@pollen-robotics/reachy-mini-sdk 1.8.0 → 1.8.1

package/host/dist/chunks/{reachy-mini-B1hlBmDQ.js → reachy-mini-GHNS4GSp.js}

@@ -1,49 +1,49 @@
-var L = Object.defineProperty, D = (n, e, t) => e in n ? L(n, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : n[e] = t, A = (n, e, t) => (D(n, typeof e != "symbol" ? e + "" : e, t), t), P = "https://huggingface.co";
-async function C(n, e) {
-  var t, s;
-  const o = new $(n.url, n.status, (t = n.headers.get("X-Request-Id")) != null ? t : void 0);
-  o.message = `Api error with status ${o.statusCode}`;
-  const i = [`URL: ${o.url}`, o.requestId ? `Request ID: ${o.requestId}` : void 0].filter(Boolean).join(". ");
-  if ((s = n.headers.get("Content-Type")) != null && s.startsWith("application/json")) {
-    const r = await n.json();
-    o.message = r.error || r.message || o.message, o.data = r;
+var $ = Object.defineProperty, O = (r, e, t) => e in r ? $(r, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : r[e] = t, C = (r, e, t) => (O(r, typeof e != "symbol" ? e + "" : e, t), t), D = "https://huggingface.co";
+async function A(r, e) {
+  var t, i;
+  const s = new x(r.url, r.status, (t = r.headers.get("X-Request-Id")) != null ? t : void 0);
+  s.message = `Api error with status ${s.statusCode}`;
+  const o = [`URL: ${s.url}`, s.requestId ? `Request ID: ${s.requestId}` : void 0].filter(Boolean).join(". ");
+  if ((i = r.headers.get("Content-Type")) != null && i.startsWith("application/json")) {
+    const n = await r.json();
+    s.message = n.error || n.message || s.message, s.data = n;
   } else
-    o.data = { message: await n.text() };
-  throw o.message += `. ${i}`, o;
+    s.data = { message: await r.text() };
+  throw s.message += `. ${o}`, s;
 }
-var $ = class extends Error {
-  constructor(n, e, t, s) {
-    super(s), A(this, "statusCode"), A(this, "url"), A(this, "requestId"), A(this, "data"), this.statusCode = e, this.requestId = t, this.url = n;
+var x = class extends Error {
+  constructor(r, e, t, i) {
+    super(i), C(this, "statusCode"), C(this, "url"), C(this, "requestId"), C(this, "data"), this.statusCode = e, this.requestId = t, this.url = r;
   }
 };
-new Promise((n) => {
+new Promise((r) => {
 });
-function x(n) {
+function N(r) {
   if (globalThis.Buffer)
-    return globalThis.Buffer.from(n).toString("base64");
+    return globalThis.Buffer.from(r).toString("base64");
   {
     const e = [];
-    return n.forEach((t) => {
+    return r.forEach((t) => {
       e.push(String.fromCharCode(t));
     }), globalThis.btoa(e.join(""));
   }
 }
-async function M(n) {
+async function M(r) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthHandleRedirect is only available in the browser");
-  const s = new URLSearchParams(window.location.search), [o, i] = [s.get("error"), s.get("error_description")];
-  if (o)
-    throw new Error(`${o}: ${i}`);
-  const r = s.get("code"), a = localStorage.getItem("huggingface.co:oauth:nonce");
-  if (!r)
+  const i = new URLSearchParams(window.location.search), [s, o] = [i.get("error"), i.get("error_description")];
+  if (s)
+    throw new Error(`${s}: ${o}`);
+  const n = i.get("code"), a = localStorage.getItem("huggingface.co:oauth:nonce");
+  if (!n)
     throw new Error("Missing oauth code from query parameters in redirected URL");
   if (!a)
     throw new Error("Missing oauth nonce from localStorage");
   const l = localStorage.getItem("huggingface.co:oauth:code_verifier");
   if (!l)
     throw new Error("Missing oauth code_verifier from localStorage");
-  const c = s.get("state");
+  const c = i.get("state");
   if (!c)
     throw new Error("Missing oauth state from query parameters in redirected URL");
   let h;
@@ -54,34 +54,34 @@ async function M(n) {
   }
   if (h.nonce !== a)
     throw new Error("Invalid oauth state in redirected URL");
-  const d = P, m = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(m, {
+  const d = D, p = `${new URL(d).origin}/.well-known/openid-configuration`, f = await fetch(p, {
     headers: {
       Accept: "application/json"
     }
   });
   if (!f.ok)
-    throw await C(f);
-  const p = await f.json(), v = await fetch(p.token_endpoint, {
+    throw await A(f);
+  const m = await f.json(), v = await fetch(m.token_endpoint, {
     method: "POST",
     headers: {
       "Content-Type": "application/x-www-form-urlencoded"
     },
     body: new URLSearchParams({
       grant_type: "authorization_code",
-      code: r,
+      code: n,
       redirect_uri: h.redirectUri,
       code_verifier: l
     }).toString()
   });
   if (localStorage.removeItem("huggingface.co:oauth:code_verifier"), localStorage.removeItem("huggingface.co:oauth:nonce"), !v.ok)
-    throw await C(v);
-  const w = await v.json(), g = new Date(Date.now() + w.expires_in * 1e3), S = await fetch(p.userinfo_endpoint, {
+    throw await A(v);
+  const w = await v.json(), g = new Date(Date.now() + w.expires_in * 1e3), S = await fetch(m.userinfo_endpoint, {
     headers: {
       Authorization: `Bearer ${w.access_token}`
     }
   });
   if (!S.ok)
-    throw await C(S);
+    throw await A(S);
   const u = await S.json();
   return {
     accessToken: w.access_token,
@@ -109,7 +109,7 @@ async function M(n) {
     scope: w.scope
   };
 }
-async function O(n) {
+async function H(r) {
   if (typeof window > "u")
     throw new Error("oauthHandleRedirect is only available in the browser");
   const e = new URLSearchParams(window.location.search);
@@ -117,32 +117,32 @@ async function O(n) {
     "Missing oauth nonce from localStorage. This can happen when the user refreshes the page after logging in, without changing the URL."
