Revert "Rebuild as Reachy Mini Dashboard on the modern host-shell pattern"

This reverts commit 1e1d196871c83d2a0cb4e821365a3f9d63309396.

README.md

@@ -1,120 +1,35 @@
 ---
-title: Reachy Mini Dashboard
-emoji: 🛰️
-colorFrom: indigo
-colorTo: pink
+title: Reachy Mini WebRTC Demo
+emoji: 🤖
+colorFrom: blue
+colorTo: indigo
 sdk: static
 pinned: false
 hf_oauth: true
 hf_oauth_expiration_minutes: 480
-short_description: One-screen control surface for a Reachy Mini robot.
 tags:
-  - reachy_mini
-  - reachy_mini_js_app
+ - reachy_mini
+ - reachy_mini_js_app
 ---
 
-# Reachy Mini Dashboard
+# Reachy Mini WebRTC Demo
 
-A power-user control surface for a Reachy Mini robot, packed into a
-single screen. Built on the modern host-shell pattern documented in
-the SDK's [`ts/APP_CREATION_GUIDE.md`](https://github.com/pollen-robotics/reachy_mini/blob/main/ts/APP_CREATION_GUIDE.md).
-
-The host (OAuth, robot picker, leave flow) lives outside the iframe;
-this app renders the full control surface inside the embed.
+WebRTC dashboard to connect to your Reachy Mini robot via the central signaling server.
 
 ## Features
 
-| Card        | Surfaces                                                                                         |
-|-------------|--------------------------------------------------------------------------------------------------|
-| **Video**   | Live camera feed (4:3), LIVE / WAITING pill, audio-direction indicator, verbose latency overlay.|
-| **Audio**   | Mic + speaker toggles, gain sliders both directions, FFT spectrum bars on each channel.         |
-| **Head**    | Roll / pitch / yaw sliders, two-way bound to daemon state, atomic frame on every change.        |
-| **Body+Ant**| Body yaw (tank-coupled to head yaw), right / left antennas.                                     |
-| **Motion**  | Wake-up, sleep, torque toggle (auto-labels with current motor mode).                            |
-| **Sound**   | Free-text file name + preset chips, fire-and-forget playback.                                   |
-| **Logs**    | Live `journalctl` over WebRTC data channel, fuzzy filter, sticky scroll, clear.                 |
-
-Top-bar pills show the link health (RTT / buffer / jitter, colour-
-coded), motor mode, daemon version, and signed-in HF user.
-
-## Keyboard shortcuts
-
-| Key | Action            |
-|-----|-------------------|
-| `M` | toggle speaker    |
-| `N` | toggle microphone |
-| `T` | toggle torque     |
-| `W` | wake up           |
-| `S` | go to sleep       |
-| `/` | focus log filter  |
-
-Skipped when an input field has focus (so `/` doesn't fight your
-typing); `/` still hands off to the log filter from any context.
-
-## Stack
-
-- **React 19** + **TypeScript** (strict) + **Vite 7**
-- **MUI 7** with the same theme tokens as `reachy_mini_mobile_app`
-- **`@pollen-robotics/reachy-mini-sdk@1.8.0-rc1-main.fd4354c`**, the
-  same exact pin used by all three Pollen reference apps. Mixing
-  versions across the SDK, the host shell, and the daemon causes
-  silent protocol drift — see APP_CREATION_GUIDE §10.
-
-## Local dev
-
-```bash
-npm install
-npm run dev
-# → http://localhost:5173
-```
-
-Local sign-in has two options, both forwarded to `mountHost()` in
-`src/dispatch.ts`. Copy `.env.example` to `.env.local` and fill in
-ONE of:
-
-- **Option A — personal access token** (recommended for most dev):
-  `VITE_HF_TOKEN=...` + `VITE_HF_USERNAME=...`. Skips the OAuth
-  redirect entirely.
-- **Option B — OAuth client ID** (mirrors prod): create an app at
-  <https://huggingface.co/settings/applications/new>, set the
-  redirect URI to `http://localhost:5173`, paste the client ID into
-  `VITE_HF_OAUTH_CLIENT_ID`.
-
-`.env.local` is gitignored — never commit a token.
-
-## Build
-
-```bash
-npm run build
-npm run preview
-# → http://localhost:8080
-```
-
-The build emits a static `dist/` folder. HF serves it directly from
-its CDN (`sdk: static`) and replaces `__OAUTH_CLIENT_ID__` /
-`__OAUTH_SCOPES__` / `__SPACE_HOST__` / `__SPACE_ID__` inside
-`index.html` at file-serve time, thanks to `hf_oauth: true` above.
-
-## Deploy to a Hugging Face Space
-
-```bash
-hf repos create reachy-mini-dashboard --repo-type space --space-sdk static
-git remote add space https://huggingface.co/spaces/<you>/reachy-mini-dashboard
-# Build, then push README.md + dist/ contents (and the public/icon.svg
-# duplicated so the mobile catalog's `siblings` probe finds it).
-```
-
-See APP_CREATION_GUIDE §11.2 for the full deploy recipe.
+- Video streaming from robot camera
+- Head control via data channel
+- HuggingFace OAuth authentication
 
