params) {\n  var _a, _b, _c, _d;\n  checkCredentials(params.credentials);\n  const repoId = toRepoId(params.repo);\n  if (repoId.type !== \"model\") {\n    throw new TypeError(\"Only model repos should contain safetensors files.\");\n  }\n  if (RE_SAFETENSORS_FILE.test((_a = params.path) != null ? _a : \"\") || await fileExists({ ...params, path: SAFETENSORS_FILE })) {\n    const header = await parseSingleFile((_b = params.path) != null ? _b : SAFETENSORS_FILE, params);\n    return {\n      sharded: false,\n      header,\n      ...params.computeParametersCount && {\n        parameterCount: computeNumOfParamsByDtypeSingleFile(header)\n      }\n    };\n  } else if (RE_SAFETENSORS_INDEX_FILE.test((_c = params.path) != null ? _c : \"\") || await fileExists({ ...params, path: SAFETENSORS_INDEX_FILE })) {\n    const { index, headers } = await parseShardedIndex((_d = params.path) != null ? _d : SAFETENSORS_INDEX_FILE, params);\n    return {\n      sharded: true,\n      index,\n      headers,\n      ...params.computeParametersCount && {\n        parameterCount: computeNumOfParamsByDtypeSharded(headers)\n      }\n    };\n  } else {\n    throw new Error(\"model id does not seem to contain safetensors weights\");\n  }\n}\nfunction computeNumOfParamsByDtypeSingleFile(header) {\n  var _a;\n  const counter = {};\n  const tensors = omit(header, \"__metadata__\");\n  for (const [, v] of typedEntries(tensors)) {\n    if (v.shape.length === 0) {\n      continue;\n    }\n    counter[v.dtype] = ((_a = counter[v.dtype]) != null ? _a : 0) + v.shape.reduce((a, b) => a * b);\n  }\n  return counter;\n}\nfunction computeNumOfParamsByDtypeSharded(shardedMap) {\n  var _a;\n  const counter = {};\n  for (const header of Object.values(shardedMap)) {\n    for (const [k, v] of typedEntries(computeNumOfParamsByDtypeSingleFile(header))) {\n      counter[k] = ((_a = counter[k]) != null ? _a : 0) + (v != null ? v : 0);\n    }\n  }\n  return counter;\n}\n\n// src/lib/upload-file.ts\nfunction uploadFile(params) {\n  var _a, _b;\n  const path = params.file instanceof URL ? (_a = params.file.pathname.split(\"/\").at(-1)) != null ? _a : \"file\" : \"path\" in params.file ? params.file.path : params.file.name;\n  return commit({\n    credentials: params.credentials,\n    repo: params.repo,\n    operations: [\n      {\n        operation: \"addOrUpdate\",\n        path,\n        content: \"content\" in params.file ? params.file.content : params.file\n      }\n    ],\n    title: (_b = params.commitTitle) != null ? _b : `Add ${path}`,\n    description: params.commitDescription,\n    hubUrl: params.hubUrl,\n    branch: params.branch,\n    isPullRequest: params.isPullRequest,\n    parentCommit: params.parentCommit,\n    fetch: params.fetch,\n    useWebWorkers: params.useWebWorkers,\n    abortSignal: params.abortSignal\n  });\n}\n\n// src/lib/upload-files.ts\nfunction uploadFiles(params) {\n  var _a;\n  return commit({\n    credentials: params.credentials,\n    repo: params.repo,\n    operations: params.files.map((file) => {\n      var _a2;\n      return {\n        operation: \"addOrUpdate\",\n        path: file instanceof URL ? (_a2 = file.pathname.split(\"/\").at(-1)) != null ? _a2 : \"file\" : \"path\" in file ? file.path : file.name,\n        content: \"content\" in file ? file.content : file\n      };\n    }),\n    title: (_a = params.commitTitle) != null ? _a : `Add ${params.files.length} files`,\n    description: params.commitDescription,\n    hubUrl: params.hubUrl,\n    branch: params.branch,\n    isPullRequest: params.isPullRequest,\n    parentCommit: params.parentCommit,\n    fetch: params.fetch,\n    useWebWorkers: params.useWebWorkers,\n    abortSignal: params.abortSignal\n  });\n}\n\n// src/lib/upload-files-with-progress.ts\nvar multipartUploadTracking = /* @__PURE__ */ new WeakMap();\nasync function* uploadFilesWithProgress(params) {\n  var _a;\n  return yield* commitIter({\n    credentials: params.credentials,\n    repo: params.repo,\n    operations: params.files.map((file) => {\n      var _a2;\n      return {\n        operation: \"addOrUpdate\",\n        path: file instanceof URL ? (_a2 = file.pathname.split(\"/\").at(-1)) != null ? _a2 : \"file\" : \"path\" in file ? file.path : file.name,\n        content: \"content\" in file ? file.content : file\n      };\n    }),\n    title: (_a = params.commitTitle) != null ? _a : `Add ${params.files.length} files`,\n    description: params.commitDescription,\n    hubUrl: params.hubUrl,\n    branch: params.branch,\n    isPullRequest: params.isPullRequest,\n    parentCommit: params.parentCommit,\n    useWebWorkers: params.useWebWorkers,\n    abortSignal: params.abortSignal,\n    fetch: async (input, init) => {\n      var _a2;\n      if (!init) {\n        return fetch(input);\n      }\n      if (!typedInclude([\"PUT\", \"POST\"], init.method) || !(\"progressHint\" in init) || !init.progressHint || typeof XMLHttpRequest === \"undefined\" || typeof input !== \"string\" || !(init.body instanceof ArrayBuffer) && !(init.body instanceof Blob) && !(init.body instanceof File) && typeof init.body !== \"string\") {\n        return fetch(input, init);\n      }\n      const progressHint = init.progressHint;\n      const progressCallback = progressHint.progressCallback;\n      const xhr = new XMLHttpRequest();\n      xhr.upload.addEventListener(\"progress\", (event) => {\n        if (event.lengthComputable) {\n          if (progressHint.part !== void 0) {\n            let tracking = multipartUploadTracking.get(progressCallback);\n            if (!tracking) {\n              tracking = { numParts: progressHint.numParts, partsProgress: {} };\n              multipartUploadTracking.set(progressCallback, tracking);\n            }\n            tracking.partsProgress[progressHint.part] = event.loaded / event.total;\n            let totalProgress = 0;\n            for (const partProgress of Object.values(tracking.partsProgress)) {\n              totalProgress += partProgress;\n            }\n            if (totalProgress === tracking.numParts) {\n              progressCallback(0.9999999999);\n            } else {\n              progressCallback(totalProgress / tracking.numParts);\n            }\n          } else {\n            if (event.loaded === event.total) {\n              progressCallback(0.9999999999);\n            } else {\n              progressCallback(event.loaded / event.total);\n            }\n          }\n        }\n      });\n      xhr.open(init.method, input, true);\n      if (init.headers) {\n        const headers = new Headers(init.headers);\n        headers.forEach((value, key) => {\n          xhr.setRequestHeader(key, value);\n        });\n      }\n      (_a2 = init.signal) == null ? void 0 : _a2.throwIfAborted();\n      xhr.send(init.body);\n      return new Promise((resolve2, reject) => {\n        xhr.addEventListener(\"load\", () => {\n          resolve2(\n            new Response(xhr.responseText, {\n              status: xhr.status,\n              statusText: xhr.statusText,\n              headers: Object.fromEntries(\n                xhr.getAllResponseHeaders().trim().split(\"\\n\").map((header) => [header.slice(0, header.indexOf(\":\")), header.slice(header.indexOf(\":\") + 1).trim()])\n              )\n            })\n          );\n        });\n        xhr.addEventListener(\"error\", () => {\n          reject(new Error(xhr.statusText));\n        });\n        if (init.signal) {\n          init.signal.addEventListener(\"abort\", () => {\n            var _a3;\n            xhr.abort();\n            try {\n              (_a3 = init.signal) == null ? void 0 : _a3.throwIfAborted();\n            } catch (err) {\n              reject(err);\n            }\n          });\n        }\n      });\n    }\n  });\n}\n\n// src/lib/who-am-i.ts\nasync function whoAmI(params) {\n  var _a, _b, _c;\n  checkCredentials(params.credentials);\n  const res = await ((_a = params.fetch) != null ? _a : fetch)(`${(_b = params.hubUrl) != null ? _b : HUB_URL}/api/whoami-v2`, {\n    headers: {\n      Authorization: `Bearer ${params.credentials.accessToken}`\n    }\n  });\n  if (!res.ok) {\n    throw await createApiError(res);\n  }\n  const response = await res.json();\n  if (typeof ((_c = response.auth.accessToken) == null ? void 0 : _c.createdAt) === \"string\") {\n    response.auth.accessToken.createdAt = new Date(response.auth.accessToken.createdAt);\n  }\n  return response;\n}\nexport {\n  HubApiError,\n  InvalidApiResponseFormatError,\n  RE_SAFETENSORS_FILE,\n  RE_SAFETENSORS_INDEX_FILE,\n  RE_SAFETENSORS_SHARD_FILE,\n  SAFETENSORS_FILE,\n  SAFETENSORS_INDEX_FILE,\n  sha256 as __internal_sha256,\n  commit,\n  commitIter,\n  countCommits,\n  createRepo,\n  deleteFile,\n  deleteFiles,\n  deleteRepo,\n  downloadFile,\n  fileDownloadInfo,\n  fileExists,\n  listCommits,\n  listDatasets,\n  listFiles,\n  listModels,\n  listSpaces,\n  oauthHandleRedirect,\n  oauthHandleRedirectIfPresent,\n  oauthLoginUrl,\n  parseSafetensorsMetadata,\n  parseSafetensorsShardFilename,\n  uploadFile,\n  uploadFiles,\n  uploadFilesWithProgress,\n  whoAmI\n};\n","/**\n * reachy-mini.js — Browser SDK for controlling a Reachy Mini robot over WebRTC.\n * https://github.com/pollen-robotics/reachy-mini\n *\n * QUICK START\n * ───────────\n *   import { ReachyMini } from \"./reachy-mini.js\";\n *   const robot = new ReachyMini();\n *\n *   // 1. Auth (HuggingFace OAuth — required for the signaling server)\n *   if (!await robot.authenticate()) { robot.login(); return; }\n *\n *   // 2. Connect to signaling server (SSE)\n *   await robot.connect();\n *\n *   // 3. Pick a robot once the list arrives\n *   robot.addEventListener(\"robotsChanged\", (e) => {\n *       const robots = e.detail.robots;  // [{ id, meta: { name } }, ...]\n *   });\n *\n *   // 4. Start a WebRTC session (resolves when video + data channel ready)\n *   const detach = robot.attachVideo(document.querySelector(\"video\"));\n *   await robot.startSession(robotId);\n *\n *   // 5. Send commands — degree-friendly helpers, all built on setTarget()\n *   robot.setHeadRpyDeg(0, 10, -5);   // roll, pitch, yaw in degrees\n *   robot.setAntennasDeg(30, -30);    // right, left in degrees\n *   robot.setBodyYawDeg(15);          // body yaw in degrees\n *\n *   // …or compose an atomic update in raw wire units (full SE(3); no XYZ loss):\n *   robot.setTarget({\n *       head: rpyToMatrix(0, 10, -5).flat(),  // number[16] flat row-major 4×4\n *       antennas: [degToRad(30), degToRad(-30)],\n *       body_yaw: degToRad(15),\n *   });\n *   robot.playSound(\"wake_up.wav\");   // filename on robot\n *   const ver = await robot.getVersion(); // e.g. \"1.5.1\"\n *\n *   // 6. Receive live state (emitted every ~500 ms while streaming; call\n *   //    robot.requestState() yourself for higher rates — see its JSDoc).\n *   //    State payload is the daemon's raw wire shape — use the math\n *   //    utilities exported from this module for degree conversions.\n *   robot.addEventListener(\"state\", (e) => {\n *       const { head, antennas, body_yaw, motor_mode, is_move_running } = e.detail;\n *       // head:            number[16]   — flat row-major 4×4 (full SE(3))\n *       // antennas:        [rightRad, leftRad]\n *       // body_yaw:        number       — radians\n *       // motor_mode:      \"enabled\" | \"disabled\" | \"gravity_compensation\"\n *       // is_move_running: boolean\n *       // For human-friendly head RPY:\n *       //   const rpy = matrixToRpy(head);   // { roll, pitch, yaw } in degrees\n *   });\n *\n *   // 7. Audio controls\n *   robot.setAudioMuted(false);   // unmute robot speaker (muted by default)\n *   robot.setMicMuted(false);     // unmute your mic → robot speaker (if supported)\n *\n *   // 8. Cleanup\n *   detach();                      // remove video binding\n *   await robot.stopSession();     // back to 'connected'\n *   robot.disconnect();            // back to 'disconnected' (keeps auth)\n *   robot.logout();                // clear HF credentials too\n *\n *\n * STATE MACHINE\n * ─────────────\n *   'disconnected' ──connect()──▸ 'connected' ──startSession()──▸ 'streaming'\n *        ▴ disconnect()                ▴ stopSession()\n *        └─────────────────────────────┘\n *\n *\n * CONSTRUCTOR OPTIONS\n * ───────────────────\n *   new ReachyMini({\n *     signalingUrl:              string,   // default: \"https://pollen-robotics-reachy-mini-central.hf.space\"\n *     enableMicrophone:          boolean,  // default: true  — acquire mic for bidirectional audio\n *     videoJitterBufferTargetMs: number,   // default: 0     — receiver-side jitter buffer hint, ms\n *                                          //                  0 = \"render ASAP\" (teleop). Spec range [0, 4000].\n *                                          //                  Raise (100–400) on flaky links to trade latency for resilience.\n *     autoStartFromUrl:          boolean,  // default: false — when true AND the URL carries a `robot_peer_id` hint,\n *                                          //                  auto-call `startSession(preselectedRobotId)` after\n *                                          //                  `connect()` resolves and that robot appears online.\n *                                          //                  One-shot per page load; suits iframe-embedded apps\n *                                          //                  that want zero-tap entry from the host shell.