   ), !1) : !1;
 }
-async function N(n) {
+async function V(r) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthLogin is only available in the browser");
-  const s = n?.hubUrl || P, o = `${new URL(s).origin}/.well-known/openid-configuration`, i = await fetch(o, {
+  const i = r?.hubUrl || D, s = `${new URL(i).origin}/.well-known/openid-configuration`, o = await fetch(s, {
     headers: {
       Accept: "application/json"
     }
   });
-  if (!i.ok)
-    throw await C(i);
-  const r = await i.json(), a = globalThis.crypto.randomUUID(), l = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
+  if (!o.ok)
+    throw await A(o);
+  const n = await o.json(), a = globalThis.crypto.randomUUID(), l = globalThis.crypto.randomUUID() + globalThis.crypto.randomUUID();
   localStorage.setItem("huggingface.co:oauth:nonce", a), localStorage.setItem("huggingface.co:oauth:code_verifier", l);
-  const c = n?.redirectUrl || window.location.href, h = JSON.stringify({
+  const c = r?.redirectUrl || window.location.href, h = JSON.stringify({
     nonce: a,
     redirectUri: c,
-    state: n?.state
-  }), d = (t = (e = window?.huggingface) == null ? void 0 : e.variables) != null ? t : null, m = n?.clientId || d?.OAUTH_CLIENT_ID;
-  if (!m)
+    state: r?.state
+  }), d = (t = (e = window?.huggingface) == null ? void 0 : e.variables) != null ? t : null, p = r?.clientId || d?.OAUTH_CLIENT_ID;
+  if (!p)
     throw d ? new Error("Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space") : new Error("Missing clientId");
-  const f = x(
+  const f = N(
     new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", new TextEncoder().encode(l)))
   ).replace(/[+]/g, "-").replace(/[/]/g, "_").replace(/=/g, "");
-  return `${r.authorization_endpoint}?${new URLSearchParams({
-    client_id: m,
-    scope: n?.scopes || d?.OAUTH_SCOPES || "openid profile",
+  return `${n.authorization_endpoint}?${new URLSearchParams({
+    client_id: p,
+    scope: r?.scopes || d?.OAUTH_SCOPES || "openid profile",
     response_type: "code",
     redirect_uri: c,
     state: h,
@@ -150,48 +150,48 @@ async function N(n) {
     code_challenge_method: "S256"
   }).toString()}`;
 }
-function R(n) {
-  return n * Math.PI / 180;
+function R(r) {
+  return r * Math.PI / 180;
 }
-function F(n, e, t) {
-  const s = R(n), o = R(e), i = R(t), r = Math.cos(i), a = Math.sin(i), l = Math.cos(o), c = Math.sin(o), h = Math.cos(s), d = Math.sin(s);
+function F(r, e, t) {
+  const i = R(r), s = R(e), o = R(t), n = Math.cos(o), a = Math.sin(o), l = Math.cos(s), c = Math.sin(s), h = Math.cos(i), d = Math.sin(i);
   return [
-    [r * l, r * c * d - a * h, r * c * h + a * d, 0],
-    [a * l, a * c * d + r * h, a * c * h - r * d, 0],
+    [n * l, n * c * d - a * h, n * c * h + a * d, 0],
+    [a * l, a * c * d + n * h, a * c * h - n * d, 0],
     [-c, l * d, l * h, 0],
     [0, 0, 0, 1]
   ];
 }
 function B() {
   if (typeof window > "u" || !window.location.hash) return;
-  const n = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
+  const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
   let e;
   try {
-    e = new URLSearchParams(n);
+    e = new URLSearchParams(r);
   } catch {
     return;
   }
   const t = e.get("hf_token");
   if (!t) return;
-  const s = e.get("hf_username") || "user", o = e.get("hf_token_expires"), i = o && !Number.isNaN(new Date(o).getTime()) ? o : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
+  const i = e.get("hf_username") || "user", s = e.get("hf_token_expires"), o = s && !Number.isNaN(new Date(s).getTime()) ? s : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
   try {
-    sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", s), sessionStorage.setItem("hf_token_expires", i);
+    sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", i), sessionStorage.setItem("hf_token_expires", o);
   } catch (l) {
     console.warn("[reachy-mini] could not persist pre-seeded HF credentials:", l);
   }
   e.delete("hf_token"), e.delete("hf_username"), e.delete("hf_token_expires");
-  const r = e.toString(), a = window.location.pathname + window.location.search + (r ? "#" + r : "");
+  const n = e.toString(), a = window.location.pathname + window.location.search + (n ? "#" + n : "");
   try {
     window.history.replaceState(null, "", a);
   } catch {
   }
 }
-function V() {
+function G() {
   if (typeof window > "u") return null;
   if (window.location.hash) {
-    const n = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
+    const r = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
     try {
-      const t = new URLSearchParams(n).get("robot_peer_id");
+      const t = new URLSearchParams(r).get("robot_peer_id");
       if (t) return t;
     } catch {
     }
@@ -204,41 +204,42 @@ function V() {
     }
   return null;
 }
-function q(n) {
-  const e = n.split(`\r
+function q(r) {
+  const e = r.split(`\r
 `);
   let t = !1;
-  for (const s of e)
-    if (s.startsWith("m=audio") ? t = !0 : s.startsWith("m=") && (t = !1), t && s === "a=sendrecv") return !0;
+  for (const i of e)
+    if (i.startsWith("m=audio") ? t = !0 : i.startsWith("m=") && (t = !1), t && i === "a=sendrecv") return !0;
   return !1;
 }
-const y = 12 * 1024, k = 1 * 1024 * 1024, H = 512 * 1024;
-function W() {
+const y = 12 * 1024, E = 1 * 1024 * 1024, W = 512 * 1024;
+function z() {
   return typeof CompressionStream < "u";
 }
 function U() {
   return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
 }
-function E(n) {
+function k(r) {
   let e = "";
-  for (let s = 0; s < n.length; s += 32768)
+  for (let i = 0; i < r.length; i += 32768)
     e += String.fromCharCode.apply(
       null,
-      Array.from(n.subarray(s, s + 32768))
+      Array.from(r.subarray(i, i + 32768))
     );
   return btoa(e);
 }
-async function z(n) {
-  const e = new TextEncoder().encode(n), t = await new Response(
+async function J(r) {
+  const e = new TextEncoder().encode(r), t = await new Response(
     new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
   ).arrayBuffer();
-  return E(new Uint8Array(t));
+  return k(new Uint8Array(t));
 }
-function j(n) {
-  const e = Math.round(Number(n) || 0);
+function L(r) {
+  const e = Math.round(Number(r) || 0);
   return Math.max(0, Math.min(100, e));
 }
-class J extends EventTarget {
+const j = 3e3, P = 1e3, X = 6e4;
+class Y extends EventTarget {
   // ─── Config ──────────────────────────────────────────────────────────
   _signalingUrl;
   _clientId;
@@ -293,6 +294,19 @@ class J extends EventTarget {
   _sessionReject = null;
   _iceConnected = !1;
   _dcOpen = !1;
+  // ─── Resilience: ICE-blip debounce + network awareness ──────────────
+  // Backs `_scheduleIceGrace` / `_armIceGraceOnVisibility` and the
+  // `networkOnline` / `networkOffline` / `networkChange` forwarders.
+  // All three handler slots are scoped to the lifetime of a live
+  // session (installed in `startSession`, cleared in
+  // `stopSession` / `disconnect` / `_handleEndSession` /
+  // `_failSessionRejected`).
+  _iceGraceTimer = null;
+  _iceGraceReason = null;
+  _pendingVisibilityHandler = null;
+  _onlineHandler = null;
+  _offlineHandler = null;
+  _connectionChangeHandler = null;
   // ─── Motion completion plumbing (wake_up / goto_sleep) ───────────────
   _pendingMotionCompletions = {
     wake_up: [],
@@ -301,7 +315,7 @@ class J extends EventTarget {
   // ─── Video element ───────────────────────────────────────────────────
   _videoElement = null;
   constructor(e = {}) {
-    super(), this._signalingUrl = e.signalingUrl || "https://pollen-robotics-reachy-mini-central.hf.space", this._clientId = e.clientId || null, this._appName = e.appName || "unknown", this._videoJitterBufferTargetMs = e.videoJitterBufferTargetMs ?? 0, this._autoStartFromUrl = e.autoStartFromUrl === !0, this._autoStartAttempted = !1, this._preselectedRobotId = V();
+    super(), this._signalingUrl = e.signalingUrl || "https://pollen-robotics-reachy-mini-central.hf.space", this._clientId = e.clientId || null, this._appName = e.appName || "unknown", this._videoJitterBufferTargetMs = e.videoJitterBufferTargetMs ?? 0, this._autoStartFromUrl = e.autoStartFromUrl === !0, this._autoStartAttempted = !1, this._preselectedRobotId = G();
   }
   // ─── Read-only properties ────────────────────────────────────────────
   get state() {
@@ -341,12 +355,12 @@ class J extends EventTarget {
    * SDK is already `connected` still triggers the auto-start.