-## URL parameters
+## How it works
 
-- `?embedded=1` plus `#creds=<base64>` — iframe handoff from a mobile
-  app shell. The dispatcher skips the host and boots the embed
-  directly.
-- `?theme=light|dark` — overrides auto theme detection.
-- `?config=<base64({"initialSoundPreset":"..."})>` — deep-link a
-  starting sound preset into the Sound card.
+1. Sign in with your HuggingFace account
+2. Connect to the central signaling server
+3. Select your robot from the list
+4. Start the video stream
 
-## License
+## Requirements
 
-MIT.
+- Robot must be running with WebRTC enabled and connected to the central signaling server
+- Robot must have a valid HuggingFace token configured

assets/index-CsmyDA4N.js

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failed:",d)}return{robotId:c,robotName:l,isEmbedded:this.isEmbedded}}finally{this._autoStartFromUrl=a}}async _fetchOwnedRobots({filterBusy:e=!0}={}){try{const t=await fetch(`${this._signalingUrl}/api/robot-status`,{headers:{Authorization:`Bearer ${this._token}`}});if(!t.ok)throw new Error(`HTTP ${t.status}`);const o=await t.json(),s=new Map;for(const i of o.robots||[]){if(e&&i.busy)continue;const n=i.meta?.install_id??i.meta?.hardware_id??i.peerId;s.set(n,{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})}return Array.from(s.values()).sort((i,n)=>(i.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(o=>({id:o.id,name:o.meta?.name??null,busy:!1,activeApp:null,meta:o.meta??{},lastSeenAgeSeconds:null}))}}_waitForRobotInList(e,t){return this._robots?.find(o=>o.id===e)?Promise.resolve():new Promise((o,s)=>{const i=()=>{this._robots?.find(a=>a.id===e)&&(this.removeEventListener("robotsChanged",i),clearTimeout(n),o())},n=setTimeout(()=>{this.removeEventListener("robotsChanged",i),s(new Error(`Timeout waiting for robot ${e} in list`))},t);this.addEventListener("robotsChanged",i)})}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,o=t.AudioContext??t.webkitAudioContext;if(!o)throw new Error("AudioContext not supported");const s=new o,i=s.createMediaStreamDestination(),n=s.createOscillator(),a=s.createGain();a.gain.value=0,n.connect(a).connect(i),n.start();const c=i.stream;c.getAudioTracks().forEach(l=>{l.enabled=!1}),this._micStream=c,this._micMuted=!0}catch(t){console.warn("Audio sender placeholder setup failed:",t),this._micStream=null}return this._pc=new RTCPeerConnection({iceServers:[{urls:"stun:stun.l.google.com:19302"}]}),new Promise((t,o)=>{this._sessionResolve=t,this._sessionReject=o,this._pc.ontrack=s=>{if(s.track.kind==="video"){const i=this._videoJitterBufferTargetMs;try{s.receiver.jitterBufferTarget=i}catch{}try{s.receiver.playoutDelayHint=i/1e3}catch{}this._emit("videoTrack",{track:s.track,stream:s.streams[0]})}},this._pc.onicecandidate=async s=>{s.candidate&&this._sessionId&&await this._sendToServer({type:"peer",sessionId:this._sessionId,ice:{candidate:s.candidate.candidate,sdpMLineIndex:s.candidate.sdpMLineIndex,sdpMid:s.candidate.sdpMid}})},this._pc.oniceconnectionstatechange=()=>{const s=this._pc?.iceConnectionState;if(s)if(s==="connected"||s==="completed")this._iceConnected=!0,this._checkSessionReady();else if(s==="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 s==="disconnected"&&this._emit("error",{source:"webrtc",error:new Error("ICE disconnected")})},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(s=>{if(s?.type==="sessionRejected"){this._failSessionRejected(s);return}s?.sessionId&&(this._sessionId=s.sessionId)})})}_failSessionRejected(e){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(o=>o.