\n *   })\n *\n *\n * READ-ONLY PROPERTIES\n * ────────────────────\n *   .state            \"disconnected\" | \"connected\" | \"streaming\"\n *   .robots           Array<{ id: string, meta: { name: string } }>\n *   .robotState       Mirror of the latest \"state\" event detail —\n *                     { head: number[16], antennas: [rightRad, leftRad],\n *                       body_yaw, motor_mode, is_move_running }\n *                     (fields only present once the daemon sends them;\n *                      see EVENTS below)\n *   .username         string | null     — HF username after authenticate()\n *   .isAuthenticated  boolean           — true if a valid HF token is available\n *   .micSupported     boolean           — true if robot offers bidirectional audio\n *   .micMuted         boolean           — your microphone mute state\n *   .audioMuted       boolean           — robot speaker mute state (local)\n *   .preselectedRobotId string | null   — peer id from `?robot_peer_id=` /\n *                                          `#robot_peer_id=`; null if absent.\n *                                          Use it to skip your robot picker\n *                                          when a host iframe (e.g. the\n *                                          Reachy Mini mobile shell) embeds\n *                                          this app.\n *   .isEmbedded       boolean           — true iff `preselectedRobotId !==\n *                                          null`. Branch your UX on this:\n *                                          when true, hide the robot picker\n *                                          and your sign-in screen (the\n *                                          host has already handled both).\n *\n *\n * EVENTS  (EventTarget — use addEventListener)\n * ──────────────────────────────────────────────\n *   \"connected\"       { peerId: string }\n *   \"disconnected\"    { reason: string }\n *   \"robotsChanged\"   { robots: Array<{ id, meta }> }\n *   \"streaming\"       { sessionId: string, robotId: string }\n *   \"sessionStopped\"  { reason: string }\n *   \"state\"           { head: number[16],                    // flat row-major 4×4, when daemon sends head_pose\n *                       antennas: [rightRad, leftRad],       // when daemon sends antennas\n *                       body_yaw: number,                    // radians, when daemon sends body_yaw\n *                       motor_mode: string,                  // when daemon sends motor_mode\n *                       is_move_running: boolean }           // when daemon sends is_move_running\n *   \"videoTrack\"      { track: MediaStreamTrack, stream: MediaStream }\n *   \"micSupported\"    { supported: boolean }\n *   \"error\"           { source: \"signaling\"|\"webrtc\"|\"robot\", error: Error|string }\n *\n *\n * EXPORTS\n * ───────\n *   export default ReachyMini;\n *   export { ReachyMini, rpyToMatrix, matrixToRpy, degToRad, radToDeg };\n */\n\nimport {\n    oauthHandleRedirectIfPresent,\n    oauthLoginUrl,\n} from \"@huggingface/hub\";\n\n// ─── Math utilities ──────────────────────────────────────────────────────────\n\n/** @param {number} deg @returns {number} */\nexport function degToRad(deg) { return deg * Math.PI / 180; }\n\n/** @param {number} rad @returns {number} */\nexport function radToDeg(rad) { return rad * 180 / Math.PI; }\n\n/**\n * Roll/pitch/yaw (degrees) → 4×4 rotation matrix (ZYX convention).\n * This is the wire format for the robot's `set_target` command.\n * @param {number} rollDeg  @param {number} pitchDeg  @param {number} yawDeg\n * @returns {number[][]} 4×4 matrix\n */\nexport function rpyToMatrix(rollDeg, pitchDeg, yawDeg) {\n    const r = degToRad(rollDeg), p = degToRad(pitchDeg), y = degToRad(yawDeg);\n    const cy = Math.cos(y), sy = Math.sin(y);\n    const cp = Math.cos(p), sp = Math.sin(p);\n    const cr = Math.cos(r), sr = Math.sin(r);\n    return [\n        [cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr, 0],\n        [sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr, 0],\n        [-sp, cp * sr, cp * cr, 0],\n        [0, 0, 0, 1],\n    ];\n}\n\n/**\n * Rotation matrix (3×3 or 4×4) → { roll, pitch, yaw } in degrees.\n * @param {number[][]} m  @returns {{ roll: number, pitch: number, yaw: number }}\n */\nexport function matrixToRpy(m) {\n    return {\n        roll: radToDeg(Math.atan2(m[2][1], m[2][2])),\n        pitch: radToDeg(Math.asin(-m[2][0])),\n        yaw: radToDeg(Math.atan2(m[1][0], m[0][0])),\n    };\n}\n\n// ─── Internal helpers ────────────────────────────────────────────────────────\n\n/** Clamp a volume to [0, 100] and round to integer — mirrors the server-side\n *  Field(..., ge=0, le=100) validator so calling setVolume(150) doesn't 400. */\nfunction clampVolume(v) {\n    const n = Math.round(Number(v) || 0);\n    return Math.max(0, Math.min(100, n));\n}\n\n/**\n * Pick up HuggingFace credentials passed via the URL fragment and move them\n * into `sessionStorage`, where `authenticate()` looks them up.\n *\n * This is the bridge that lets a host page (e.g. the Reachy Mini mobile\n * app, or the vibe-coder preview iframe) embed a Space hosting a SDK\n * consumer despite `X-Frame-Options: SAMEORIGIN` on `huggingface.co/login`:\n * the host already holds a valid token (through its own OAuth flow) and\n * appends it to the iframe URL as\n *\n *     #hf_token=<jwt>&hf_username=<handle>&hf_token_expires=<iso>\n *\n * Fragments are NOT sent over HTTP, so the credentials never leak to\n * the HF Space backend or to intermediate proxies.\n *\n * Why all three keys: `authenticate()`'s cache check requires the token,\n * the username AND a future expiry to ALL be present in `sessionStorage`,\n * otherwise it returns `false` and the app falls through to a full OAuth\n * round-trip — which can't complete inside an iframe.\n *\n * Called once from the top of `authenticate()` so SDK consumers don't\n * need any boilerplate of their own. We clear the fragment right after\n * reading it so a page reload does not keep the credentials visible in\n * the address bar.\n *\n * No-op when:\n *   - there is no `window` (SSR / Worker contexts),\n *   - the URL has no fragment,\n *   - the fragment carries no `hf_token` (other apps may use the\n *     fragment for theme / route / etc.; we leave those alone).\n */\nfunction consumeFragmentCredentials() {\n    if (typeof window === 'undefined' || !window.location.hash) return;\n    const raw = window.location.hash.startsWith('#')\n        ? window.location.hash.slice(1)\n        : window.location.hash;\n    let params;\n    try { params = new URLSearchParams(raw); } catch (_e) { return; }\n    const token = params.get('hf_token');\n    if (!token) return;\n    // `hf_username` is required by the cache check. Hosts that haven't\n    // resolved the user's HF handle yet may pass a literal \"user\"\n    // placeholder; the SDK only uses the value for display and never\n    // round-trips it server-side, so the placeholder is harmless.\n    const username = params.get('hf_username') || 'user';\n    // `hf_token_expires` is a far-future ISO date for personal access\n    // tokens (no real expiry). Hosts typically synthesise ~1 year out;\n    // we accept whatever was sent and fall back to \"1 year from now\"\n    // if the parameter is missing or unparseable, so a partial fragment\n    // still gets the user logged in.\n    const expiresParam = params.get('hf_token_expires');\n    const expires =\n        expiresParam && !Number.isNaN(new Date(expiresParam).getTime())\n            ? expiresParam\n            : new Date(Date.now() + 365 * 24 * 60 * 60 * 1000).toISOString();\n    try {\n        sessionStorage.setItem('hf_token', token);\n        sessionStorage.setItem('hf_username', username);\n        sessionStorage.setItem('hf_token_expires', expires);\n    } catch (err) {\n        console.warn('[reachy-mini] could not persist pre-seeded HF credentials:', err);\n    }\n    // Strip the auth keys from the address bar but keep any other hash\n    // params the app or SDK might care about (theme, embedded, …).\n    params.delete('hf_token');\n    params.delete('hf_username');\n    params.delete('hf_token_expires');\n    const remaining = params.toString();\n    const cleanUrl =\n        window.location.pathname +\n        window.location.search +\n        (remaining ? '#' + remaining : '');\n    try { window.history.replaceState(null, '', cleanUrl); } catch (_e) {}\n}\n\n/**\n * Pick up a preselected robot peer id from the URL.\n *\n * Looked up in this order:\n *   1. URL fragment   (`#robot_peer_id=<peerId>`)\n *   2. URL query      (`?robot_peer_id=<peerId>`)\n *\n * Both spellings are accepted because:\n *   - the Reachy Mini mobile shell sends it in the query today,\n *   - the vibe-coder preview / future hosts may prefer the fragment for\n *     symmetry with `consumeFragmentCredentials`,\n *   - the value is NOT a secret (peer ids are public on the central\n *     signaling server's robot listing) so query is fine.\n *\n * Returns `null` when no peer id is found in either location, when there\n * is no `window` (SSR / Worker context), or on parse error. Unlike\n * credentials, we do NOT strip the param from the URL: the value is\n * harmless to keep visible and removing it would break tools that read\n * the URL for context.\n *\n * @returns {string|null}\n */\nfunction readPreselectedRobotIdFromUrl() {\n    if (typeof window === 'undefined') return null;\n    // 1. Fragment (`#robot_peer_id=…`).\n    if (window.location.hash) {\n        const raw = window.location.hash.startsWith('#')\n            ? window.location.hash.slice(1)\n            : window.location.hash;\n        try {\n            const params = new URLSearchParams(raw);\n            const fromHash = params.get('robot_peer_id');\n            if (fromHash) return fromHash;\n        } catch (_e) { /* malformed fragment — fall through */ }\n    }\n    // 2. Query (`?robot_peer_id=…`).\n    if (window.location.search) {\n        try {\n            const params = new URLSearchParams(window.location.search);\n            const fromQuery = params.get('robot_peer_id');\n            if (fromQuery) return fromQuery;\n        } catch (_e) { /* malformed query — fall through */ }\n    }\n    return null;\n}\n\n/** Check if the audio m= section of an SDP has a=sendrecv (bidirectional audio). */\nfunction sdpHasAudioSendRecv(sdp) {\n    const lines = sdp.split('\\r\\n');\n    let inAudio = false;\n    for (const line of lines) {\n        if (line.startsWith('m=audio')) inAudio = true;\n        else if (line.startsWith('m=')) inAudio = false;\n        if (inAudio && line === 'a=sendrecv') return true;\n    }\n    return false;\n}\n\n// ─── ReachyMini class ────────────────────────────────────────────────────────\n\nexport class ReachyMini extends EventTarget {\n\n    /** @param {{ signalingUrl?: string, enableMicrophone?: boolean, clientId?: string, appName?: string, videoJitterBufferTargetMs?: number, autoStartFromUrl?: boolean }} [options] */\n    constructor(options = {}) {\n        super();\n        this._signalingUrl = options.signalingUrl || 'https://pollen-robotics-reachy-mini-central.hf.space';\n        this._enableMicrophone = options.enableMicrophone !== false;\n        this._clientId = options.clientId || null;\n        this._appName = options.appName || 'unknown';\n        // Hint to the receiver's WebRTC jitter buffer (ms). 0 = \"render ASAP\",\n        // appropriate for teleop. Spec range [0, 4000]. Browsers that don't\n        // implement RTCRtpReceiver.jitterBufferTarget fall back to default\n        // buffering (~150-200 ms).\n        this._videoJitterBufferTargetMs = options.videoJitterBufferTargetMs ?? 0;\n        // When true AND the URL carried a `robot_peer_id` hint at\n        // construction (so `preselectedRobotId !== null`), the SDK\n        // auto-calls `startSession(preselectedRobotId)` as soon as\n        // that robot appears in the central's robot list after the\n        // app's own `connect()` resolves. Lets host-iframe-embedded\n        // consumers (mobile shell, vibe-coder preview) skip their\n        // robot picker AND skip the manual `startSession` call —\n        // they just `await robot.connect()` and receive a `streaming`\n        // event when the SDK has dialed in. One-shot: a manual\n        // `stopSession()` followed by another `startSession()` is\n        // not auto-replayed. Default `false` keeps the standalone\n        // Space behavior unchanged.\n        this._autoStartFromUrl = options.autoStartFromUrl === true;\n        this._autoStartAttempted = false;\n\n        this._state = 'disconnected';                 // 'disconnected' | 'connected' | 'streaming'\n        this._robots = [];                             // latest robot list from signaling\n        this._robotState = {};                         // populated from daemon state events (wire shape)\n\n        // Preselected robot peer id read from the URL at construction\n        // time. When a host iframe (typically the Reachy Mini mobile\n        // shell) embeds an SDK consumer, it appends the peer id of the\n        // robot it's already connected to via\n        // `?robot_peer_id=…` (or `#robot_peer_id=…`). Apps can read\n        // `robot.preselectedRobotId` and call `startSession(id)`\n        // directly to skip their robot picker. Captured ONCE at\n        // construction so subsequent URL changes (history navigation,\n        // hash mutations from `consumeFragmentCredentials`) don't move\n        // the target out from under the consumer.