    */
   _maybeAutoStart() {
-    if (!this._autoStartFromUrl || this._autoStartAttempted || !this._preselectedRobotId || this._state !== "connected" || !this._robots.find((s) => s.id === this._preselectedRobotId)) return;
+    if (!this._autoStartFromUrl || this._autoStartAttempted || !this._preselectedRobotId || this._state !== "connected" || !this._robots.find((i) => i.id === this._preselectedRobotId)) return;
     this._autoStartAttempted = !0;
     const t = this._preselectedRobotId;
     setTimeout(() => {
-      this._state === "connected" && this.startSession(t).catch((s) => {
-        console.warn("[reachy-mini] autoStartFromUrl: startSession rejected:", s);
+      this._state === "connected" && this.startSession(t).catch((i) => {
+        console.warn("[reachy-mini] autoStartFromUrl: startSession rejected:", i);
       });
     }, 0);
   }
@@ -354,21 +368,21 @@ class J extends EventTarget {
   async authenticate() {
     try {
       B();
-      const e = await O();
+      const e = await H();
       if (e)
         return this._username = e.userInfo.preferred_username || e.userInfo.name || null, this._token = e.accessToken, this._tokenExpires = e.accessTokenExpiresAt, sessionStorage.setItem("hf_token", this._token), sessionStorage.setItem("hf_username", this._username ?? ""), sessionStorage.setItem(
           "hf_token_expires",
           typeof this._tokenExpires == "string" ? this._tokenExpires : this._tokenExpires.toISOString()
         ), !0;
-      const t = sessionStorage.getItem("hf_token"), s = sessionStorage.getItem("hf_username"), o = sessionStorage.getItem("hf_token_expires");
-      return t && s && o && new Date(o) > /* @__PURE__ */ new Date() ? (this._token = t, this._username = s, this._tokenExpires = o, !0) : !1;
+      const t = sessionStorage.getItem("hf_token"), i = sessionStorage.getItem("hf_username"), s = sessionStorage.getItem("hf_token_expires");
+      return t && i && s && new Date(s) > /* @__PURE__ */ new Date() ? (this._token = t, this._username = i, this._tokenExpires = s, !0) : !1;
     } catch (e) {
       return console.error("Auth error:", e), !1;
     }
   }
   async login() {
     const e = {};
-    this._clientId && (e.clientId = this._clientId), window.location.href = await N(e);
+    this._clientId && (e.clientId = this._clientId), window.location.href = await V(e);
   }
   logout() {
     sessionStorage.removeItem("hf_token"), sessionStorage.removeItem("hf_username"), sessionStorage.removeItem("hf_token_expires"), this._username = null, this._tokenExpires = null, this.disconnect();
@@ -387,53 +401,53 @@ class J extends EventTarget {
           headers: { Authorization: `Bearer ${this._token}` }
         }
       );
-    } catch (s) {
-      throw this._sseAbortController = null, s;
+    } catch (i) {
+      throw this._sseAbortController = null, i;
     }
     if (!t.ok)
       throw this._sseAbortController = null, new Error(`HTTP ${t.status}`);
-    return new Promise((s, o) => {
-      let i = !1;
-      const r = t.body.getReader(), a = new TextDecoder();
+    return new Promise((i, s) => {
+      let o = !1;
+      const n = t.body.getReader(), a = new TextDecoder();
       let l = "";
       (async () => {
         try {
           for (; ; ) {
-            const { done: h, value: d } = await r.read();
+            const { done: h, value: d } = await n.read();
             if (h) break;
             l += a.decode(d, { stream: !0 });
-            const m = l.split(`
+            const p = l.split(`
 `);
-            l = m.pop() ?? "";
-            for (const f of m)
+            l = p.pop() ?? "";
+            for (const f of p)
               if (f.startsWith("data:"))
                 try {
-                  const p = JSON.parse(f.slice(5).trim());
-                  !i && p.type === "welcome" && p.peerId && (i = !0, this._state = "connected", await this._sendToServer({
+                  const m = JSON.parse(f.slice(5).trim());
+                  !o && m.type === "welcome" && m.peerId && (o = !0, this._state = "connected", await this._sendToServer({
                     type: "setPeerStatus",
                     roles: ["listener"],
                     meta: { name: this._appName }
-                  }), this._emit("connected", { peerId: p.peerId }), s()), this._handleSignalingMessage(p);
+                  }), this._emit("connected", { peerId: m.peerId }), i()), this._handleSignalingMessage(m);
                 } catch {
                 }
           }
         } catch (h) {
-          if (h.name !== "AbortError" && this._emit("error", { source: "signaling", error: h }), !i) {
-            o(h);
+          if (h.name !== "AbortError" && this._emit("error", { source: "signaling", error: h }), !o) {
+            s(h);
             return;
           }
         }
-        this._state !== "disconnected" && (this._state = "disconnected", this._emit("disconnected", { reason: "SSE closed" })), i || o(new Error("Connection closed before welcome"));
+        this._state !== "disconnected" && (this._state = "disconnected", this._emit("disconnected", { reason: "SSE closed" })), o || s(new Error("Connection closed before welcome"));
       })();
     });
   }
   async autoConnect(e = {}) {
     const {
       token: t,
-      pickRobot: s,
-      autoPickIfSingle: o = !0,
-      filterBusy: i = !0,
-      wakeOnConnect: r = !0
+      pickRobot: i,
+      autoPickIfSingle: s = !0,
+      filterBusy: o = !0,
+      wakeOnConnect: n = !0
     } = e;
     if (this._state === "streaming") {
       const l = this._robots?.find((c) => c.id === this._selectedRobotId);
@@ -461,21 +475,21 @@ class J extends EventTarget {
         }
         c = this._robots?.find((d) => d.id === l)?.meta?.name ?? null;
       } else {
-        const h = await this._fetchOwnedRobots({ filterBusy: i });
+        const h = await this._fetchOwnedRobots({ filterBusy: o });
         if (h.length === 0)
           throw new Error("No reachable robots");
-        if (o && h.length === 1 && !h[0].busy)
+        if (s && h.length === 1 && !h[0].busy)
           l = h[0].id, c = h[0].name;
-        else if (s) {
-          const d = await s(h);
+        else if (i) {
+          const d = await i(h);
           if (!d) throw new Error("Robot selection cancelled");
-          l = d, c = h.find((m) => m.id === d)?.name ?? null;
+          l = d, c = h.find((p) => p.id === d)?.name ?? null;
         } else
           throw new Error(
             "Multiple robots available — pass a pickRobot callback to autoConnect()"
           );
       }
-      if (await this.startSession(l), r && typeof this.ensureAwake == "function")
+      if (await this.startSession(l), n && typeof this.ensureAwake == "function")
         try {
           await this.ensureAwake();
         } catch (h) {
@@ -492,52 +506,52 @@ class J extends EventTarget {
         headers: { Authorization: `Bearer ${this._token}` }
       });
       if (!t.ok) throw new Error(`HTTP ${t.status}`);
-      const s = await t.json(), o = /* @__PURE__ */ new Map();
-      for (const i of s.robots || []) {
-        if (e && i.busy) continue;
-        const r = i.meta?.install_id ?? i.meta?.hardware_id ?? i.peerId;
-        o.set(r, {
-          id: i.peerId,
-          name: i.robotName ?? i.meta?.name ?? null,
-          busy: !!i.busy,
-          activeApp: i.activeApp ?? null,
-          meta: i.meta ?? {},
-          lastSeenAgeSeconds: i.last_seen_age_seconds ?? null
+      const i = await t.json(), s = /* @__PURE__ */ new Map();
+      for (const o of i.robots || []) {
+        if (e && o.busy) continue;
+        const n = o.meta?.install_id ?? o.meta?.hardware_id ?? o.peerId;
+        s.set(n, {
+          id: o.peerId,
+          name: o.robotName ?? o.meta?.name ?? null,
+          busy: !!o.busy,
+          activeApp: o.activeApp ?? null,
+          meta: o.meta ?? {},
+          lastSeenAgeSeconds: o.last_seen_age_seconds ?? null
         });
       }
-      return Array.from(o.values()).sort(
-        (i, r) => (i.lastSeenAgeSeconds ?? 1 / 0) - (r.lastSeenAgeSeconds ?? 1 / 0)
+      return Array.from(s.values()).sort(
+        (o, n) => (o.lastSeenAgeSeconds ?? 1 / 0) - (n.lastSeenAgeSeconds ?? 1 / 0)
       );
     } catch (t) {
-      return console.warn("[reachy-mini] /api/robot-status unavailable, using SSE list:", t), (this._robots || []).map((s) => ({
-        id: s.id,
-        name: s.meta?.name ?? null,
+      return console.warn("[reachy-mini] /api/robot-status unavailable, using SSE list:", t), (this._robots || []).map((i) => ({
+        id: i.id,
+        name: i.meta?.name ?? null,
         busy: !1,
         activeApp: null,
-        meta: s.meta ?? {},
+        meta: i.meta ?? {},
         lastSeenAgeSeconds: null
       }));
     }
   }
   _waitForRobotInList(e, t) {
-    return this._robots?.find((s) => s.id === e) ? Promise.resolve() : new Promise((s, o) => {
-      const i = () => {
-        this._robots?.find((a) => a.id === e) && (this.removeEventListener("robotsChanged", i), clearTimeout(r), s());