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 o=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,o(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"}))}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"})}setTarget({head:e,antennas:t,body_yaw:o}={}){const s={type:"set_full_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(i=>Number.isFinite(i)))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}`);s.head=e}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(i=>Number.isFinite(i)))throw new TypeError(`setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);s.antennas=t}if(o!==void 0){if(!Number.isFinite(o))throw new TypeError(`setTarget: body_yaw must be a finite number (radians); got ${o}`);s.body_yaw=o}return this._sendCommand(s)}gotoTarget({head:e,antennas:t,body_yaw:o,duration:s}){const i={type:"goto_target"};if(e!==void 0){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}if(t!==void 0){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}if(o!==void 0){if(!Number.isFinite(o))throw new TypeError(`gotoTarget: body_yaw must be a finite number (radians); got ${o}`);i.body_yaw=o}if(!Number.isFinite(s)||s<=0)throw new TypeError(`gotoTarget: duration must be a positive finite number (seconds); got ${s}`);return i.duration=s,this._sendCommand(i)}setHeadRpyDeg(e,t,o){return this.setTarget({head:z(e,t,o).flat()})}setAntennasDeg(e,t){return this.setTarget({antennas:[R(e),R(t)]})}setBodyYawDeg(e){return this.setTarget({body_yaw:R(e)})}playSound(e){return this._sendCommand({type:"play_sound",file:e})}setMotorMode(e){return this._sendCommand({type:"set_motor_mode",mode:e})}setMotorTorque(e,t=null){return this._sendCommand({type:"set_torque",on:e,ids:t})}wakeUp({timeoutMs:e=8e3}={}){return this._sendCommand({type:"set_motor_mode",mode:"enabled"}),this._sendCommandAwaitCompletion("wake_up",e)}gotoSleep({timeoutMs:e=8e3}={}){return this._sendCommandAwaitCompletion("goto_sleep",e)}_sendCommandAwaitCompletion(e,t){return this._sendCommand({type:e})?new Promise((o,s)=>{const i={resolve:o,reject:s,timer:setTimeout(()=>{const n=this._pendingMotionCompletions[e],a=n.indexOf(i);a!==-1&&n.splice(a,1),s(new Error(`${e} timed out after ${t}ms`))},t)};this._pendingMotionCompletions[e].push(i)}):Promise.reject(new Error(`${e}: data channel not open`))}_rejectPendingMotionCompletions(e){for(const t of Object.keys(this._pendingMotionCompletions)){const o=this._pendingMotionCompletions[t];for(;o.length;){const s=o.shift();clearTimeout(s.timer),s.reject(e)}}}isAwake(){const e=this._robotState?.motor_mode;return e==="enabled"||e==="gravity_compensation"}async ensureAwake(e=1e3){return this._robotState?.motor_mode===void 0&&await new Promise(t=>{const o=()=>{this.removeEventListener("state",o),clearTimeout(s),t()},s=setTimeout(o,e);this.addEventListener("state",o),this.requestState()}),this.isAwake()||this.wakeUp().catch(()=>{}),!0}getVersion(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._versionResolve&&this._versionResolve(null),this._versionResolve=e,this._sendCommand({type:"get_version"})})}getHardwareId(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._hardwareIdResolve&&this._hardwareIdResolve(null),this._hardwareIdResolve=e,this._sendCommand({type:"get_hardware_id"})})}getVolume(){return this._slotRoundtrip(()=>this._volumeResolve,e=>{this._volumeResolve=e},{type:"get_volume"})}setVolume(e){return this._slotRoundtrip(()=>this._volumeResolve,t=>{this._volumeResolve=t},{type:"set_volume",volume:D(e)})}getMicrophoneVolume(){return this._slotRoundtrip(()=>this._micVolumeResolve,e=>{this._micVolumeResolve=e},{type:"get_microphone_volume"})}setMicrophoneVolume(e){return this._slotRoundtrip(()=>this._micVolumeResolve,t=>{this._micVolumeResolve=t},{type:"set_microphone_volume",volume:D(e)})}applyAudioConfig(e,{verify:t=!0}={}){return this._slotRoundtrip(()=>this._applyAudioConfigResolve,o=>{this._applyAudioConfigResolve=o},{type:"apply_audio_config",config:e,verify:t}).then(o=>o===!0)}readAudioParameter(e){return this._slotRoundtrip(()=>this._readAudioParameterResolve,t=>{this._readAudioParameterResolve=t},{type:"read_audio_parameter",name:e})}_slotRoundtrip(e,t,o){return new Promise((s,i)=>{if(!this._dc||this._dc.readyState!