\n        this._preselectedRobotId = readPreselectedRobotIdFromUrl();\n\n        // Auth\n        this._token = null;\n        this._username = null;\n        this._tokenExpires = null;\n\n        // Signaling\n        this._peerId = null;\n        this._sseAbortController = null;\n\n        // WebRTC\n        this._pc = null;           // RTCPeerConnection\n        this._dc = null;           // RTCDataChannel (robot commands)\n        this._sessionId = null;\n        this._selectedRobotId = null;\n\n        // Audio\n        this._micStream = null;    // MediaStream from getUserMedia\n        this._micMuted = true;\n        this._audioMuted = true;\n        this._micSupported = false; // set after SDP negotiation\n\n        // Timers\n        this._latencyMonitorId = null;\n        this._stateRefreshInterval = null;\n\n        // getVersion() / getHardwareId() promise plumbing\n        this._versionResolve = null;\n        this._hardwareIdResolve = null;\n\n        // Volume getter/setter promise plumbing (get_volume / set_volume).\n        // Speaker and microphone are tracked separately so two in-flight\n        // requests can't collide on the same slot.\n        this._volumeResolve = null;\n        this._micVolumeResolve = null;\n\n        // subscribeLogs(): a Set of {onLine, onError} subscribers. The\n        // first add sends `subscribe_logs`; removing the last sends\n        // `unsubscribe_logs`. We keep a single daemon-side stream and\n        // fan out to local subscribers in `_handleRobotMessage`.\n        this._logSubscribers = new Set();\n\n        // startSession() promise plumbing\n        this._sessionResolve = null;\n        this._sessionReject = null;\n        this._iceConnected = false;\n        this._dcOpen = false;\n\n        // Motion-completion plumbing for wakeUp() / gotoSleep().\n        //\n        // The daemon's data-channel handler dispatches `wake_up` and\n        // `goto_sleep` as async tasks and replies with\n        // `{status: \"ok\", command, completed: true}` when the trajectory\n        // ACTUALLY finishes (or with `{error, command}` on failure). We\n        // surface that as a Promise so callers can `await robot.gotoSleep()`\n        // and chain `setMotorMode('disabled')` without racing the\n        // trajectory player.\n        //\n        // Queues, not single slots: the data-channel protocol has no\n        // request IDs, but FIFO ordering is guaranteed by the daemon's\n        // serialised dispatcher, so the N-th response matches the N-th\n        // request. A queue makes back-to-back calls (e.g. teardown firing\n        // on top of an in-flight wake_up) safe; a single slot would\n        // silently drop the earlier awaiter.\n        this._pendingMotionCompletions = {\n            wake_up: [],\n            goto_sleep: [],\n        };\n\n        // Set by attachVideo()\n        this._videoElement = null;\n    }\n\n    // ─── Read-only properties ────────────────────────────────────────────\n\n    /** @returns {\"disconnected\"|\"connected\"|\"streaming\"} */\n    get state() { return this._state; }\n\n    /** @returns {Array<{id: string, meta: {name: string}}>} */\n    get robots() { return this._robots; }\n\n    /**\n     * Latest robot state (same shape as the \"state\" event detail).\n     * Mirrors the daemon's wire format — fields appear only once the\n     * daemon has sent the corresponding source field. Use the exported\n     * math utilities (``matrixToRpy``, ``radToDeg``) for human units.\n     * @returns {{\n     *   head?: number[],\n     *   antennas?: number[],\n     *   body_yaw?: number,\n     *   motor_mode?: \"enabled\"|\"disabled\"|\"gravity_compensation\",\n     *   is_move_running?: boolean,\n     * }}\n     */\n    get robotState() { return this._robotState; }\n\n    /** @returns {string|null} HuggingFace username, set after authenticate(). */\n    get username() { return this._username; }\n\n    /** @returns {boolean} True if a valid HF token is available. */\n    get isAuthenticated() { return !!this._token; }\n\n    /** @returns {boolean} True if the robot's SDP offered bidirectional audio. */\n    get micSupported() { return this._micSupported; }\n\n    /** @returns {boolean} */\n    get micMuted() { return this._micMuted; }\n\n    /** @returns {boolean} */\n    get audioMuted() { return this._audioMuted; }\n\n    /**\n     * Peer id of the robot the embedding host wants this session to\n     * target, captured from the URL at construction time. Apps that\n     * want to support iframe-embedding without forcing the user to\n     * re-pick a robot read this and pass it straight to\n     * `startSession()` once `connect()` resolves:\n     *\n     *     await robot.connect();\n     *     await robot.startSession(robot.preselectedRobotId ?? pickedId);\n     *\n     * Returns `null` when the URL carries no `robot_peer_id` (typical\n     * standalone Space load). The value is also exposed on the\n     * \"robotsChanged\" payload via the `meta` sidecar for\n     * convenience, but the most direct read is right here.\n     *\n     * @returns {string|null}\n     */\n    get preselectedRobotId() { return this._preselectedRobotId; }\n\n    /**\n     * Convenience flag for apps that want to branch their UX on\n     * \"am I embedded in a host shell?\". True iff the URL carried a\n     * `robot_peer_id` hint at construction time (which only happens\n     * when a host iframe — mobile shell, vibe-coder preview, etc. —\n     * is the parent). Apps typically use it to skip their robot\n     * picker and their sign-in screen, since both are duplicated\n     * work the host has already done.\n     *\n     * @returns {boolean}\n     */\n    get isEmbedded() { return this._preselectedRobotId !== null; }\n\n    /**\n     * Internal: try to honour the `autoStartFromUrl` constructor\n     * option. Called from the signaling-message handler after every\n     * `robotsChanged` emit, so a robot that comes online after the\n     * SDK is already `connected` still triggers the auto-start.\n     * No-op unless `autoStartFromUrl` is set, the URL carries a\n     * preselect, the SDK is `connected`, the preselected robot is\n     * in the latest list, and we haven't already attempted in this\n     * page load. Errors are swallowed to a `console.warn` — the\n     * normal `startSession` rejection / `sessionRejected` event\n     * still fires for app-level handling.\n     *\n     * Defers the actual `startSession()` call by one macrotask\n     * (`setTimeout(..., 0)`) so it runs OUTSIDE the\n     * `_handleSignalingMessage` callstack that just processed the\n     * `'list'` message. Reproduced on Android WebView: firing\n     * `startSession` synchronously inside the SSE handler races the\n     * daemon's setup, leading to a connected-but-no-keyframe state\n     * where the receiver eternally NACKs and the iframe shows a\n     * black <video>. The macrotask-deferral is the minimum nudge\n     * that consistently resolves the race in our reproduction; if\n     * it ever proves insufficient on slower hardware, bump to\n     * a small explicit delay (e.g. 250 ms).\n     */\n    _maybeAutoStart() {\n        if (!this._autoStartFromUrl) return;\n        if (this._autoStartAttempted) return;\n        if (!this._preselectedRobotId) return;\n        if (this._state !== 'connected') return;\n        const match = this._robots.find((r) => r.id === this._preselectedRobotId);\n        if (!match) return;\n        this._autoStartAttempted = true;\n        const peerId = this._preselectedRobotId;\n        setTimeout(() => {\n            // Re-check state in case a manual stopSession / disconnect\n            // landed between the schedule and the fire.\n            if (this._state !== 'connected') return;\n            this.startSession(peerId).catch((err) => {\n                console.warn('[reachy-mini] autoStartFromUrl: startSession rejected:', err);\n            });\n        }, 0);\n    }\n\n    // ─── Auth ────────────────────────────────────────────────────────────\n\n    /**\n     * Check for a valid HuggingFace token.\n     *\n     * Resolution order:\n     *   1. URL fragment hand-off (`#hf_token=…&hf_username=…&hf_token_expires=…`).\n     *      A host iframe — typically the Reachy Mini mobile app or a\n     *      vibe-coder preview — can pass credentials through the URL\n     *      fragment to bypass HF's `X-Frame-Options: SAMEORIGIN` block\n     *      on `huggingface.co/login`. Seeded into `sessionStorage` and\n     *      then stripped from the address bar so a page reload does not\n     *      keep the credentials visible.\n     *   2. OAuth redirect callback (standalone Space, first sign-in).\n     *   3. `sessionStorage` cache (subsequent loads in any context).\n     *\n     * @returns {Promise<boolean>} true → token ready, false → call login()\n     */\n    async authenticate() {\n        try {\n            // 1. Iframe hand-off. No-op when the URL has no fragment or\n            //    the fragment carries no `hf_token`, so this is free on\n            //    standalone Space loads.\n            consumeFragmentCredentials();\n\n            // 2. OAuth redirect callback.\n            const result = await oauthHandleRedirectIfPresent();\n            if (result) {\n                this._username = result.userInfo.preferred_username || result.userInfo.name;\n                this._token = result.accessToken;\n                this._tokenExpires = result.accessTokenExpiresAt;\n                sessionStorage.setItem('hf_token', this._token);\n                sessionStorage.setItem('hf_username', this._username);\n                sessionStorage.setItem('hf_token_expires', this._tokenExpires);\n                return true;\n            }\n\n            // 3. sessionStorage cache. Both paths above also write here,\n            //    so this is the canonical lookup for any subsequent call.\n            const t = sessionStorage.getItem('hf_token');\n            const u = sessionStorage.getItem('hf_username');\n            const e = sessionStorage.getItem('hf_token_expires');\n            if (t && u && e && new Date(e) > new Date()) {\n                this._token = t;\n                this._username = u;\n                this._tokenExpires = e;\n                return true;\n            }\n            return false;\n        } catch (e) {\n            console.error('Auth error:', e);\n            return false;\n        }\n    }\n\n    /** Redirect the browser to the HuggingFace OAuth login page. */\n    async login() {\n        const opts = {};\n        if (this._clientId) opts.clientId = this._clientId;\n        window.location.href = await oauthLoginUrl(opts);\n    }\n\n    /** Clear stored HF credentials and disconnect everything. */\n    logout() {\n        sessionStorage.removeItem('hf_token');\n        sessionStorage.removeItem('hf_username');\n        sessionStorage.removeItem('hf_token_expires');\n        this._username = null;\n        this._tokenExpires = null;\n        this.disconnect();\n    }\n\n    // ─── Lifecycle ───────────────────────────────────────────────────────\n\n    /**\n     * Open SSE signaling connection.  Resolves once the server sends `welcome`.\n     * Emits \"robotsChanged\" as robots come and go.\n     * @param {string} [token] — HF access token.  Omit to use the one from authenticate().\n     * @returns {Promise<void>}\n     */\n    async connect(token) {\n        if (this._state !== 'disconnected') throw new Error('Already connected');\n        if (token) this._token = token;\n        if (!this._token) throw new Error('No token — call authenticate() first or pass a token');\n        this._sseAbortController = new AbortController();\n\n        let res;\n        try {\n            // Token goes in the Authorization header, not the URL —\n            // keeps it out of DevTools Network tab, browser history,\n            // Referer, and any server/proxy access log. We use fetch\n            // + manual stream reader (below) rather than EventSource\n            // specifically to allow custom headers.\n            res = await fetch(\n                `${this._signalingUrl}/events`,\n                {\n                    signal: this._sseAbortController.signal,\n                    headers: { 'Authorization': `Bearer ${this._token}` },\n                },\n            );\n        } catch (e) {\n            this._sseAbortController = null;\n            throw e;\n        }\n        if (!res.ok) {\n            this._sseAbortController = null;\n            throw new Error(`HTTP ${res.status}`);\n        }\n\n        return new Promise((resolve, reject) => {\n            let welcomed = false;\n            const reader = res.body.getReader();\n            const decoder = new TextDecoder();\n            let buffer = '';\n\n            const readLoop = async () => {\n                try {\n                    while (true) {\n                        const { done, value } = await reader.read();\n                        if (done) break;\n                        buffer += decoder.decode(value, { stream: true });\n                        const lines = buffer.split('\\n');\n                        buffer = lines.pop();\n                        for (const line of lines) {\n                            if (!line.startsWith('data:')) continue;\n                            try {\n                                const msg = JSON.parse(line.slice(5).trim());\n                                if (!welcomed && msg.type === 'welcome') {\n                                    welcomed = true;\n                                    this._peerId = msg.peerId;\n                                    this._state = 'connected';\n                                    await this._sendToServer({\n                                        type: 'setPeerStatus',\n                                        roles: ['listener'],\n                                        meta: { name: this._appName },\n                                    });\n                                    this._emit('connected', { peerId: msg.peerId });\n                                    resolve();\n                                }\n                                this._handleSignalingMessage(msg);\n                            } catch (_) { /* malformed JSON — skip */ }\n                        }\n                    }\n                } catch (e) {\n                    if (e.name !