-      }, r = setTimeout(() => {
-        this.removeEventListener("robotsChanged", i), o(new Error(`Timeout waiting for robot ${e} in list`));
+    return this._robots?.find((i) => i.id === e) ? Promise.resolve() : new Promise((i, s) => {
+      const o = () => {
+        this._robots?.find((a) => a.id === e) && (this.removeEventListener("robotsChanged", o), clearTimeout(n), i());
+      }, n = setTimeout(() => {
+        this.removeEventListener("robotsChanged", o), s(new Error(`Timeout waiting for robot ${e} in list`));
       }, t);
-      this.addEventListener("robotsChanged", i);
+      this.addEventListener("robotsChanged", o);
     });
   }
   async startSession(e) {
     if (this._state !== "connected") throw new Error("Not connected");
     this._selectedRobotId = e, this._iceConnected = !1, this._dcOpen = !1, this._micSupported = !1, this._pendingRemoteIce = [];
     try {
-      const t = window, s = t.AudioContext ?? t.webkitAudioContext;
-      if (!s) throw new Error("AudioContext not supported");
-      const o = new s(), i = o.createMediaStreamDestination(), r = o.createOscillator(), a = o.createGain();
-      a.gain.value = 0, r.connect(a).connect(i), r.start();
-      const l = i.stream;
+      const t = window, i = t.AudioContext ?? t.webkitAudioContext;
+      if (!i) throw new Error("AudioContext not supported");
+      const s = new i(), o = s.createMediaStreamDestination(), n = s.createOscillator(), a = s.createGain();
+      a.gain.value = 0, n.connect(a).connect(o), n.start();
+      const l = o.stream;
       l.getAudioTracks().forEach((c) => {
         c.enabled = !1;
       }), this._micStream = l, this._micMuted = !0;
@@ -546,49 +560,56 @@ class J extends EventTarget {
     }
     return this._pc = new RTCPeerConnection({
       iceServers: [{ urls: "stun:stun.l.google.com:19302" }]
-    }), new Promise((t, s) => {
-      this._sessionResolve = t, this._sessionReject = s, this._pc.ontrack = (o) => {
-        if (o.track.kind === "video") {
-          const i = this._videoJitterBufferTargetMs;
+    }), this._installNetworkListeners(), new Promise((t, i) => {
+      this._sessionResolve = t, this._sessionReject = i, this._pc.ontrack = (s) => {
+        if (s.track.kind === "video") {
+          const o = this._videoJitterBufferTargetMs;
           try {
-            o.receiver.jitterBufferTarget = i;
+            s.receiver.jitterBufferTarget = o;
           } catch {
           }
           try {
-            o.receiver.playoutDelayHint = i / 1e3;
+            s.receiver.playoutDelayHint = o / 1e3;
           } catch {
           }
-          this._emit("videoTrack", { track: o.track, stream: o.streams[0] });
+          this._emit("videoTrack", { track: s.track, stream: s.streams[0] });
         }
-      }, this._pc.onicecandidate = async (o) => {
-        o.candidate && this._sessionId && await this._sendToServer({
+      }, this._pc.onicecandidate = async (s) => {
+        s.candidate && this._sessionId && await this._sendToServer({
           type: "peer",
           sessionId: this._sessionId,
           ice: {
-            candidate: o.candidate.candidate,
-            sdpMLineIndex: o.candidate.sdpMLineIndex,
-            sdpMid: o.candidate.sdpMid
+            candidate: s.candidate.candidate,
+            sdpMLineIndex: s.candidate.sdpMLineIndex,
+            sdpMid: s.candidate.sdpMid
           }
         });
       }, this._pc.oniceconnectionstatechange = () => {
-        const o = this._pc?.iceConnectionState;
-        if (o)
-          if (o === "connected" || o === "completed")
-            this._iceConnected = !0, this._checkSessionReady();
-          else if (o === "failed") {
-            const i = new Error("ICE connection failed");
-            this._sessionReject && (this._sessionReject(i), this._sessionResolve = null, this._sessionReject = null), this._emit("error", { source: "webrtc", error: i });
-          } else o === "disconnected" && this._emit("error", { source: "webrtc", error: new Error("ICE disconnected") });
-      }, this._pc.ondatachannel = (o) => {
-        this._dc = o.channel, this._dc.onopen = () => {
+        const s = this._pc?.iceConnectionState;
+        if (s) {
+          if (this._emit("iceStateChange", { state: s }), s === "connected" || s === "completed") {
+            this._clearIceGrace(), this._iceConnected = !0, this._checkSessionReady();
+            return;
+          }
+          if (s === "disconnected") {
+            typeof document < "u" && document.hidden ? this._armIceGraceOnVisibility() : this._scheduleIceGrace(j, "disconnected");
+            return;
+          }
+          if (s === "failed") {
+            this._scheduleIceGrace(P, "failed");
+            return;
+          }
+        }
+      }, this._pc.ondatachannel = (s) => {
+        this._dc = s.channel, this._dc.onopen = () => {
           this._dcOpen = !0, this._checkSessionReady();
-        }, this._dc.onmessage = (i) => this._handleRobotMessage(JSON.parse(i.data));
-      }, this._sendToServer({ type: "startSession", peerId: e }).then((o) => {
-        if (o?.type === "sessionRejected") {
-          this._failSessionRejected(o);
+        }, this._dc.onmessage = (o) => this._handleRobotMessage(JSON.parse(o.data));
+      }, this._sendToServer({ type: "startSession", peerId: e }).then((s) => {
+        if (s?.type === "sessionRejected") {
+          this._failSessionRejected(s);
           return;
         }
-        o?.sessionId && (this._sessionId = o.sessionId);
+        s?.sessionId && (this._sessionId = s.sessionId);
       });
     });
   }
@@ -596,74 +617,237 @@ class J extends EventTarget {
     const t = new Error(
       e.reason === "robot_busy" ? `Robot is busy: "${e.activeApp || "another app"}" is already connected` : `Session rejected: ${e.reason || "unknown reason"}`
     );
-    if (t.reason = e.reason ?? null, t.activeApp = e.activeApp ?? null, this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((s) => s.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1, this._emit("sessionRejected", { reason: e.reason, activeApp: e.activeApp }), this._sessionReject) {
-      const s = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, s(t);
+    if (t.reason = e.reason ?? null, t.activeApp = e.activeApp ?? null, this._clearIceGrace(), this._uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((i) => i.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1, this._emit("sessionRejected", { reason: e.reason, activeApp: e.activeApp }), this._sessionReject) {
+      const i = this._sessionReject;
+      this._sessionResolve = null, this._sessionReject = null, i(t);
     }
   }
   async stopSession() {
-    this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
+    this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Session stopped")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Session stopped")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && await this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((t) => t.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._iceConnected = !1, this._dcOpen = !1, this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
   }
   disconnect() {
-    this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
+    this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._versionResolve && (this._versionResolve(null), this._versionResolve = null), this._hardwareIdResolve && (this._hardwareIdResolve(null), this._hardwareIdResolve = null), this._volumeResolve && (this._volumeResolve(null), this._volumeResolve = null), this._micVolumeResolve && (this._micVolumeResolve(null), this._micVolumeResolve = null), this._applyAudioConfigResolve && (this._applyAudioConfigResolve(!1), this._applyAudioConfigResolve = null), this._readAudioParameterResolve && (this._readAudioParameterResolve(null), this._readAudioParameterResolve = null), this._logSubscribers.clear(), this._rejectPendingMotionCompletions(new Error("Disconnected")), this._clearIceGrace(), this._uninstallNetworkListeners(), this._sessionReject && (this._sessionReject(new Error("Disconnected")), this._sessionResolve = null, this._sessionReject = null), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._sessionId && this._token && this._sendToServer({ type: "endSession", sessionId: this._sessionId }), this._micStream && (this._micStream.getTracks().forEach((e) => e.stop()), this._micStream = null), this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._sessionId = null, this._micMuted = !0, this._micSupported = !1, this._iceConnected = !1, this._dcOpen = !1, this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
+  }
+  // ─── Resilience: ICE-blip debounce + network awareness ───────────────
+  //
+  // Both halves below are intentionally generic (they don't know about
+  // motion, audio, or the FSM): they just smooth out browser-level
+  // events so the consumer's own state machine doesn't get torn down
+  // by routine WiFi/4G/screen-off noise.