=="open"){i(new Error("Data channel not open"));return}const n=e();n&&n(null),t(s),this._sendCommand(o)})}sendRaw(e){return this._sendCommand(e)}subscribeLogs({onLine:e,onError:t}){if(typeof e!="function")throw new TypeError("subscribeLogs: onLine callback is required");const o={onLine:e,onError:t},s=this._logSubscribers.size===0;this._logSubscribers.add(o),s&&this._sendCommand({type:"subscribe_logs"});let i=!1;return()=>{i||(i=!0,this._logSubscribers.delete(o),this._logSubscribers.size===0&&this._sendCommand({type:"unsubscribe_logs"}))}}requestState(){return this._sendCommand({type:"get_state"})}setAudioMuted(e){this._audioMuted=e,this._videoElement&&(this._videoElement.muted=e)}setMicMuted(e){this._micMuted=e,this._micStream&&this._micStream.getAudioTracks().forEach(t=>{t.enabled=!e})}attachVideo(e){this._videoElement=e,e.muted=this._audioMuted;const t=s=>{const i=s;e.srcObject=i.detail.stream,e.playsInline=!0,"requestVideoFrameCallback"in e&&this._startLatencyMonitor(e)},o=()=>{e.srcObject=null};return this.addEventListener("videoTrack",t),this.addEventListener("sessionStopped",o),()=>{this.removeEventListener("videoTrack",t),this.removeEventListener("sessionStopped",o),this._latencyMonitorId&&(clearInterval(this._latencyMonitorId),this._latencyMonitorId=null),e.srcObject=null,this._videoElement=null}}async playMove(e,{audioBlob:t=null,audioLeadMs:o=-100,description:s="move",encoding:i="gzip+base64",playFrequency:n=100,initialGotoDuration:a=0,startTimeoutMs:c=8e3,onProgress:l=()=>{},onStarted:d=()=>{}}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!e?.time?.length||!e?.set_target_data?.length)throw new Error("playMove: motion must have time + set_target_data");const h=L();this._activeMoveUploadId=h;const _={description:s,time:e.time,set_target_data:e.set_target_data},f=JSON.stringify(_);let p,v;i==="gzip+base64"&&X()?(p=await Y(f),v="gzip+base64"):(p=f,v="json");const w=Math.ceil(p.length/y)||1;l({phase:"starting",sent:0,total:w,bytes:p.length,encoding:v}),this._sendCommand({type:"upload_move_start",upload_id:h,total_chunks:w,description:s,encoding:v});for(let u=0;u<w;u++){this._dc.bufferedAmount>k&&await this._awaitDataChannelDrain();const m=u*y;this._sendCommand({type:"upload_move_chunk",upload_id:h,chunk_index:u,chunk:p.slice(m,m+y)}),l({phase:"upload",sent:u+1,total:w})}if(this._sendCommand({type:"upload_move_finish",upload_id:h}),l({phase:"uploaded",sent:w,total:w}),t){const u=new Uint8Array(await t.arrayBuffer()),m=T(u),b=Math.ceil(m.length/y)||1;l({phase:"audio-starting",sent:0,total:b,bytes:m.length}),this._sendCommand({type:"upload_audio_start",upload_id:h,total_chunks:b,encoding:"wav-base64",description:s});for(let I=0;I<b;I++){this._dc.bufferedAmount>k&&await this._awaitDataChannelDrain();const M=I*y;this._sendCommand({type:"upload_audio_chunk",upload_id:h,chunk_index:I,chunk:m.slice(M,M+y)}),l({phase:"audio-upload",sent:I+1,total:b})}this._sendCommand({type:"upload_audio_finish",upload_id:h}),l({phase:"audio-uploaded",sent:b,total:b})}this._sendCommand({type:"play_uploaded_move",upload_id:h,play_frequency:n,initial_goto_duration:a,audio_lead_ms:o});let g;try{g=await this._waitForBroadcast(u=>u?.type==="play_uploaded_move"&&u?.upload_id===h&&(u.started===!0||typeof u.error=="string"),{timeoutMs:c,debugLabel:"play_uploaded_move started"})}catch(u){throw new Error(`Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${u.message}`)}if(typeof