== 'AbortError') {\n                        this._emit('error', { source: 'signaling', error: e });\n                    }\n                    if (!welcomed) { reject(e); return; }\n                }\n                // SSE stream ended (server closed or network drop)\n                if (this._state !== 'disconnected') {\n                    this._state = 'disconnected';\n                    this._emit('disconnected', { reason: 'SSE closed' });\n                }\n                if (!welcomed) reject(new Error('Connection closed before welcome'));\n            };\n\n            readLoop();\n        });\n    }\n\n    /**\n     * One-shot bring-up: auth → SSE connect → robot selection → session →\n     * wake up. The all-in-one entry point that captures the common\n     * \"embed *or* standalone, just get me streaming\" flow so each\n     * consumer does not have to re-implement it.\n     *\n     * What it does, in order:\n     *   1. **Auth.** If `this._token` is not set, calls `authenticate()`\n     *      (which honours the iframe URL-fragment hand-off, the OAuth\n     *      redirect callback, and the `sessionStorage` cache). Throws if\n     *      none yield a token — the consumer should call `login()` and\n     *      retry after the redirect. Pass an explicit `token` to skip\n     *      `authenticate()` entirely.\n     *   2. **Connect.** If `state === 'disconnected'`, opens the SSE\n     *      signaling channel.\n     *   3. **Pick a robot.**\n     *      - **Embed mode** (`this.isEmbedded`): uses\n     *        `this._preselectedRobotId` from the URL. No picker callback\n     *        invoked; we briefly wait for that robot to appear in the\n     *        SSE list, then proceed.\n     *      - **Standalone**: GETs `/api/robot-status` for the owner's\n     *        robots with busy state, dedupes by `install_id`, sorts by\n     *        freshness. If `autoPickIfSingle` and exactly one free, picks\n     *        it. Else calls the consumer-supplied `pickRobot(robots)`\n     *        callback. Throws if neither yields an id.\n     *   4. **Start session.** Awaits `startSession(robotId)` (ICE + DC).\n     *   5. **Wake up.** Awaits `ensureAwake()` so sliders don't silently\n     *      no-op against a torque-off robot.\n     *\n     * @param {{\n     *   token?: string,                           // skip authenticate(); use this raw HF token\n     *   pickRobot?: (robots: Array<{\n     *     id: string,\n     *     name: string|null,\n     *     busy: boolean,\n     *     activeApp: string|null,\n     *     meta: object,\n     *     lastSeenAgeSeconds: number|null,\n     *   }>) => Promise<string|null>,              // called only in standalone, multi-robot case\n     *   autoPickIfSingle?: boolean,               // default true — skip the callback when 1 free robot\n     *   filterBusy?: boolean,                     // default true — hide busy robots from the picker\n     *   wakeOnConnect?: boolean,                  // default true — call ensureAwake() after startSession\n     * }} [options]\n     * @returns {Promise<{\n     *   robotId: string,\n     *   robotName: string|null,\n     *   isEmbedded: boolean,\n     *   alreadyStreaming?: boolean,\n     * }>}\n     */\n    async autoConnect(options = {}) {\n        const {\n            token = null,\n            pickRobot = null,\n            autoPickIfSingle = true,\n            filterBusy = true,\n            wakeOnConnect = true,\n        } = options;\n\n        // Idempotent fast-path: caller invoked autoConnect() on an\n        // already-streaming session (e.g. on a route change inside an\n        // SPA). Return the current selection rather than tearing down.\n        if (this._state === 'streaming') {\n            const cur = this._robots?.find((r) => r.id === this._selectedRobotId);\n            return {\n                robotId: this._selectedRobotId,\n                robotName: cur?.meta?.name ?? null,\n                isEmbedded: this.isEmbedded,\n                alreadyStreaming: true,\n            };\n        }\n\n        // autoConnect takes over the bring-up — disable the SDK's\n        // own `autoStartFromUrl` so the two paths don't race and\n        // both call `startSession()` against the same preselected\n        // robot. The race used to manifest as central rejecting the\n        // second attempt with \"Robot is busy: <appName>\" — the\n        // appName being our own first attempt. Restored on the way\n        // out so a later `stopSession()` followed by a fresh\n        // listener attach still benefits from auto-start.\n        const _prevAutoStartFromUrl = this._autoStartFromUrl;\n        this._autoStartFromUrl = false;\n\n        try {\n        // 1. Auth.\n        if (token) {\n            this._token = token;\n        } else if (!this._token) {\n            const ok = await this.authenticate();\n            if (!ok) {\n                // login() does a full page redirect; we don't trigger\n                // it here so the consumer can decide (a desktop tray\n                // wants different recovery than a standalone Space).\n                throw new Error('Not authenticated — call login() or pass a token');\n            }\n        }\n\n        // 2. SSE connect.\n        if (this._state === 'disconnected') {\n            await this.connect();\n        }\n\n        // 3. Resolve the target robot.\n        let robotId;\n        let robotName = null;\n        if (this.isEmbedded) {\n            robotId = this._preselectedRobotId;\n            // Wait briefly for the preselected robot to surface in the\n            // SSE list. Best-effort: if it never shows we still try\n            // startSession() — central may know about a robot the SSE\n            // list pushes only a moment later.\n            try {\n                await this._waitForRobotInList(robotId, 5000);\n            } catch (_) { /* fall through */ }\n            const found = this._robots?.find((r) => r.id === robotId);\n            robotName = found?.meta?.name ?? null;\n        } else {\n            const robots = await this._fetchOwnedRobots({ filterBusy });\n            if (robots.length === 0) {\n                throw new Error('No reachable robots');\n            }\n            if (autoPickIfSingle && robots.length === 1 && !robots[0].busy) {\n                robotId = robots[0].id;\n                robotName = robots[0].name;\n            } else if (pickRobot) {\n                const picked = await pickRobot(robots);\n                if (!picked) throw new Error('Robot selection cancelled');\n                robotId = picked;\n                robotName = robots.find((r) => r.id === picked)?.name ?? null;\n            } else {\n                throw new Error(\n                    'Multiple robots available — pass a pickRobot callback to autoConnect()',\n                );\n            }\n        }\n\n        // 4. Session.\n        await this.startSession(robotId);\n\n        // 5. Wake.\n        if (wakeOnConnect && typeof this.ensureAwake === 'function') {\n            try { await this.ensureAwake(); }\n            catch (e) { console.warn('[reachy-mini] autoConnect: ensureAwake failed:', e); }\n        }\n\n        return { robotId, robotName, isEmbedded: this.isEmbedded };\n        } finally {\n            this._autoStartFromUrl = _prevAutoStartFromUrl;\n        }\n    }\n\n    /**\n     * Fetch the caller's robots with busy state, deduped + sorted.\n     * One-shot snapshot — no live subscription. Falls back to the SSE\n     * `_robots` cache if `/api/robot-status` is unavailable (older\n     * central deployments don't expose it).\n     *\n     * Dedup: same physical robot can appear twice transiently after a\n     * daemon reinstall (new peerId, same install_id). Last-writer-wins\n     * on `install_id`, then `hardware_id`, then `peerId` (= no dedup).\n     *\n     * @returns {Promise<Array<{\n     *   id: string,\n     *   name: string|null,\n     *   busy: boolean,\n     *   activeApp: string|null,\n     *   meta: object,\n     *   lastSeenAgeSeconds: number|null,\n     * }>>}\n     */\n    async _fetchOwnedRobots({ filterBusy = true } = {}) {\n        try {\n            const res = await fetch(`${this._signalingUrl}/api/robot-status`, {\n                headers: { 'Authorization': `Bearer ${this._token}` },\n            });\n            if (!res.ok) throw new Error(`HTTP ${res.status}`);\n            const json = await res.json();\n            const seen = new Map();  // dedup key → projected robot\n            for (const r of (json.robots || [])) {\n                if (filterBusy && r.busy) continue;\n                const key = r.meta?.install_id ?? r.meta?.hardware_id ?? r.peerId;\n                seen.set(key, {\n                    id: r.peerId,\n                    name: r.robotName ?? r.meta?.name ?? null,\n                    busy: !!r.busy,\n                    activeApp: r.activeApp ?? null,\n                    meta: r.meta ?? {},\n                    lastSeenAgeSeconds: r.last_seen_age_seconds ?? null,\n                });\n            }\n            return Array.from(seen.values()).sort(\n                (a, b) => (a.lastSeenAgeSeconds ?? Infinity) - (b.lastSeenAgeSeconds ?? Infinity),\n            );\n        } catch (e) {\n            console.warn('[reachy-mini] /api/robot-status unavailable, using SSE list:', e);\n            return (this._robots || []).map((r) => ({\n                id: r.id,\n                name: r.meta?.name ?? null,\n                busy: false,             // unknown — SSE list does not carry busy state\n                activeApp: null,\n                meta: r.meta ?? {},\n                lastSeenAgeSeconds: null,\n            }));\n        }\n    }\n\n    /**\n     * Resolve once `robotId` appears in `_robots`, or reject after\n     * `timeoutMs`. Used by `autoConnect()`'s embed branch so the preselected\n     * robot has a chance to surface from the first SSE `list` push before\n     * `startSession()` is fired.\n     */\n    _waitForRobotInList(robotId, timeoutMs) {\n        if (this._robots?.find((r) => r.id === robotId)) return Promise.resolve();\n        return new Promise((resolve, reject) => {\n            const onChange = () => {\n                if (this._robots?.find((r) => r.id === robotId)) {\n                    this.removeEventListener('robotsChanged', onChange);\n                    clearTimeout(timeoutId);\n                    resolve();\n                }\n            };\n            const timeoutId = setTimeout(() => {\n                this.removeEventListener('robotsChanged', onChange);\n                reject(new Error(`Timeout waiting for robot ${robotId} in list`));\n            }, timeoutMs);\n            this.addEventListener('robotsChanged', onChange);\n        });\n    }\n\n    /**\n     * Start a WebRTC session with the given robot.\n     * Acquires the microphone (if enabled), negotiates SDP, and waits for\n     * both ICE connection and data channel to be ready before resolving.\n     * Emits \"videoTrack\" when the robot's camera stream arrives.\n     * Emits \"micSupported\" once SDP negotiation reveals whether the robot\n     * accepts bidirectional audio.\n     * @param {string} robotId — one of the ids from the robots list\n     * @returns {Promise<void>}\n     */\n    async startSession(robotId) {\n        if (this._state !== 'connected') throw new Error('Not connected');\n        this._selectedRobotId = robotId;\n        this._iceConnected = false;\n        this._dcOpen = false;\n        this._micSupported = false;\n        // Buffer for ICE candidates that arrive before the SDP\n        // exchange completes (see _handlePeerMessage). Reset on every\n        // fresh session so stale candidates from a previous attempt\n        // don't get applied to a new RTCPeerConnection.\n        this._pendingRemoteIce = [];\n\n        // Acquire mic eagerly so the browser permission prompt appears now,\n        // but tracks stay disabled (muted) until the user explicitly unmutes.\n        if (this._enableMicrophone) {\n            try {\n                this._micStream = await navigator.mediaDevices.getUserMedia({ audio: true });\n                this._micStream.getAudioTracks().forEach(t => { t.enabled = false; });\n                this._micMuted = true;\n            } catch (e) {\n                console.warn('Microphone not available:', e);\n                // Fall back to a silent placeholder track. We MUST add an\n                // audio track before createAnswer or the answer SDP comes\n                // back as recvonly for audio - which negotiates the audio\n                // SENDER side off the wire entirely. A host that wants to\n                // later inject a different audio source (e.g. a synthesised\n                // AI voice via replaceTrack on the sender) needs a live\n                // sendrecv slot, even if the initial track is silent.\n                try {\n                    const ctx = new (window.AudioContext || window.webkitAudioContext)();\n                    const dst = ctx.createMediaStreamDestination();\n                    // A muted oscillator keeps the track \"alive\" without\n                    // emitting any audible signal.