+  /**
+   * Cancel any pending ICE grace timer and visibility handler. Called
+   * on a healed `connected`/`completed` transition AND from the
+   * lifecycle teardown paths so a callback can't fire after `_pc`
+   * is closed.
+   */
+  _clearIceGrace() {
+    this._iceGraceTimer !== null && (clearTimeout(this._iceGraceTimer), this._iceGraceTimer = null), this._iceGraceReason = null, this._pendingVisibilityHandler && typeof document < "u" && document.removeEventListener("visibilitychange", this._pendingVisibilityHandler), this._pendingVisibilityHandler = null;
+  }
+  /**
+   * Start a grace window. After `ms`, re-check the live ICE state:
+   *   - If we healed back to `connected`/`completed`, the timer was
+   *     already cancelled in `oniceconnectionstatechange`, so we
+   *     never get here.
+   *   - If we're still in the originally-observed bad state (or
+   *     worse), surface the error and reject any pending session
+   *     promise. The original code path is preserved verbatim so
+   *     downstream consumers see the same `error` payload shape.
+   */
+  _scheduleIceGrace(e, t) {
+    if (this._iceGraceTimer !== null) {
+      if (this._iceGraceReason === t) return;
+      clearTimeout(this._iceGraceTimer);
+    }
+    this._iceGraceReason = t, this._iceGraceTimer = setTimeout(() => {
+      this._iceGraceTimer = null;
+      const i = this._iceGraceReason;
+      this._iceGraceReason = null;
+      const s = this._pc?.iceConnectionState;
+      if (!(s === "connected" || s === "completed")) {
+        if (i === "disconnected" && s === "disconnected") {
+          this._emit("error", {
+            source: "webrtc",
+            error: new Error(`ICE stuck in 'disconnected' for > ${e}ms`)
+          });
+          return;
+        }
+        if (i === "failed" || s === "failed") {
+          const o = new Error("ICE connection failed");
+          this._sessionReject && (this._sessionReject(o), this._sessionResolve = null, this._sessionReject = null), this._emit("error", { source: "webrtc", error: o });
+        }
+      }
+    }, e);
+  }
+  /**
+   * `disconnected` while the tab is hidden. JS timers are throttled
+   * in background tabs (Chrome clamps to ~1 Hz, Safari can pause
+   * altogether), so a foreground grace timer would either miss the
+   * window or fire long after the connection healed. Wait for the
+   * tab to come back, then re-evaluate.
+   */
+  _armIceGraceOnVisibility() {
+    if (this._pendingVisibilityHandler) return;
+    const e = Date.now(), t = () => {
+      if (typeof document < "u" && document.hidden || (document.removeEventListener("visibilitychange", t), this._pendingVisibilityHandler = null, !this._pc)) return;
+      const i = this._pc.iceConnectionState;
+      if (!(i === "connected" || i === "completed")) {
+        if (Date.now() - e > X) {
+          const s = new Error(
+            "Session expired while tab was backgrounded"
+          );
+          this._sessionReject && (this._sessionReject(s), this._sessionResolve = null, this._sessionReject = null), this._emit("error", { source: "webrtc", error: s });
+          return;
+        }
+        if (i === "failed") {
+          this._scheduleIceGrace(P, "failed");
+          return;
+        }
+        this._scheduleIceGrace(j, "disconnected");
+      }
+    };
+    document.addEventListener("visibilitychange", t), this._pendingVisibilityHandler = t;
+  }
+  /**
+   * Install browser-level network listeners and forward them as
+   * public `networkOnline` / `networkOffline` / `networkChange`
+   * events on this instance. Idempotent: called from
+   * `startSession()`, removed by `_uninstallNetworkListeners` on
+   * teardown. Reachable only when there's a live `window`
+   * (defensive guard for SSR / test environments).
+   *
+   * `online` / `offline` are semantically about CONNECTIVITY:
+   * "does the OS think we can reach the internet". They flip
+   * symmetrically.
+   *
+   * `connection.change` (NetworkInformation API, Chrome / Android
+   * WebView only) is semantically about the TRANSPORT: it fires
+   * on Wi-Fi → 4G swaps, AP roams, etc. without necessarily going
+   * through `offline`. We forward it as its own `networkChange`
+   * event rather than aliasing it onto `networkOnline`, so
+   * consumers don't have to guess whether they're seeing a real
+   * connectivity recovery or a silent transport swap.
+   */
+  _installNetworkListeners() {
+    if (this._onlineHandler || typeof window > "u") return;
+    const e = () => this._emit("networkOnline", {}), t = () => this._emit("networkOffline", {});
+    window.addEventListener("online", e), window.addEventListener("offline", t), this._onlineHandler = e, this._offlineHandler = t;
+    const i = navigator.connection;
+    if (i && typeof i.addEventListener == "function") {
+      const s = () => this._emit("networkChange", {
+        effectiveType: i.effectiveType,
+        downlink: i.downlink,
+        rtt: i.rtt,
+        saveData: i.saveData
+      });
+      i.addEventListener("change", s), this._connectionChangeHandler = s;
+    }
+  }
+  /** Counterpart to `_installNetworkListeners`. */
+  _uninstallNetworkListeners() {
+    typeof window < "u" && (this._onlineHandler && window.removeEventListener("online", this._onlineHandler), this._offlineHandler && window.removeEventListener("offline", this._offlineHandler));
+    const e = navigator.connection;
+    e && this._connectionChangeHandler && typeof e.removeEventListener == "function" && e.removeEventListener("change", this._connectionChangeHandler), this._onlineHandler = null, this._offlineHandler = null, this._connectionChangeHandler = null;
   }
   // ─── Commands ────────────────────────────────────────────────────────
-  setTarget({ head: e, antennas: t, body_yaw: s } = {}) {
-    const o = { type: "set_full_target" };
+  /**
+   * Atomic raw-units pose update over the data channel. Channels you
+   * omit are held at their last commanded value (per-axis, independent).
+   *
+   * **Head pose is in the WORLD frame.** The daemon's IK splits the
+   * requested head world-yaw between body rotation and the stewart
+   * platform, subject to the mechanical limit
+   * `|head_yaw_world − body_yaw| ≤ 65°`.
+   *
+   * **If you want the head to FOLLOW the body** (tank-style rotation):
+   * a `setTarget({ body_yaw })` on its own does NOT rotate the head —
+   * the head's commanded world yaw is unchanged, so its gaze stays
+   * pinned in world frame while the body turns under it. To make the
+   * head turn with the body, include a `head` matrix in the SAME call
+   * with the body-yaw delta added to the head RPY's yaw:
+   *
+   * ```ts
+   * // Body-yaw drag handler: tank-couple the head so it follows.
+   * const delta = newBodyDeg - lastCommandedBodyDeg;
+   * const nextHeadYaw = lastCommandedHeadYawDeg + delta;
+   * robot.setTarget({
+   *   head: rpyToMatrix(headRoll, headPitch, nextHeadYaw).flat(),
+   *   body_yaw: degToRad(newBodyDeg),
+   * });
+   * lastCommandedHeadYawDeg = nextHeadYaw;
+   * lastCommandedBodyDeg    = newBodyDeg;
+   * ```
+   *
+   * **Baseline must be the last COMMANDED value, not telemetry.** For
+   * continuous-input controllers (slider drag, joystick), do not use
+   * `state.head` from the `state` event as the baseline for incremental
+   * commands — telemetry lags one WebRTC round-trip, so cumulative
+   * deltas computed against it stall (every iteration in a rapid drag
+   * adds the same `delta` to the same stale baseline → the head fails
+   * to keep up). Track the last-commanded RPY in your own buffer.
+   *
+   * @param head      Flat row-major 4×4 matrix (16 finite numbers) in
+   *                  the world frame. Omit to hold the previous head target.
+   * @param antennas  `[rightRad, leftRad]` (radians). Omit to hold.
+   * @param body_yaw  Signed radians. Omit to hold.
+   * @returns `true` if the command was queued on the data channel,
+   *          `false` if the channel is not open.