g.error=="string")throw new Error(`play_uploaded_move: ${g.error}`);try{d({duration_s:g.duration_s,has_audio:g.has_audio===!0})}catch(u){console.warn("playMove.onStarted threw:",u)}l({phase:"playing",duration_s:g.duration_s});const S=await this._waitForBroadcast(u=>u?.type==="play_uploaded_move"&&u?.upload_id===h&&(u.finished===!0||u.cancelled===!0||typeof u.error=="string"),{timeoutMs:(g.duration_s+30)*1e3,debugLabel:"play_uploaded_move final"});return this._activeMoveUploadId===h&&(this._activeMoveUploadId=null),S}cancelMove(e=null){const t=e??this._activeMoveUploadId;return t?this._sendCommand({type:"cancel_move",upload_id:t}):!1}async uploadAudio(e,{description:t="audio",onProgress:o=()=>{}}={}){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 s=L(),i=new Uint8Array(await e.arrayBuffer()),n=T(i),a=Math.ceil(n.length/y)||1;o({phase:"audio-starting",sent:0,total:a,bytes:n.length}),this._sendCommand({type:"upload_audio_start",upload_id:s,total_chunks:a,encoding:"wav-base64",description:t});for(let c=0;c<a;c++){this._dc.bufferedAmount>k&&await this._awaitDataChannelDrain();const l=c*y;this._sendCommand({type:"upload_audio_chunk",upload_id:s,chunk_index:c,chunk:n.slice(l,l+y)}),o({phase:"audio-upload",sent:c+1,total:a})}return this._sendCommand({type:"upload_audio_finish",upload_id:s}),o({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 o=this._waitForBroadcast(i=>i?.type==="play_uploaded_audio"&&i?.upload_id===e&&(i.started===!0||typeof i.error=="string"),{timeoutMs:t,debugLabel:"play_uploaded_audio started"});this._sendCommand({type:"play_uploaded_audio",upload_id:e});const s=await o;if(typeof s.error=="string")throw new Error(s.error);return this._activeAudioUploadId=e,s}cancelAudio(e=null){const t=e??this._activeAudioUploadId;return t?(this._activeAudioUploadId===t&&(this._activeAudioUploadId=null),this._sendCommand({type:"cancel_audio",upload_id:t})):!1}_emit(e,t){this.dispatchEvent(new CustomEvent(e,{detail:t}))}_waitForBroadcast(e,{timeoutMs:t=5e3,debugLabel:o=""}={}){return new Promise((s,i)=>{const n={predicate:e,resolve:s,timer:setTimeout(()=>{const a=this._broadcastWaiters.indexOf(n);a!==-1&&this._broadcastWaiters.splice(a,1),i(new Error(`broadcast timeout (${t} ms): ${o}`))},t)};this._broadcastWaiters.push(n)})}async _awaitDataChannelDrain(){for(;this._dc&&this._dc.bufferedAmount>Q;)if(await new Promise(e=>setTimeout(e,30)),!this._dc||this._dc.readyState!=="open")throw new Error("data channel closed mid-upload")}async _sendToServer(e){if(!this._token)throw new Error("No token — authenticate() first");try{const t=await fetch(`${this._signalingUrl}/send`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:`Bearer ${this._token}`},body:JSON.stringify(e)});if(!t.ok){let o="";try{o=await t.text()}catch{}return console.warn(`[reachy-mini] /send rejected (${t.status}) for type=${e?.type}; body=${o||"<empty>"}`),null}return await t.json()}catch(t){return console.error("Send error:",t),null}}_sendCommand(e){return!this._dc||this._dc.readyState!=="open"?!1:(this._dc.send(JSON.stringify(e)),!0)}_checkSessionReady(){this._iceConnected&&this._dcOpen&&this._sessionResolve&&(this._state="streaming",this.requestState(),this._stateRefreshInterval=setInterval(()=>this.requestState(),500),this._emit("streaming",{sessionId:this._sessionId,robotId:this._selectedRobotId}),this._sessionResolve(),this._sessionResolve=null,this._sessionReject=null)}async _handleSignalingMessage(e){switch(e.type){case"welcome":break;case"list":this._robots=e.producers||[],this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart();break;case"peerStatusChanged":{const t=await