\n                    const osc = ctx.createOscillator();\n                    const gain = ctx.createGain();\n                    gain.gain.value = 0;\n                    osc.connect(gain).connect(dst);\n                    osc.start();\n                    this._micStream = dst.stream;\n                    this._micStream.getAudioTracks().forEach(t => { t.enabled = false; });\n                    this._micMuted = true;\n                    this._silentMicFallback = { ctx, osc };\n                } catch (fallbackErr) {\n                    console.warn('Silent mic fallback failed:', fallbackErr);\n                    this._micStream = null;\n                }\n            }\n        }\n\n        this._pc = new RTCPeerConnection({\n            iceServers: [{ urls: 'stun:stun.l.google.com:19302' }],\n        });\n\n        return new Promise((resolve, reject) => {\n            this._sessionResolve = resolve;\n            this._sessionReject = reject;\n\n            this._pc.ontrack = (e) => {\n                if (e.track.kind === 'video') {\n                    // Tell the receiver's jitter buffer to minimise its hold\n                    // time. Both properties target the same internal buffer;\n                    // browsers ignore whichever they don't implement.\n                    const ms = this._videoJitterBufferTargetMs;\n                    try { e.receiver.jitterBufferTarget = ms; } catch (_) {}\n                    try { e.receiver.playoutDelayHint = ms / 1000; } catch (_) {}\n                    this._emit('videoTrack', { track: e.track, stream: e.streams[0] });\n                }\n            };\n\n            this._pc.onicecandidate = async (e) => {\n                if (e.candidate && this._sessionId) {\n                    await this._sendToServer({\n                        type: 'peer',\n                        sessionId: this._sessionId,\n                        ice: {\n                            candidate: e.candidate.candidate,\n                            sdpMLineIndex: e.candidate.sdpMLineIndex,\n                            sdpMid: e.candidate.sdpMid,\n                        },\n                    });\n                }\n            };\n\n            this._pc.oniceconnectionstatechange = () => {\n                const s = this._pc?.iceConnectionState;\n                if (!s) return;\n                if (s === 'connected' || s === 'completed') {\n                    this._iceConnected = true;\n                    this._checkSessionReady();\n                } else if (s === 'failed') {\n                    const err = new Error('ICE connection failed');\n                    if (this._sessionReject) {\n                        this._sessionReject(err);\n                        this._sessionResolve = null;\n                        this._sessionReject = null;\n                    }\n                    this._emit('error', { source: 'webrtc', error: err });\n                } else if (s === 'disconnected') {\n                    this._emit('error', { source: 'webrtc', error: new Error('ICE disconnected') });\n                }\n            };\n\n            this._pc.ondatachannel = (e) => {\n                this._dc = e.channel;\n                this._dc.onopen = () => {\n                    this._dcOpen = true;\n                    this._checkSessionReady();\n                };\n                this._dc.onmessage = (ev) => this._handleRobotMessage(JSON.parse(ev.data));\n            };\n\n            this._sendToServer({ type: 'startSession', peerId: robotId }).then((r) => {\n                if (r?.type === 'sessionRejected') {\n                    this._failSessionRejected(r);\n                    return;\n                }\n                if (r?.sessionId) this._sessionId = r.sessionId;\n            });\n        });\n    }\n\n    /**\n     * Internal: handle a sessionRejected response from central.\n     * Releases resources allocated by startSession() (RTCPeerConnection,\n     * microphone stream) and rejects the pending startSession() promise\n     * with an Error carrying `.reason` and `.activeApp`.\n     *\n     * Called from both the POST-response path (primary) and the SSE\n     * handler (defensive, in case the server changes).\n     */\n    _failSessionRejected(msg) {\n        const err = new Error(\n            msg.reason === 'robot_busy'\n                ? `Robot is busy: \"${msg.activeApp || 'another app'}\" is already connected`\n                : `Session rejected: ${msg.reason || 'unknown reason'}`\n        );\n        err.reason = msg.reason;\n        err.activeApp = msg.activeApp;\n\n        // Release resources allocated optimistically in startSession()\n        // before we knew the server would refuse.\n        if (this._pc) { this._pc.close(); this._pc = null; }\n        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }\n        this._iceConnected = false;\n        this._dcOpen = false;\n        this._micMuted = true;\n        this._micSupported = false;\n\n        this._emit('sessionRejected', { reason: msg.reason, activeApp: msg.activeApp });\n\n        if (this._sessionReject) {\n            const reject = this._sessionReject;\n            this._sessionResolve = null;\n            this._sessionReject = null;\n            reject(err);\n        }\n    }\n\n    /**\n     * End the WebRTC session.  Returns to \"connected\" state so you can\n     * startSession() again with the same or a different robot.\n     * @returns {Promise<void>}\n     */\n    async stopSession() {\n        if (this._versionResolve) { this._versionResolve(null); this._versionResolve = null; }\n        if (this._hardwareIdResolve) { this._hardwareIdResolve(null); this._hardwareIdResolve = null; }\n        if (this._volumeResolve) { this._volumeResolve(null); this._volumeResolve = null; }\n        if (this._micVolumeResolve) { this._micVolumeResolve(null); this._micVolumeResolve = null; }\n        // Drop any active log subscribers — the daemon-side subprocess\n        // is torn down on peer-disconnect, so resubscribing across a\n        // reconnect requires a fresh subscribeLogs() call from the\n        // consumer.\n        this._logSubscribers.clear();\n        // Drain any in-flight wakeUp() / gotoSleep() awaiters before\n        // the data channel is killed below, so callers don't sit on a\n        // promise that can never resolve.\n        this._rejectPendingMotionCompletions(new Error('Session stopped'));\n        if (this._sessionReject) {\n            this._sessionReject(new Error('Session stopped'));\n            this._sessionResolve = null;\n            this._sessionReject = null;\n        }\n\n        if (this._stateRefreshInterval) { clearInterval(this._stateRefreshInterval); this._stateRefreshInterval = null; }\n        if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }\n\n        if (this._sessionId) {\n            await this._sendToServer({ type: 'endSession', sessionId: this._sessionId });\n        }\n\n        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }\n        this._micMuted = true;\n        this._micSupported = false;\n\n        if (this._pc) { this._pc.close(); this._pc = null; }\n        if (this._dc) { this._dc.close(); this._dc = null; }\n\n        this._sessionId = null;\n        this._iceConnected = false;\n        this._dcOpen = false;\n\n        const wasStreaming = this._state === 'streaming';\n        if (wasStreaming) {\n            this._state = 'connected';\n            this._emit('sessionStopped', { reason: 'user' });\n        }\n    }\n\n    /**\n     * Full teardown — abort SSE, close WebRTC.\n     * Auth state is preserved (call logout() to also clear credentials).\n     */\n    disconnect() {\n        if (this._sseAbortController) { this._sseAbortController.abort(); this._sseAbortController = null; }\n\n        if (this._versionResolve) { this._versionResolve(null); this._versionResolve = null; }\n        if (this._hardwareIdResolve) { this._hardwareIdResolve(null); this._hardwareIdResolve = null; }\n        if (this._volumeResolve) { this._volumeResolve(null); this._volumeResolve = null; }\n        if (this._micVolumeResolve) { this._micVolumeResolve(null); this._micVolumeResolve = null; }\n        this._logSubscribers.clear();\n        // Same rationale as in stopSession(): drain pending motion\n        // awaiters before tearing down the data channel.\n        this._rejectPendingMotionCompletions(new Error('Disconnected'));\n        if (this._sessionReject) {\n            this._sessionReject(new Error('Disconnected'));\n            this._sessionResolve = null;\n            this._sessionReject = null;\n        }\n\n        if (this._stateRefreshInterval) { clearInterval(this._stateRefreshInterval); this._stateRefreshInterval = null; }\n        if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }\n\n        if (this._sessionId && this._token) {\n            this._sendToServer({ type: 'endSession', sessionId: this._sessionId }); // fire-and-forget\n        }\n\n        if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }\n        if (this._pc) { this._pc.close(); this._pc = null; }\n        if (this._dc) { this._dc.close(); this._dc = null; }\n\n        this._sessionId = null;\n        this._micMuted = true;\n        this._micSupported = false;\n        this._iceConnected = false;\n        this._dcOpen = false;\n        this._peerId = null;\n        this._robots = [];\n        this._state = 'disconnected';\n        this._emit('disconnected', { reason: 'user' });\n    }\n\n    // ─── Commands ────────────────────────────────────────────────────────\n    // All return false if the data channel is not open, true if sent.\n\n    /**\n     * Send a target pose to the robot. Wire-shape, raw units only —\n     * single source of truth for motion commands. Every field is\n     * optional; omitted fields leave the daemon's previous target\n     * unchanged, so partial updates compose naturally.\n     *\n     * For human units (degrees), use the ``setHeadRpyDeg`` /\n     * ``setAntennasDeg`` / ``setBodyYawDeg`` thin wrappers below.\n     *\n     * @param {object} [target]\n     * @param {number[]} [target.head] 16-element flat row-major 4×4\n     *   matrix (full SE(3); preserves translation, no XYZ loss).\n     * @param {number[]} [target.antennas] ``[rightRad, leftRad]``.\n     * @param {number} [target.body_yaw] Body yaw in radians.\n     * @returns {boolean} false if the data channel is not open.\n     * @throws {TypeError} if any provided field has the wrong shape or\n     *   contains a non-finite value (NaN, Infinity). Validation runs at\n     *   the JS boundary so caller mistakes surface with a stack trace\n     *   pointing to the call site, not as a confusing daemon-side error.\n     */\n    setTarget({ head, antennas, body_yaw } = {}) {\n        const cmd = { type: \"set_full_target\" };\n        if (head !== undefined) {\n            if (!Array.isArray(head) || head.length !== 16\n                || !head.every((n) => Number.isFinite(n))) {\n                throw new TypeError(\n                    'setTarget: head must be a 16-element flat row-major 4×4 matrix '\n                    + `of finite numbers; got ${Array.isArray(head) ? `Array(${head.length})` : typeof head}`\n                );\n            }\n            cmd.head = head;\n        }\n        if (antennas !== undefined) {\n            if (!Array.isArray(antennas) || antennas.length !== 2\n                || !antennas.every((n) => Number.isFinite(n))) {\n                throw new TypeError(\n                    'setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); '\n                    + `got ${Array.isArray(antennas) ? `Array(${antennas.length})` : typeof antennas}`\n                );\n            }\n            cmd.antennas = antennas;\n        }\n        if (body_yaw !== undefined) {\n            if (!Number.isFinite(body_yaw)) {\n                throw new TypeError(\n                    `setTarget: body_yaw must be a finite number (radians); got ${body_yaw}`\n                );\n            }\n            cmd.body_yaw = body_yaw;\n        }\n        return this._sendCommand(cmd);\n    }\n\n    /**\n     * Smooth daemon-side interpolation to a target pose over\n     * ``duration`` seconds. Mirrors ``setTarget``'s wire shape (head\n     * is a 16-element flat row-major 4×4, antennas are\n     * ``[rightRad, leftRad]``, body_yaw is radians) and adds a\n     * required ``duration`` field. The daemon dispatches the command\n     * to its lerp planner instead of jumping to the target.\n     *\n     * Use this for one-shot smooth approaches to an arbitrary pose\n     * (e.g. soft-return-to-base after recording, or pre-positioning\n     * before a streamed playback). For continuous streamed motion,\n     * use ``setTarget`` and lerp client-side.\n     *\n     * @param {{head?: number[], antennas?: number[], body_yaw?: number, duration: number}} args\n     * @returns {boolean} false if the data channel is not open.\n     * @throws {TypeError} if any provided field has the wrong shape\n     *   or contains a non-finite value (NaN, Infinity), or if\n     *   ``duration`` is missing or non-positive.\n     */\n    gotoTarget({ head, antennas, body_yaw, duration } = {}) {\n        const cmd = { type: \"goto_target\" };\n        if (head !== undefined) {\n            if (!Array.isArray(head) || head.length !== 16\n                || !head.every((n) => Number.isFinite(n))) {\n                throw new TypeError(\n                    'gotoTarget: head must be a 16-element flat row-major 4×4 matrix '\n                    + `of finite numbers; got ${Array.isArray(head) ? `Array(${head.length})` : typeof head}`\n                );\n            }\n            cmd.head = head;\n        }\n        if (antennas !== undefined) {\n            if (!Array.isArray(antennas) || antennas.length !== 2\n                || !antennas.every((n) => Number.isFinite(n))) {\n                throw new TypeError(\n                    'gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); '\n                    + `got ${Array.isArray(antennas) ? `Array(${antennas.length})` : typeof antennas}`\n                );\n            }\n            cmd.antennas = antennas;\n        }\n        if (body_yaw !