+   */
+  setTarget({ head: e, antennas: t, body_yaw: i } = {}) {
+    const s = { type: "set_full_target" };
     if (e !== void 0) {
-      if (!Array.isArray(e) || e.length !== 16 || !e.every((i) => Number.isFinite(i)))
+      if (!Array.isArray(e) || e.length !== 16 || !e.every((o) => Number.isFinite(o)))
         throw new TypeError(
           `setTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e) ? `Array(${e.length})` : typeof e}`
         );
-      o.head = e;
+      s.head = e;
     }
     if (t !== void 0) {
-      if (!Array.isArray(t) || t.length !== 2 || !t.every((i) => Number.isFinite(i)))
+      if (!Array.isArray(t) || t.length !== 2 || !t.every((o) => Number.isFinite(o)))
         throw new TypeError(
           `setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t) ? `Array(${t.length})` : typeof t}`
         );
-      o.antennas = t;
+      s.antennas = t;
     }
-    if (s !== void 0) {
-      if (!Number.isFinite(s))
+    if (i !== void 0) {
+      if (!Number.isFinite(i))
         throw new TypeError(
-          `setTarget: body_yaw must be a finite number (radians); got ${s}`
+          `setTarget: body_yaw must be a finite number (radians); got ${i}`
         );
-      o.body_yaw = s;
+      s.body_yaw = i;
     }
-    return this._sendCommand(o);
+    return this._sendCommand(s);
   }
-  gotoTarget({ head: e, antennas: t, body_yaw: s, duration: o }) {
-    const i = { type: "goto_target" };
+  gotoTarget({ head: e, antennas: t, body_yaw: i, duration: s }) {
+    const o = { type: "goto_target" };
     if (e !== void 0) {
-      if (!Array.isArray(e) || e.length !== 16 || !e.every((r) => Number.isFinite(r)))
+      if (!Array.isArray(e) || e.length !== 16 || !e.every((n) => Number.isFinite(n)))
         throw new TypeError(
           `gotoTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e) ? `Array(${e.length})` : typeof e}`
         );
-      i.head = e;
+      o.head = e;
     }
     if (t !== void 0) {
-      if (!Array.isArray(t) || t.length !== 2 || !t.every((r) => Number.isFinite(r)))
+      if (!Array.isArray(t) || t.length !== 2 || !t.every((n) => Number.isFinite(n)))
         throw new TypeError(
           `gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t) ? `Array(${t.length})` : typeof t}`
         );
-      i.antennas = t;
+      o.antennas = t;
     }
-    if (s !== void 0) {
-      if (!Number.isFinite(s))
+    if (i !== void 0) {
+      if (!Number.isFinite(i))
         throw new TypeError(
-          `gotoTarget: body_yaw must be a finite number (radians); got ${s}`
+          `gotoTarget: body_yaw must be a finite number (radians); got ${i}`
         );
-      i.body_yaw = s;
+      o.body_yaw = i;
     }
-    if (!Number.isFinite(o) || o <= 0)
+    if (!Number.isFinite(s) || s <= 0)
       throw new TypeError(
-        `gotoTarget: duration must be a positive finite number (seconds); got ${o}`
+        `gotoTarget: duration must be a positive finite number (seconds); got ${s}`
       );
-    return i.duration = o, this._sendCommand(i);
+    return o.duration = s, this._sendCommand(o);
   }
-  setHeadRpyDeg(e, t, s) {
-    return this.setTarget({ head: F(e, t, s).flat() });
+  setHeadRpyDeg(e, t, i) {
+    return this.setTarget({ head: F(e, t, i).flat() });
   }
   setAntennasDeg(e, t) {
     return this.setTarget({ antennas: [R(e), R(t)] });
@@ -674,6 +858,9 @@ class J extends EventTarget {
   playSound(e) {
     return this._sendCommand({ type: "play_sound", file: e });
   }
+  clearIncomingAudio() {
+    return this._sendCommand({ type: "clear_incoming_audio" });
+  }
   setMotorMode(e) {
     return this._sendCommand({ type: "set_motor_mode", mode: e });
   }
@@ -687,24 +874,24 @@ class J extends EventTarget {
     return this._sendCommandAwaitCompletion("goto_sleep", e);
   }
   _sendCommandAwaitCompletion(e, t) {
-    return this._sendCommand({ type: e }) ? new Promise((s, o) => {
-      const i = {
-        resolve: s,
-        reject: o,
+    return this._sendCommand({ type: e }) ? new Promise((i, s) => {
+      const o = {
+        resolve: i,
+        reject: s,
         timer: setTimeout(() => {
-          const r = this._pendingMotionCompletions[e], a = r.indexOf(i);
-          a !== -1 && r.splice(a, 1), o(new Error(`${e} timed out after ${t}ms`));
+          const n = this._pendingMotionCompletions[e], a = n.indexOf(o);
+          a !== -1 && n.splice(a, 1), s(new Error(`${e} timed out after ${t}ms`));
         }, t)
       };
-      this._pendingMotionCompletions[e].push(i);
+      this._pendingMotionCompletions[e].push(o);
     }) : Promise.reject(new Error(`${e}: data channel not open`));
   }
   _rejectPendingMotionCompletions(e) {
     for (const t of Object.keys(this._pendingMotionCompletions)) {
-      const s = this._pendingMotionCompletions[t];
-      for (; s.length; ) {
-        const o = s.shift();
-        clearTimeout(o.timer), o.reject(e);
+      const i = this._pendingMotionCompletions[t];
+      for (; i.length; ) {
+        const s = i.shift();
+        clearTimeout(s.timer), s.reject(e);
       }
     }
   }
@@ -714,10 +901,10 @@ class J extends EventTarget {
   }
   async ensureAwake(e = 1e3) {
     return this._robotState?.motor_mode === void 0 && await new Promise((t) => {
-      const s = () => {
-        this.removeEventListener("state", s), clearTimeout(o), t();
-      }, o = setTimeout(s, e);
-      this.addEventListener("state", s), this.requestState();
+      const i = () => {
+        this.removeEventListener("state", i), clearTimeout(s), t();
+      }, s = setTimeout(i, e);
+      this.addEventListener("state", i), this.requestState();
     }), this.isAwake() || this.wakeUp().catch(() => {
     }), !0;
   }
@@ -754,7 +941,7 @@ class J extends EventTarget {
       (t) => {
         this._volumeResolve = t;
       },
-      { type: "set_volume", volume: j(e) }
+      { type: "set_volume", volume: L(e) }
     );
   }
   getMicrophoneVolume() {
@@ -772,17 +959,17 @@ class J extends EventTarget {
       (t) => {
         this._micVolumeResolve = t;
       },
-      { type: "set_microphone_volume", volume: j(e) }
+      { type: "set_microphone_volume", volume: L(e) }
     );
   }
   applyAudioConfig(e, { verify: t = !0 } = {}) {
     return this._slotRoundtrip(
       () => this._applyAudioConfigResolve,
-      (s) => {
-        this._applyAudioConfigResolve = s;
+      (i) => {
+        this._applyAudioConfigResolve = i;
       },
       { type: "apply_audio_config", config: e, verify: t }
-    ).then((s) => s === !0);
+    ).then((i) => i === !0);
   }
   readAudioParameter(e) {
     return this._slotRoundtrip(
@@ -807,14 +994,14 @@ class J extends EventTarget {
    * inferred from the slot's resolver type at each call site) with no
    * indexed-property casts.
    */
-  _slotRoundtrip(e, t, s) {
-    return new Promise((o, i) => {
+  _slotRoundtrip(e, t, i) {
+    return new Promise((s, o) => {
       if (!this._dc || this._dc.readyState !== "open") {
-        i(new Error("Data channel not open"));
+        o(new Error("Data channel not open"));
         return;
       }
-      const r = e();
-      r && r(null), t(o), this._sendCommand(s);
+      const n = e();
+      n && n(null), t(s), this._sendCommand(i);
     });
   }
   sendRaw(e) {
@@ -823,11 +1010,11 @@ class J extends EventTarget {
   subscribeLogs({ onLine: e, onError: t }) {
     if (typeof e != "function")
       throw new TypeError("subscribeLogs: onLine callback is required");
-    const s = { onLine: e, onError: t }, o = this._logSubscribers.size === 0;
-    this._logSubscribers.add(s), o && this._sendCommand({ type: "subscribe_logs" });
-    let i = !1;
+    const i = { onLine: e, onError: t }, s = this._logSubscribers.size === 0;
+    this._logSubscribers.add(i), s && this._sendCommand({ type: "subscribe_logs" });
+    let o = !1;
     return () => {
-      i || (i = !0, this._logSubscribers.delete(s), this._logSubscribers.size === 0 && this._sendCommand({ type: "unsubscribe_logs" }));
+      o || (o = !0, this._logSubscribers.delete(i), this._logSubscribers.size === 0 && this._sendCommand({ type: "unsubscribe_logs" }));
     };
   }
   requestState() {
@@ -845,23 +1032,23 @@ class J extends EventTarget {
   // ─── Video helper ────────────────────────────────────────────────────
   attachVideo(e) {
     this._videoElement = e, e.muted = this._audioMuted;
-    const t = (o) => {
-      const i = o;
-      e.srcObject = i.detail.stream, e.playsInline = !0, "requestVideoFrameCallback" in e && this._startLatencyMonitor(e);
-    }, s = () => {
+    const t = (s) => {
+      const o = s;
+      e.srcObject = o.detail.stream, e.playsInline = !0, "requestVideoFrameCallback" in e && this._startLatencyMonitor(e);
+    }, i = () => {
       e.srcObject = null;
     };
-    return this.addEventListener("videoTrack", t), this.addEventListener("sessionStopped", s), () => {
-      this.removeEventListener("videoTrack", t), this.removeEventListener("sessionStopped", s), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), e.srcObject = null, this._videoElement = null;
+    return this.addEventListener("videoTrack", t), this.addEventListener("sessionStopped", i), () => {
+      this.removeEventListener("videoTrack", t), this.removeEventListener("sessionStopped", i), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), e.srcObject = null, this._videoElement = null;
     };
   }
   // ─── Daemon-side recorded-move playback ──────────────────────────────
   async playMove(e, {
     audioBlob: t = null,
-    audioLeadMs: s = -100,
-    description: o = "move",
-    encoding: i = "gzip+base64",
-    playFrequency: r = 100,
+    audioLeadMs: i = -100,
+    description: s = "move",
+    encoding: o = "gzip+base64",
+    playFrequency: n = 100,
     initialGotoDuration: a = 0,
     startTimeoutMs: l = 8e3,
     onProgress: c = () => {
@@ -875,39 +1062,39 @@ class J extends EventTarget {
       throw new Error("playMove: motion must have time + set_target_data");
     const d = U();
     this._activeMoveUploadId = d;
-    const m = {
-      description: o,
+    const p = {
+      description: s,
       time: e.time,
       set_target_data: e.set_target_data
-    }, f = JSON.stringify(m);
-    let p, v;
-    i === "gzip+base64" && W() ? (p = await z(f), v = "gzip+base64") : (p = f, v = "json");
-    const w = Math.ceil(p.length / y) || 1;
+    }, f = JSON.stringify(p);
+    let m, v;
+    o === "gzip+base64" && z() ? (m = await J(f), v = "gzip+base64") : (m = f, v = "json");
+    const w = Math.ceil(m.length / y) || 1;
     c({
       phase: "starting",
       sent: 0,
       total: w,
-      bytes: p.length,
+      bytes: m.length,
       encoding: v
     }), this._sendCommand({
       type: "upload_move_start",
       upload_id: d,
       total_chunks: w,
-      description: o,
+      description: s,
       encoding: v
     });
     for (let u = 0; u < w; u++) {
-      this._dc.bufferedAmount > k && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
       const _ = u * y;
       this._sendCommand({
         type: "upload_move_chunk",
         upload_id: d,
         chunk_index: u,
-        chunk: p.slice(_, _ + y)
+        chunk: m.slice(_, _ + y)
       }), c({ phase: "upload", sent: u + 1, total: w });
     }
     if (this._sendCommand({ type: "upload_move_finish", upload_id: d }), c({ phase: "uploaded", sent: w, total: w }), t) {
-      const u = new Uint8Array(await t.arrayBuffer()), _ = E(u), b = Math.ceil(_.length / y) || 1;
+      const u = new Uint8Array(await t.arrayBuffer()), _ = k(u), b = Math.ceil(_.length / y) || 1;
       c({
         phase: "audio-starting",
         sent: 0,
@@ -918,10 +1105,10 @@ class J extends EventTarget {
         upload_id: d,
         total_chunks: b,
         encoding: "wav-base64",
-        description: o
+        description: s
       });
       for (let I = 0; I < b; I++) {
-        this._dc.bufferedAmount > k && await this._awaitDataChannelDrain();
+        this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
         const T = I * y;
         this._sendCommand({
           type: "upload_audio_chunk",
@@ -935,9 +1122,9 @@ class J extends EventTarget {
     this._sendCommand({
       type: "play_uploaded_move",
       upload_id: d,
-      play_frequency: r,
+      play_frequency: n,
       initial_goto_duration: a,
-      audio_lead_ms: s
+      audio_lead_ms: i
     });
     let g;
     try {
@@ -974,43 +1161,43 @@ class J extends EventTarget {
     const t = e ?? this._activeMoveUploadId;
     return t ? this._sendCommand({ type: "cancel_move", upload_id: t }) : !1;
   }
-  async uploadAudio(e, { description: t = "audio", onProgress: s = () => {
+  async uploadAudio(e, { description: t = "audio", onProgress: i = () => {
   } } = {}) {
     if (!this._dc || this._dc.readyState !== "open")
       throw new Error("data channel not open");
     if (!(e instanceof Blob))
       throw new TypeError("uploadAudio: expected a Blob");
-    const o = U(), i = new Uint8Array(await e.arrayBuffer()), r = E(i), a = Math.ceil(r.length / y) || 1;
-    s({ phase: "audio-starting", sent: 0, total: a, bytes: r.length }), this._sendCommand({
+    const s = U(), o = new Uint8Array(await e.arrayBuffer()), n = k(o), a = Math.ceil(n.length / y) || 1;
+    i({ phase: "audio-starting", sent: 0, total: a, bytes: n.length }), this._sendCommand({
       type: "upload_audio_start",
-      upload_id: o,
+      upload_id: s,
       total_chunks: a,
       encoding: "wav-base64",
       description: t
     });
     for (let l = 0; l < a; l++) {
-      this._dc.bufferedAmount > k && await this._awaitDataChannelDrain();
+      this._dc.bufferedAmount > E && await this._awaitDataChannelDrain();
       const c = l * y;
       this._sendCommand({
         type: "upload_audio_chunk",
-        upload_id: o,
+        upload_id: s,
         chunk_index: l,
-        chunk: r.slice(c, c + y)
-      }), s({ phase: "audio-upload", sent: l + 1, total: a });
+        chunk: n.slice(c, c + y)
+      }), i({ phase: "audio-upload", sent: l + 1, total: a });
     }
-    return this._sendCommand({ type: "upload_audio_finish", upload_id: o }), s({ phase: "audio-uploaded", sent: a, total: a }), o;
+    return this._sendCommand({ type: "upload_audio_finish", upload_id: s }), i({ phase: "audio-uploaded", sent: a, total: a }), s;
   }
   async playUploadedAudio(e, { timeoutMs: t = 8e3 } = {}) {
     if (!this._dc || this._dc.readyState !== "open")
       throw new Error("data channel not open");
-    const s = this._waitForBroadcast(
-      (i) => i?.type === "play_uploaded_audio" && i?.upload_id === e && (i.started === !0 || typeof i.error == "string"),
+    const i = this._waitForBroadcast(
+      (o) => o?.type === "play_uploaded_audio" && o?.upload_id === e && (o.started === !0 || typeof o.error == "string"),
       { timeoutMs: t, debugLabel: "play_uploaded_audio started" }
     );
     this._sendCommand({ type: "play_uploaded_audio", upload_id: e });
-    const o = await s;
-    if (typeof o.error == "string") throw new Error(o.error);
-    return this._activeAudioUploadId = e, o;
+    const s = await i;