== undefined) {\n            if (!Number.isFinite(body_yaw)) {\n                throw new TypeError(\n                    `gotoTarget: body_yaw must be a finite number (radians); got ${body_yaw}`\n                );\n            }\n            cmd.body_yaw = body_yaw;\n        }\n        if (!Number.isFinite(duration) || duration <= 0) {\n            throw new TypeError(\n                `gotoTarget: duration must be a positive finite number (seconds); got ${duration}`\n            );\n        }\n        cmd.duration = duration;\n        return this._sendCommand(cmd);\n    }\n\n    /**\n     * Set head orientation from roll/pitch/yaw in degrees.\n     * Convenience wrapper over ``setTarget``.\n     * @param {number} rollDeg @param {number} pitchDeg @param {number} yawDeg\n     * @returns {boolean}\n     */\n    setHeadRpyDeg(rollDeg, pitchDeg, yawDeg) {\n        return this.setTarget({ head: rpyToMatrix(rollDeg, pitchDeg, yawDeg).flat() });\n    }\n\n    /**\n     * Set antenna positions from degrees.\n     * Convenience wrapper over ``setTarget``.\n     * @param {number} rightDeg @param {number} leftDeg\n     * @returns {boolean}\n     */\n    setAntennasDeg(rightDeg, leftDeg) {\n        return this.setTarget({ antennas: [degToRad(rightDeg), degToRad(leftDeg)] });\n    }\n\n    /**\n     * Set body yaw from degrees.\n     * Convenience wrapper over ``setTarget``.\n     * @param {number} yawDeg\n     * @returns {boolean}\n     */\n    setBodyYawDeg(yawDeg) {\n        return this.setTarget({ body_yaw: degToRad(yawDeg) });\n    }\n\n    /**\n     * Play a sound file on the robot.\n     * @param {string} file — filename available on the robot (e.g. \"wake_up.wav\")\n     * @returns {boolean}\n     */\n    playSound(file) {\n        return this._sendCommand({ type: \"play_sound\", file });\n    }\n\n    /**\n     * Set the motor control mode.\n     *\n     * @param {\"enabled\"|\"disabled\"|\"gravity_compensation\"} mode\n     *   - \"enabled\"              torque on, position-controlled.\n     *   - \"disabled\"             torque off; the robot is backdrivable\n     *                            and will not hold any pose.\n     *   - \"gravity_compensation\" torque on in current-control mode;\n     *                            motors actively cancel gravity so the\n     *                            robot is easy to move by hand.\n     * @returns {boolean} false if the data channel is not open.\n     */\n    setMotorMode(mode) {\n        return this._sendCommand({ type: \"set_motor_mode\", mode });\n    }\n\n    /**\n     * Toggle torque on/off, optionally per-motor.\n     *\n     * @param {boolean} on\n     * @param {string[]} [ids]  motor names (e.g. [\"left_antenna\"]). When\n     *   omitted, applies globally — equivalent to setMotorMode(\"enabled\"\n     *   | \"disabled\").\n     * @returns {boolean} false if the data channel is not open.\n     */\n    setMotorTorque(on, ids = null) {\n        return this._sendCommand({ type: \"set_torque\", on, ids });\n    }\n\n    /**\n     * Play the wake-up animation (full head/antennas trajectory on the\n     * robot, ~1-3 s depending on the starting head pose) and resolve\n     * when the daemon reports the trajectory player has actually\n     * finished.\n     *\n     * This helper sends a ``set_motor_mode: \"enabled\"`` command *before*\n     * the ``wake_up`` command so the animation actually moves the motors.\n     * The robot's ``wake_up`` handler does not touch motor mode itself;\n     * if torque is off when the trajectory runs, the commanded positions\n     * are silently ignored and the robot stays limp. Both commands\n     * travel over the same data channel so ordering at the backend is\n     * preserved.\n     *\n     * The returned promise resolves on the daemon's\n     * ``{command: \"wake_up\", completed: true}`` response (sent after\n     * the trajectory player is fully done, not just when the command\n     * is enqueued). Lets a UI overlay (e.g. the host's \"Wake-up\" step)\n     * stay up for exactly the right duration, and lets callers chain\n     * setup that depends on the head being in the awake pose without\n     * racing the trajectory.\n     *\n     * Semantics match the REST endpoint ``POST /api/move/play/wake_up``\n     * plus the LAN convention of enabling motors before playing motion\n     * trajectories.\n     *\n     * @param {object} [options]\n     * @param {number} [options.timeoutMs=8000] hard upper bound; the\n     *   promise rejects with a TimeoutError-shaped Error if the daemon\n     *   stops responding (e.g. data channel went down mid-animation\n     *   without firing close events).\n     * @returns {Promise<void>}\n     */\n    wakeUp({ timeoutMs = 8000 } = {}) {\n        this._sendCommand({ type: \"set_motor_mode\", mode: \"enabled\" });\n        return this._sendCommandAwaitCompletion(\"wake_up\", timeoutMs);\n    }\n\n    /**\n     * Play the goto-sleep animation and resolve when the daemon reports\n     * the trajectory player has finished. See ``wakeUp`` for the\n     * completion-signal rationale.\n     *\n     * Does NOT touch motor mode: the daemon's ``goto_sleep`` handler\n     * manages the transition out of torque on its own (motors must stay\n     * powered during the trajectory to move into the sleep pose, then\n     * are typically disabled by the daemon once the pose is reached).\n     *\n     * The awaitable form lets callers chain ``setMotorMode('disabled')``\n     * AFTER the trajectory lands instead of racing it, which previously\n     * caused the head to drop mid-animation when consumers tore down\n     * too eagerly.\n     *\n     * Semantics match ``POST /api/move/play/goto_sleep`` and the\n     * ``\"goto_sleep\"`` WebRTC command.\n     *\n     * @param {object} [options]\n     * @param {number} [options.timeoutMs=8000]\n     * @returns {Promise<void>}\n     */\n    gotoSleep({ timeoutMs = 8000 } = {}) {\n        return this._sendCommandAwaitCompletion(\"goto_sleep\", timeoutMs);\n    }\n\n    /**\n     * Internal: send a motion command and resolve when the daemon's\n     * matching ``{command, completed: true}`` response lands.\n     *\n     * Pushes one entry onto ``_pendingMotionCompletions[command]``; the\n     * data-channel reader (``_handleRobotMessage``) shifts the oldest\n     * entry off the queue when a response arrives, which preserves the\n     * FIFO matching that the daemon's serialised dispatcher relies on.\n     *\n     * Rejects immediately if the data channel is not open; the underlying\n     * ``_sendCommand`` returns false in that case and we never enqueue an\n     * awaiter that the daemon could never reach.\n     *\n     * @param {\"wake_up\"|\"goto_sleep\"} command\n     * @param {number} timeoutMs\n     * @returns {Promise<void>}\n     */\n    _sendCommandAwaitCompletion(command, timeoutMs) {\n        if (!this._sendCommand({ type: command })) {\n            return Promise.reject(new Error(`${command}: data channel not open`));\n        }\n        return new Promise((resolve, reject) => {\n            const entry = {\n                resolve,\n                reject,\n                timer: setTimeout(() => {\n                    const queue = this._pendingMotionCompletions[command];\n                    const idx = queue.indexOf(entry);\n                    if (idx !== -1) queue.splice(idx, 1);\n                    reject(new Error(`${command} timed out after ${timeoutMs}ms`));\n                }, timeoutMs),\n            };\n            this._pendingMotionCompletions[command].push(entry);\n        });\n    }\n\n    /**\n     * Internal: drain every pending motion-completion resolver with the\n     * given error. Called by ``stopSession()`` and ``disconnect()`` so a\n     * teardown that interrupts an in-flight ``gotoSleep`` does not leave\n     * the caller awaiting forever.\n     */\n    _rejectPendingMotionCompletions(error) {\n        for (const command of Object.keys(this._pendingMotionCompletions)) {\n            const queue = this._pendingMotionCompletions[command];\n            while (queue.length) {\n                const entry = queue.shift();\n                clearTimeout(entry.timer);\n                entry.reject(error);\n            }\n        }\n    }\n\n    /**\n     * Whether the robot's motors are currently powered (the \"awake\" state).\n     *\n     * Reads ``motor_mode`` from the last state event. Both ``\"enabled\"``\n     * and ``\"gravity_compensation\"`` count as awake: in gravity-comp the\n     * motors are actively holding the arm against gravity, so the robot\n     * is *not* limp and playing wake_up on top would fight the user.\n     * Only ``\"disabled\"`` (true sleep) is considered not-awake.\n     *\n     * Returns ``false`` before the first state event arrives (typical\n     * right after ``startSession()``). Use ``ensureAwake()`` if you want\n     * to wait for the first state before deciding.\n     *\n     * @returns {boolean}\n     */\n    isAwake() {\n        const mode = this._robotState?.motor_mode;\n        return mode === \"enabled\" || mode === \"gravity_compensation\";\n    }\n\n    /**\n     * Wake the robot up if it is currently asleep, otherwise no-op.\n     *\n     * Intended as the first line of any app after ``startSession()``\n     * resolves — robots are often left in the sleep pose (torque off,\n     * head resting on the base) and commanded positions are silently\n     * ignored in that state.\n     *\n     * If no state event has arrived yet, waits up to ``timeoutMs`` for\n     * one before deciding. If still no state, falls back to sending\n     * ``wakeUp()`` (safe: the daemon's wake_up handler is idempotent\n     * at the motion level — it moves to the awake pose from wherever\n     * the head currently is).\n     *\n     * @param {number} [timeoutMs=1000] how long to wait for the first\n     *   state event before falling through to wakeUp().\n     * @returns {Promise<boolean>} true if the robot is awake afterwards.\n     */\n    async ensureAwake(timeoutMs = 1000) {\n        if (this._robotState?.motor_mode === undefined) {\n            await new Promise((resolve) => {\n                const done = () => {\n                    this.removeEventListener('state', done);\n                    clearTimeout(timer);\n                    resolve();\n                };\n                const timer = setTimeout(done, timeoutMs);\n                this.addEventListener('state', done);\n                this.requestState();\n            });\n        }\n        if (this.isAwake()) return true;\n        // wakeUp() now returns a Promise. Fire-and-forget here — we\n        // intentionally do not await the trajectory completion, the\n        // caller of ensureAwake() decides whether to block on the\n        // animation. Catch the rejection so a teardown that interrupts\n        // the wake doesn't surface an unhandledrejection event from\n        // this internal helper.\n        this.wakeUp().catch(() => { /* swallow: caller may have torn down */ });\n        return true;\n    }\n\n    /**\n     * Request the daemon version.\n     * Resolves with the version string (or null if unavailable).\n     * @returns {Promise<string|null>}\n     */\n    getVersion() {\n        return new Promise((resolve, reject) => {\n            if (!this._dc || this._dc.readyState !== 'open') {\n                reject(new Error('Data channel not open'));\n                return;\n            }\n            if (this._versionResolve) {\n                this._versionResolve(null);\n            }\n            this._versionResolve = resolve;\n            this._sendCommand({ type: \"get_version\" });\n        });\n    }\n\n    /**\n     * Request the robot's unique hardware ID — the Pollen audio device's\n     * USB serial. Same value across Lite and Wireless variants, stable\n     * across reboots and OS reinstalls. Useful for fleet management,\n     * per-robot calibration cache keys, or identifying which physical\n     * robot a session is bound to.\n     * Resolves with the hardware ID string (or null if no robot is\n     * attached, e.g. the daemon is running on a developer machine).\n     * @returns {Promise<string|null>}\n     */\n    getHardwareId() {\n        return new Promise((resolve, reject) => {\n            if (!this._dc || this._dc.readyState !== 'open') {\n                reject(new Error('Data channel not open'));\n                return;\n            }\n            if (this._hardwareIdResolve) {\n                this._hardwareIdResolve(null);\n            }\n            this._hardwareIdResolve = resolve;\n            this._sendCommand({ type: \"get_hardware_id\" });\n        });\n    }\n\n    /**\n     * Query the current speaker volume (0-100).\n     * Resolves with null if volume control is unavailable (platform unsupported\n     * or audio stack down).\n     * @returns {Promise<number|null>}\n     */\n    getVolume() {\n        return this._volumeRoundtrip({ type: \"get_volume\" }, \"_volumeResolve\");\n    }\n\n    /**\n     * Set the speaker volume (0-100). Persists for the next connection\n     * (same semantics as the REST /api/volume/set endpoint).\n     * Resolves with the applied volume, or null on failure.\n     * @param {number} volume 0-100\n     * @returns {Promise<number|null>}\n     */\n    setVolume(volume) {\n        return this._volumeRoundtrip(\n            { type: \"set_volume\", volume: clampVolume(volume) },\n            \"_volumeResolve\",\n        );\n    }\n\n    /**\n     * Query the current microphone input volume (0-100).