+    if (typeof s.error == "string") throw new Error(s.error);
+    return this._activeAudioUploadId = e, s;
   }
   cancelAudio(e = null) {
     const t = e ?? this._activeAudioUploadId;
@@ -1020,21 +1207,21 @@ class J extends EventTarget {
   _emit(e, t) {
     this.dispatchEvent(new CustomEvent(e, { detail: t }));
   }
-  _waitForBroadcast(e, { timeoutMs: t = 5e3, debugLabel: s = "" } = {}) {
-    return new Promise((o, i) => {
-      const r = {
+  _waitForBroadcast(e, { timeoutMs: t = 5e3, debugLabel: i = "" } = {}) {
+    return new Promise((s, o) => {
+      const n = {
         predicate: e,
-        resolve: o,
+        resolve: s,
         timer: setTimeout(() => {
-          const a = this._broadcastWaiters.indexOf(r);
-          a !== -1 && this._broadcastWaiters.splice(a, 1), i(new Error(`broadcast timeout (${t} ms): ${s}`));
+          const a = this._broadcastWaiters.indexOf(n);
+          a !== -1 && this._broadcastWaiters.splice(a, 1), o(new Error(`broadcast timeout (${t} ms): ${i}`));
         }, t)
       };
-      this._broadcastWaiters.push(r);
+      this._broadcastWaiters.push(n);
     });
   }
   async _awaitDataChannelDrain() {
-    for (; this._dc && this._dc.bufferedAmount > H; )
+    for (; this._dc && this._dc.bufferedAmount > W; )
       if (await new Promise((e) => setTimeout(e, 30)), !this._dc || this._dc.readyState !== "open")
         throw new Error("data channel closed mid-upload");
   }
@@ -1050,13 +1237,13 @@ class J extends EventTarget {
         body: JSON.stringify(e)
       });
       if (!t.ok) {
-        let s = "";
+        let i = "";
         try {
-          s = await t.text();
+          i = await t.text();
         } catch {
         }
         return console.warn(
-          `[reachy-mini] /send rejected (${t.status}) for type=${e?.type}; body=${s || "<empty>"}`
+          `[reachy-mini] /send rejected (${t.status}) for type=${e?.type}; body=${i || "<empty>"}`
         ), null;
       }
       return await t.json();
@@ -1097,19 +1284,19 @@ class J extends EventTarget {
     }
   }
   _handleEndSession(e) {
-    const t = e.reason, s = t === "robot_busy_local_app" ? "Robot is busy: a local Python app is running" : t === "local_app_started" ? "Disconnected: a local Python app started on the robot" : t === "robot_busy_local" ? "Robot is busy: another session is already active" : null;
+    const t = e.reason, i = t === "robot_busy_local_app" ? "Robot is busy: a local Python app is running" : t === "local_app_started" ? "Disconnected: a local Python app started on the robot" : t === "robot_busy_local" ? "Robot is busy: another session is already active" : null;
     if (this._sessionReject) {
-      const o = new Error(
-        s || `Session ended before it could start: ${t || "unknown reason"}`
+      const s = new Error(
+        i || `Session ended before it could start: ${t || "unknown reason"}`
       );
-      o.reason = t ?? null, this._emit("sessionRejected", { reason: t, activeApp: null }), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((r) => r.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1;
-      const i = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, i(o);
+      s.reason = t ?? null, this._emit("sessionRejected", { reason: t, activeApp: null }), this._clearIceGrace(), this._uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((n) => n.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1;
+      const o = this._sessionReject;
+      this._sessionResolve = null, this._sessionReject = null, o(s);
       return;
     }
     this._state === "streaming" && (this._emit("sessionStopped", {
       reason: t || "remote_end",
-      message: s
+      message: i
     }), this.stopSession().catch(() => {
     }));
   }
@@ -1119,27 +1306,27 @@ class J extends EventTarget {
         if (e.sdp) {
           const t = e.sdp;
           if (t.type === "offer") {
-            const o = q(t.sdp);
-            if (this._micSupported = o, this._emit("micSupported", { supported: o }), o && this._micStream)
-              for (const r of this._micStream.getAudioTracks())
-                this._pc.addTrack(r, this._micStream);
+            const s = q(t.sdp);
+            if (this._micSupported = s, this._emit("micSupported", { supported: s }), s && this._micStream)
+              for (const n of this._micStream.getAudioTracks())
+                this._pc.addTrack(n, this._micStream);
             await this._pc.setRemoteDescription(new RTCSessionDescription(t));
-            const i = await this._pc.createAnswer();
-            await this._pc.setLocalDescription(i), await this._sendToServer({
+            const o = await this._pc.createAnswer();
+            await this._pc.setLocalDescription(o), await this._sendToServer({
               type: "peer",
               sessionId: this._sessionId,
-              sdp: { type: "answer", sdp: i.sdp }
+              sdp: { type: "answer", sdp: o.sdp }
             });
           } else
             await this._pc.setRemoteDescription(new RTCSessionDescription(t));
-          const s = this._pendingRemoteIce;
-          if (s && s.length) {
+          const i = this._pendingRemoteIce;
+          if (i && i.length) {
             this._pendingRemoteIce = [];
-            for (const o of s)
+            for (const s of i)
               try {
-                await this._pc.addIceCandidate(new RTCIceCandidate(o));
-              } catch (i) {
-                console.warn("[reachy-mini] buffered ICE candidate rejected:", i);
+                await this._pc.addIceCandidate(new RTCIceCandidate(s));
+              } catch (o) {
+                console.warn("[reachy-mini] buffered ICE candidate rejected:", o);
               }
           }
         }
@@ -1181,13 +1368,13 @@ class J extends EventTarget {
     if ((e.command === "wake_up" || e.command === "goto_sleep") && this._pendingMotionCompletions && this._pendingMotionCompletions[e.command]) {
       const t = this._pendingMotionCompletions[e.command];
       if (e.completed === !0 && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.resolve();
+        const i = t.shift();
+        clearTimeout(i.timer), i.resolve();
         return;
       }
       if (e.error && t.length > 0) {
-        const s = t.shift();
-        clearTimeout(s.timer), s.reject(new Error(`${e.command}: ${e.error}`));
+        const i = t.shift();
+        clearTimeout(i.timer), i.reject(new Error(`${e.command}: ${e.error}`));
         return;
       }
     }
@@ -1195,8 +1382,8 @@ class J extends EventTarget {
       for (const t of this._logSubscribers)
         try {
           t.onLine({ timestamp: e.timestamp, line: e.line });
-        } catch (s) {
-          console.error("subscribeLogs onLine threw:", s);
+        } catch (i) {
+          console.error("subscribeLogs onLine threw:", i);
         }
       return;
     }
@@ -1205,8 +1392,8 @@ class J extends EventTarget {
         if (typeof t.onError == "function")
           try {
             t.onError(e.error);
-          } catch (s) {
-            console.error("subscribeLogs onError threw:", s);
+          } catch (i) {
+            console.error("subscribeLogs onError threw:", i);
           }
       return;
     }
@@ -1216,9 +1403,9 @@ class J extends EventTarget {
     }
     if (e.error && this._emit("error", { source: "robot", error: e.error }), this._broadcastWaiters.length > 0)
       for (let t = this._broadcastWaiters.length - 1; t >= 0; t--) {
-        const s = this._broadcastWaiters[t];
-        if (s.predicate(e)) {
-          this._broadcastWaiters.splice(t, 1), clearTimeout(s.timer), s.resolve(e);
+        const i = this._broadcastWaiters[t];
+        if (i.predicate(e)) {
+          this._broadcastWaiters.splice(t, 1), clearTimeout(i.timer), i.resolve(e);
           return;
         }
       }
@@ -1229,12 +1416,12 @@ class J extends EventTarget {
       if (!e.srcObject || e.paused) return;
       const t = e.buffered;
       if (t.length > 0) {
-        const s = t.end(t.length - 1), o = s - e.currentTime;
-        o > 0.5 && (console.log(`Latency correction: was ${o.toFixed(2)}s behind`), e.currentTime = s - 0.1);
+        const i = t.end(t.length - 1), s = i - e.currentTime;
+        s > 0.5 && (console.log(`Latency correction: was ${s.toFixed(2)}s behind`), e.currentTime = i - 0.1);
       }
     }, 2e3);
   }
 }
 export {
-  J as R
+  Y as R
 };