\n     * @returns {Promise<number|null>}\n     */\n    getMicrophoneVolume() {\n        return this._volumeRoundtrip(\n            { type: \"get_microphone_volume\" },\n            \"_micVolumeResolve\",\n        );\n    }\n\n    /**\n     * Set the microphone input volume (0-100). Persists across sessions.\n     * @param {number} volume 0-100\n     * @returns {Promise<number|null>}\n     */\n    setMicrophoneVolume(volume) {\n        return this._volumeRoundtrip(\n            { type: \"set_microphone_volume\", volume: clampVolume(volume) },\n            \"_micVolumeResolve\",\n        );\n    }\n\n    /**\n     * Internal: send a volume command and await the single-slot response.\n     * The slot name selects which resolver (speaker vs mic) owns the\n     * pending request so the two can be in-flight concurrently without\n     * collision.\n     */\n    _volumeRoundtrip(command, slot) {\n        return new Promise((resolve, reject) => {\n            if (!this._dc || this._dc.readyState !== 'open') {\n                reject(new Error('Data channel not open'));\n                return;\n            }\n            // If a previous request on the same slot is still pending,\n            // resolve it to null so its caller doesn't hang forever.\n            if (this[slot]) this[slot](null);\n            this[slot] = resolve;\n            this._sendCommand(command);\n        });\n    }\n\n    /**\n     * Send an arbitrary JSON command over the data channel.\n     * @param {object} data  @returns {boolean}\n     */\n    sendRaw(data) {\n        return this._sendCommand(data);\n    }\n\n    /**\n     * Subscribe to the daemon's `journalctl -u reachy-mini-daemon`\n     * stream over the WebRTC data channel.\n     *\n     * One daemon-side subprocess is shared across all local subscribers:\n     * the first call sends `subscribe_logs`, removing the last subscriber\n     * sends `unsubscribe_logs`. Calling the returned `unsubscribe()`\n     * twice is a no-op.\n     *\n     * @param {{\n     *   onLine: (entry: { timestamp: string, line: string }) => void,\n     *   onError?: (error: string) => void,\n     * }} options\n     * @returns {() => void} unsubscribe\n     */\n    subscribeLogs({ onLine, onError } = {}) {\n        if (typeof onLine !== 'function') {\n            throw new TypeError('subscribeLogs: onLine callback is required');\n        }\n        const sub = { onLine, onError };\n        const wasEmpty = this._logSubscribers.size === 0;\n        this._logSubscribers.add(sub);\n        if (wasEmpty) this._sendCommand({ type: 'subscribe_logs' });\n\n        let detached = false;\n        return () => {\n            if (detached) return;\n            detached = true;\n            this._logSubscribers.delete(sub);\n            if (this._logSubscribers.size === 0) {\n                this._sendCommand({ type: 'unsubscribe_logs' });\n            }\n        };\n    }\n\n    /**\n     * Request a state snapshot.  The response arrives as a \"state\" event.\n     * Called automatically every 500 ms while streaming.\n     *\n     * Safe to call at a higher rate if you need faster telemetry: e.g.\n     * ``setInterval(() => robot.requestState(), 20)`` for ~50 Hz, or drive\n     * it from a ``requestAnimationFrame`` loop for display-rate updates.\n     * On LAN the daemon can sustain ~90-100 Hz round-trips over the\n     * datachannel; over the internet expect the WebRTC path's RTT to\n     * dominate. The built-in 500 ms poll keeps running in parallel — it\n     * is harmless, as state responses are idempotent.\n     *\n     * @returns {boolean}\n     */\n    requestState() {\n        return this._sendCommand({ type: \"get_state\" });\n    }\n\n    // ─── Audio ───────────────────────────────────────────────────────────\n\n    /**\n     * Mute/unmute the robot's audio playback (speaker) locally.\n     * Audio is muted by default — browsers require a user gesture to unmute.\n     * @param {boolean} muted\n     */\n    setAudioMuted(muted) {\n        this._audioMuted = muted;\n        if (this._videoElement) this._videoElement.muted = muted;\n    }\n\n    /**\n     * Mute/unmute your microphone.  Only works if micSupported is true.\n     * Mic is muted by default even after acquisition.\n     * @param {boolean} muted\n     */\n    setMicMuted(muted) {\n        this._micMuted = muted;\n        if (this._micStream) {\n            this._micStream.getAudioTracks().forEach(t => { t.enabled = !muted; });\n        }\n    }\n\n    // ─── Video helper ────────────────────────────────────────────────────\n\n    /**\n     * Bind a `<video>` element to this robot's stream.\n     * Call before startSession().  Sets srcObject when the video track arrives,\n     * applies audio mute state, and runs a latency monitor that snaps to the\n     * live edge if the buffer grows > 0.5 s.\n     *\n     * @param {HTMLVideoElement} videoElement\n     * @returns {() => void} cleanup function — call to detach video and stop monitoring\n     */\n    attachVideo(videoElement) {\n        this._videoElement = videoElement;\n        videoElement.muted = this._audioMuted;\n\n        const onVideoTrack = (e) => {\n            videoElement.srcObject = e.detail.stream;\n            videoElement.playsInline = true;\n            if ('requestVideoFrameCallback' in videoElement) {\n                this._startLatencyMonitor(videoElement);\n            }\n        };\n\n        const onSessionStopped = () => { videoElement.srcObject = null; };\n\n        this.addEventListener('videoTrack', onVideoTrack);\n        this.addEventListener('sessionStopped', onSessionStopped);\n\n        return () => {\n            this.removeEventListener('videoTrack', onVideoTrack);\n            this.removeEventListener('sessionStopped', onSessionStopped);\n            if (this._latencyMonitorId) { clearInterval(this._latencyMonitorId); this._latencyMonitorId = null; }\n            videoElement.srcObject = null;\n            this._videoElement = null;\n        };\n    }\n\n    // ─── Private ─────────────────────────────────────────────────────────\n\n    _emit(name, detail) {\n        this.dispatchEvent(new CustomEvent(name, { detail }));\n    }\n\n    async _sendToServer(message) {\n        // Mirrors connect()'s guard — a missing token between connect and\n        // send (e.g. logout mid-session) would otherwise produce\n        // \"Authorization: Bearer undefined\", which central correctly 401s\n        // but silently returns null to the caller, hiding the real cause.\n        if (!this._token) throw new Error('No token — authenticate() first');\n        try {\n            // Token in Authorization header, not URL — same reasoning as\n            // connect()'s SSE fetch: never put secrets in URLs.\n            const res = await fetch(`${this._signalingUrl}/send`, {\n                method: 'POST',\n                headers: {\n                    'Content-Type': 'application/json',\n                    'Authorization': `Bearer ${this._token}`,\n                },\n                body: JSON.stringify(message),\n            });\n            if (!res.ok) {\n                // Surface 4xx/5xx with the rejected message type. The\n                // browser already logs \"Failed to load resource: <status>\"\n                // but never says which call produced it, which makes\n                // tardy `peer`/`endSession`/`setPeerStatus` races\n                // (typical after a session has been torn down) hard to\n                // diagnose. Returning null preserves the historical\n                // contract for callers that only care about the success\n                // path.\n                let body = '';\n                try { body = await res.text(); } catch { /* ignore */ }\n                console.warn(\n                    `[reachy-mini] /send rejected (${res.status}) for type=${message?.type}; body=${body || '<empty>'}`,\n                );\n                return null;\n            }\n            return await res.json();\n        } catch (e) {\n            console.error('Send error:', e);\n            return null;\n        }\n    }\n\n    _sendCommand(cmd) {\n        if (!this._dc || this._dc.readyState !== 'open') return false;\n        this._dc.send(JSON.stringify(cmd));\n        return true;\n    }\n\n    /** Resolves the startSession() promise once both ICE and datachannel are ready. */\n    _checkSessionReady() {\n        if (this._iceConnected && this._dcOpen && this._sessionResolve) {\n            this._state = 'streaming';\n            this.requestState();\n            this._stateRefreshInterval = setInterval(() => this.requestState(), 500);\n            this._emit('streaming', { sessionId: this._sessionId, robotId: this._selectedRobotId });\n            this._sessionResolve();\n            this._sessionResolve = null;\n            this._sessionReject = null;\n        }\n    }\n\n    async _handleSignalingMessage(msg) {\n        switch (msg.type) {\n            case 'welcome':\n                break; // handled in connect()\n            case 'list':\n                this._robots = msg.producers || [];\n                this._emit('robotsChanged', { robots: this._robots });\n                this._maybeAutoStart();\n                break;\n            case 'peerStatusChanged': {\n                const list = await this._sendToServer({ type: 'list' });\n                if (list?.producers) {\n                    this._robots = list.producers;\n                    this._emit('robotsChanged', { robots: this._robots });\n                    this._maybeAutoStart();\n                }\n                break;\n            }\n            case 'sessionStarted':\n                this._sessionId = msg.sessionId;\n                break;\n            case 'sessionRejected':\n                // Defensive: the current central server returns sessionRejected\n                // as the direct POST response (handled at the startSession() call\n                // site). This branch is a safety net in case the server ever\n                // pushes the rejection over SSE instead.\n                this._failSessionRejected(msg);\n                break;\n            case 'endSession':\n                this._handleEndSession(msg);\n                break;\n            case 'peer':\n                this._handlePeerMessage(msg);\n                break;\n        }\n    }\n\n    /**\n     * Internal: handle an endSession pushed from central.\n     *\n     * Two user-visible scenarios converge here:\n     *\n     * 1. Pending startSession — central accepted our request but the\n     *    robot-side relay then refused (e.g. a local Python app holds\n     *    the daemon's robot lock). Without this handler, the client's\n     *    startSession() promise would hang forever because ICE/datachannel\n     *    never come up.\n     * 2. Streaming was evicted — a local Python app started on the robot\n     *    while we were connected, so the relay tore down our session.\n     *\n     * The ``reason`` is forwarded verbatim from the relay through central:\n     * - \"robot_busy_local_app\": daemon lock held by a local Python app\n     *   (refused before any media negotiation).\n     * - \"local_app_started\": a local Python app started mid-session and\n     *   evicted us.\n     * - \"robot_busy_local\": relay's safety-net for stale/concurrent\n     *   sessions (should be rare).\n     */\n    _handleEndSession(msg) {\n        const reason = msg.reason;\n        const friendly = reason === 'robot_busy_local_app'\n            ? 'Robot is busy: a local Python app is running'\n            : reason === 'local_app_started'\n                ? 'Disconnected: a local Python app started on the robot'\n                : reason === 'robot_busy_local'\n                    ? 'Robot is busy: another session is already active'\n                    : null;\n\n        // Case 1: a startSession() is still pending — reject its promise\n        // with the same error shape as sessionRejected so app code can\n        // treat both paths identically.\n        if (this._sessionReject) {\n            const err = new Error(\n                friendly || `Session ended before it could start: ${reason || 'unknown reason'}`\n            );\n            err.reason = reason;\n            this._emit('sessionRejected', { reason, activeApp: null });\n            // Release resources allocated optimistically by startSession().\n            if (this._pc) { this._pc.close(); this._pc = null; }\n            if (this._micStream) { this._micStream.getTracks().forEach(t => t.stop()); this._micStream = null; }\n            this._iceConnected = false;\n            this._dcOpen = false;\n            this._micMuted = true;\n            this._micSupported = false;\n            const reject = this._sessionReject;\n            this._sessionResolve = null;\n            this._sessionReject = null;\n            reject(err);\n            return;\n        }\n\n        // Case 2: we were streaming and got kicked. Leave cleanup of _pc,\n        // _dc, mic and timers to stopSession() so the event listener path\n        // matches the user-initiated stop path exactly.\n        if (this._state === 'streaming') {\n            this._emit('sessionStopped', {\n                reason: reason || 'remote_end',\n                message: friendly,\n            });\n            // Fire-and-forget: we just react to what the server already\n            // decided. stopSession() sends its own endSession back but\n            // central has already dropped the session, so the echo is\n            // harmless.\n            this.stopSession().catch(() => { });\n        }\n    }\n\n    async _handlePeerMessage(msg) {\n        if (!this._pc) return;\n        try {\n            if (msg.sdp) {\n                const sdp = msg.sdp;\n                if (sdp.type === 'offer') {\n                    const supportsMic = sdpHasAudioSendRecv(sdp.sdp);\n                    this._micSupported = supportsMic;\n                    this._emit('micSupported', { supported: supportsMic });\n\n                    // Mic track must be added BEFORE setRemoteDescription so the\n                    // generated answer naturally includes sendrecv for audio.\n                    if (supportsMic && this._micStream) {\n                        for (const track of this._micStream.getAudioTracks()) {\n                            this._pc.addTrack(track, this._micStream);\n                        }\n                    }\n\n                    await this._pc.setRemoteDescription(new RTCSessionDescription(sdp));\n                    const answer = await this._pc.createAnswer();\n                    await this._pc.setLocalDescription(answer);\n                    await this._sendToServer({\n                        type: 'peer',\n                        sessionId: this._sessionId,\n                        sdp: { type: 'answer', sdp: answer.sdp },\n                    });\n                } else {\n                    await this._pc.setRemoteDescription(new RTCSessionDescription(sdp));\n                }\n                // Replay any ICE candidates that arrived before the\n                // SDP exchange completed (see the buffering branch\n                // below for context).\n                const pending = this._pendingRemoteIce;\n                if (pending && pending.length) {\n                    this._pendingRemoteIce = [];\n                    for (const ice of pending) {\n                        try {\n                            await this._pc.addIceCandidate(new RTCIceCandidate(ice));\n                        } catch (err) {\n                            console.warn('[reachy-mini] buffered ICE candidate rejected:', err);\n                        }\n                    }\n                }\n            }\n            if (msg.ice) {\n                // Safari (and the iOS WKWebView Tauri ships on) rejects\n                // empty candidate strings with `OperationError: Expect\n                // line: candidate:<candidate-str>`. The signaling\n                // server uses an empty string as the end-of-candidates\n                // marker (legal per the WebRTC spec but optional).\n                // Chrome / Firefox swallow it silently; we mirror that\n                // here so the iOS WebView stops surfacing the noise as\n                // a robot-side WebRTC error event.\n                if (!msg.ice.candidate) return;\n                if (this._pc.remoteDescription) {\n                    await this._pc.addIceCandidate(new RTCIceCandidate(msg.ice));\n                } else {\n                    // The signaling transport (SSE through central) is\n                    // not strictly ordered across the offer / ICE\n                    // streams when the SDK runs inside a cross-origin\n                    // iframe or in Safari / iOS WKWebView: the first\n                    // ICE candidates can land before the offer SDP\n                    // does. Calling addIceCandidate before\n                    // setRemoteDescription throws\n                    // `InvalidStateError: The remote description was\n                    // null` and the candidate is silently lost,\n                    // sometimes wedging ICE altogether. Buffer here\n                    // and replay above as soon as the offer has been\n                    // applied.\n                    if (!this._pendingRemoteIce) this._pendingRemoteIce = [];\n                    this._pendingRemoteIce.push(msg.ice);\n                }\n            }\n        } catch (e) {\n            console.error('WebRTC error:', e);\n            this._emit('error', { source: 'webrtc', error: e });\n        }\n    }\n\n    /** Parse robot messages and dispatch. */\n    _handleRobotMessage(data) {\n        if ('version' in data && this._versionResolve) {\n            this._versionResolve(data.version);\n            this._versionResolve = null;\n            return;\n        }\n        if ('hardware_id' in data && this._hardwareIdResolve) {\n            this._hardwareIdResolve(data.hardware_id);\n            this._hardwareIdResolve = null;\n            return;\n        }\n        // Volume responses. Backend tags each response with `command` so we\n        // know which pending resolver (speaker vs mic) to fulfil. If a\n        // response arrives with no matching pending request (e.g. stale\n        // after reconnect), just ignore it — the data channel protocol\n        // has no multiplexing, so unmatched replies are expected.\n        if (data.command === 'get_volume' || data.command === 'set_volume') {\n            if (this._volumeResolve) {\n                this._volumeResolve(data.status === 'error' ? null : data.volume);\n                this._volumeResolve = null;\n            }\n            return;\n        }\n        if (data.command === 'get_microphone_volume' || data.command === 'set_microphone_volume') {\n            if (this._micVolumeResolve) {\n                this._micVolumeResolve(data.status === 'error' ? null : data.volume);\n                this._micVolumeResolve = null;\n            }\n            return;\n        }\n        // Motion completion responses. The daemon emits\n        // `{status: \"ok\", command: \"wake_up\"|\"goto_sleep\", completed: true}`\n        // after the trajectory player is fully done, or `{error, command}`\n        // on failure. Route them to the FIFO queue of pending awaiters\n        // populated by `_sendCommandAwaitCompletion`; the N-th response\n        // matches the N-th request thanks to the daemon's serialised\n        // dispatcher.\n        if (\n            (data.command === 'wake_up' || data.command === 'goto_sleep') &&\n            this._pendingMotionCompletions &&\n            this._pendingMotionCompletions[data.command]\n        ) {\n            const queue = this._pendingMotionCompletions[data.command];\n            if (data.completed === true && queue.length > 0) {\n                const entry = queue.shift();\n                clearTimeout(entry.timer);\n                entry.resolve();\n                return;\n            }\n            if (data.error && queue.length > 0) {\n                const entry = queue.shift();\n                clearTimeout(entry.timer);\n                entry.reject(new Error(`${data.command}: ${data.error}`));\n                return;\n            }\n        }\n        if (data.type === 'log_line') {\n            for (const sub of this._logSubscribers) {\n                try {\n                    sub.onLine({ timestamp: data.timestamp, line: data.line });\n                } catch (e) {\n                    console.error('subscribeLogs onLine threw:', e);\n                }\n            }\n            return;\n        }\n        if (data.type === 'log_stream_error') {\n            for (const sub of this._logSubscribers) {\n                if (typeof sub.onError === 'function') {\n                    try { sub.onError(data.error); }\n                    catch (e) { console.error('subscribeLogs onError threw:', e); }\n                }\n            }\n            return;\n        }\n        if (data.state) {\n            const s = data.state;\n            // Wire-shape pass-through. The daemon ships the head pose as a\n            // nested 4×4 (numpy tolist()); we flatten to 16 numbers so\n            // consumers can hand it straight to WebGL / Three.js / trajectory\n            // logs. Everything else is forwarded as-is.\n            if (s.head_pose) this._robotState.head = s.head_pose.flat();\n            if (s.antennas) this._robotState.antennas = [s.antennas[0], s.antennas[1]];\n            if (typeof s.body_yaw === 'number') this._robotState.body_yaw = s.body_yaw;\n            if (s.motor_mode) this._robotState.motor_mode = s.motor_mode;\n            if (typeof s.is_move_running === 'boolean') this._robotState.is_move_running = s.is_move_running;\n            this._emit('state', { ...this._robotState });\n        }\n        if (data.error) {\n            this._emit('error', { source: 'robot', error: data.error });\n        }\n    }\n\n    /** Snap video playback to live edge if buffered lag exceeds 0.5 s. */\n    _startLatencyMonitor(video) {\n        if (this._latencyMonitorId) clearInterval(this._latencyMonitorId);\n        this._latencyMonitorId = setInterval(() => {\n            if (!video.srcObject || video.paused) return;\n            const buf = 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package/host/dist/components/ConnectingView.d.ts

@@ -0,0 +1,13 @@
+import type { JSX } from 'react';
+import type { AppConnectingStep } from '../lib/protocol';
+export interface ConnectingViewProps {
+    /** Sub-step inside `connecting`. Maps to the 3-dot stepper. */
+    step: AppConnectingStep | null;
+    /** Optional caption override (apps can send one via
+     *  `embed:app-state.message`). When provided it wins over the
+     *  default per-step caption. */
+    message?: string | null;
+}
+export declare function ConnectingView({ step, message, }: ConnectingViewProps): JSX.Element;
+export declare const CONNECTING_STEP_ORDER: AppConnectingStep[];
+//# sourceMappingURL=ConnectingView.d.ts.map

package/host/dist/components/ConnectingView.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ConnectingView.d.ts","sourceRoot":"","sources":["../../src/components/ConnectingView.tsx"],"names":[],"mappings":"AA6BA,OAAO,KAAK,EAAE,GAAG,EAAE,MAAM,OAAO,CAAC;AAIjC,OAAO,KAAK,EAAE,iBAAiB,EAAE,MAAM,iBAAiB,CAAC;AAIzD,MAAM,WAAW,mBAAmB;IAClC,+DAA+D;IAC/D,IAAI,EAAE,iBAAiB,GAAG,IAAI,CAAC;IAC/B;;oCAEgC;IAChC,OAAO,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;CACzB;AAiBD,wBAAgB,cAAc,CAAC,EAC7B,IAAI,EACJ,OAAO,GACR,EAAE,mBAAmB,GAAG,GAAG,CAAC,OAAO,CA6FnC;AAkED,eAAO,MAAM,qBAAqB,qBAAa,CAAC"}

package/host/dist/components/EmbedFrame.d.ts

@@ -0,0 +1,16 @@
+export interface EmbedFrameProps {
+    /** Same-origin URL of the embedded app's `index.html`.
+     *  Defaults to `${origin}/?embedded=1`. */
+    src: string;
+    /** Allow microphone capture inside the iframe (apps that need
+     *  WebRTC mic input). Maps to the `allow="microphone; ..."`
+     *  attribute. */
+    enableMicrophone: boolean;
+    /** Title attribute for a11y. */
+    title: string;
+    /** Set `visibility` so the iframe can stay mounted (and keep
+     *  the SDK socket) while the ConnectingView overlay is on top. */
+    visible: boolean;
+}
+export declare const EmbedFrame: import("react").ForwardRefExoticComponent<EmbedFrameProps & import("react").RefAttributes<HTMLIFrameElement>>;
+//# sourceMappingURL=EmbedFrame.d.ts.map

package/host/dist/components/EmbedFrame.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"EmbedFrame.d.ts","sourceRoot":"","sources":["../../src/components/EmbedFrame.tsx"],"names":[],"mappings":"AAgBA,MAAM,WAAW,eAAe;IAC9B;+CAC2C;IAC3C,GAAG,EAAE,MAAM,CAAC;IACZ;;qBAEiB;IACjB,gBAAgB,EAAE,OAAO,CAAC;IAC1B,gCAAgC;IAChC,KAAK,EAAE,MAAM,CAAC;IACd;sEACkE;IAClE,OAAO,EAAE,OAAO,CAAC;CAClB;AAED,eAAO,MAAM,UAAU,+GAoCtB,CAAC"}

package/host/dist/components/ErrorView.d.ts

@@ -0,0 +1,21 @@
+/**
+ * Terminal error screen. Reached when:
+ *  - The SDK throws on `connect()` / `startSession()`.
+ *  - The embed reports `embed:error { fatal: true }`.
+ *  - The host catches an uncaught render error (via the React
+ *    error boundary in `ReachyHost`).
+ *
+ * Always offers a "Reload" action (full page reload) and a
+ * "Back to picker" action that resets the host phase to picking
+ * without losing the OAuth session.
+ */
+import type { JSX } from 'react';
+export interface ErrorViewProps {
+    title?: string;
+    message: string;
+    detail?: unknown;
+    onReload(): void;
+    onBackToPicker(): void;
+}
+export declare function ErrorView({ title, message, detail, onReload, onBackToPicker, }: ErrorViewProps): JSX.Element;
+//# sourceMappingURL=ErrorView.d.ts.map

package/host/dist/components/ErrorView.d.ts.map

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package/host/dist/components/LeavingView.d.ts

@@ -0,0 +1,33 @@
+/**
+ * Transition view rendered while the host is tearing the iframe
+ * session down (user clicked "End session" / power-off).
+ *
+ * 1-to-1 port of
+ * `reachy_mini_mobile_app/src/ui/screens/session/LeavingView.tsx`
+ * — the desktop host and the mobile shell deliberately share the
+ * exact same disconnection visual so a user moving between the
+ * two clients sees a consistent "Putting Reachy to sleep…" beat.
+ *
+ * Visual posture
+ * ──────────────
+ * Mirrors `<ConnectingView>`'s anatomy (stack centred on the
+ * vertical axis, primary visual on top, title below) so the
+ * leave-screen reads as the symmetric counterpart of the join-
+ * screen. But where Connecting carries a 3-dot stepper + bold
+ * headline + a two-line caption to narrate a multi-phase
+ * bring-up, Leaving is intentionally one beat lighter:
+ *
+ *   - a small, low-contrast spinner instead of the stepper
+ *     (the user already decided to leave - we don't need to
+ *     dramatise the wait),
+ *   - a single short headline, no caption (the goto-sleep
+ *     trajectory is short enough that a sub-line of explanation
+ *     reads as filler by the time it lands).
+ *
+ * The trailing ellipsis on the headline is enough of a
+ * "something's still happening" cue without needing a second line
+ * of copy.
+ */
+import type { JSX } from 'react';
+export declare function LeavingView(): JSX.Element;
+//# sourceMappingURL=LeavingView.d.ts.map

package/host/dist/components/LeavingView.d.ts.map

@@ -0,0 +1 @@
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