this._sendToServer({type:"list"});t?.producers&&(this._robots=t.producers,this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart());break}case"sessionStarted":this._sessionId=e.sessionId??null;break;case"sessionRejected":this._failSessionRejected(e);break;case"endSession":this._handleEndSession(e);break;case"peer":this._handlePeerMessage(e);break}}_handleEndSession(e){const t=e.reason,o=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 s=new Error(o||`Session ended before it could start: ${t||"unknown reason"}`);s.reason=t??null,this._emit("sessionRejected",{reason:t,activeApp:null}),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 i=this._sessionReject;this._sessionResolve=null,this._sessionReject=null,i(s);return}this._state==="streaming"&&(this._emit("sessionStopped",{reason:t||"remote_end",message:o}),this.stopSession().catch(()=>{}))}async _handlePeerMessage(e){if(this._pc)try{if(e.sdp){const t=e.sdp;if(t.type==="offer"){const s=K(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({type:"peer",sessionId:this._sessionId,sdp:{type:"answer",sdp:i.sdp}})}else await this._pc.setRemoteDescription(new RTCSessionDescription(t));const o=this._pendingRemoteIce;if(o&&o.length){this._pendingRemoteIce=[];for(const s of o)try{await this._pc.addIceCandidate(new RTCIceCandidate(s))}catch(i){console.warn("[reachy-mini] buffered ICE candidate rejected:",i)}}}if(e.ice){if(!e.ice.candidate)return;this._pc.remoteDescription?await this._pc.addIceCandidate(new RTCIceCandidate(e.ice)):(this._pendingRemoteIce||(this._pendingRemoteIce=[]),this._pendingRemoteIce.push(e.ice))}}catch(t){console.error("WebRTC error:",t),this._emit("error",{source:"webrtc",error:t})}}_handleRobotMessage(e){if("version"in e&&this._versionResolve){this._versionResolve(e.version),this._versionResolve=null;return}if("hardware_id"in e&&this._hardwareIdResolve){this._hardwareIdResolve(e.hardware_id),this._hardwareIdResolve=null;return}if(e.command==="get_volume"||e.command==="set_volume"){this._volumeResolve&&(this._volumeResolve(e.status==="error"?null:e.volume),this._volumeResolve=null);return}if(e.command==="get_microphone_volume"||e.command==="set_microphone_volume"){this._micVolumeResolve&&(this._micVolumeResolve(e.status==="error"?null:e.volume),this._micVolumeResolve=null);return}if(e.command==="apply_audio_config"){this._applyAudioConfigResolve&&(this._applyAudioConfigResolve(e.error?!1:!!e.applied),this._applyAudioConfigResolve=null);return}if(e.command==="read_audio_parameter"){this._readAudioParameterResolve&&(this._readAudioParameterResolve(e.error?null:e.values??null),this._readAudioParameterResolve=null);return}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 o=t.shift();clearTimeout(o.timer),o.resolve();return}if(e.error&&t.length>0){const o=t.shift();clearTimeout(o.timer),o.reject(new Error(`${e.command}: ${e.error}`));return}}if(e.type==="log_line"){for(const t of this._logSubscribers)try{t.onLine({timestamp:e.timestamp,line:e.line})}catch(o){console.error("subscribeLogs onLine threw:",o)}return}if(e.type==="log_stream_error"){for(const t of this._logSubscribers)if(typeof t.onError=="function")try{t.onError(e.error)}catch(o){console.error("subscribeLogs onError threw:",o)}return}if(e.state){const t=e.state;t.head_pose&&(this._robotState.head=t.head_pose.flat()),t.antennas&&(this._robotState.antennas=[t.antennas[0],t.antennas[1]]),typeof t.body_yaw=="number"&&(this._robotState.body_yaw=t.body_yaw),t.motor_mode&&(this._robotState.motor_mode=t.motor_mode),typeof t.is_move_running=="boolean"&&(this._robotState.is_move_running=t.is_move_running),this._emit("state",{...this._robotState})}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 o=this._broadcastWaiters[t];if(o.predicate(e)){this._broadcastWaiters.splice(t,1),clearTimeout(o.timer),o.resolve(e);return}}}_startLatencyMonitor(e){this._latencyMonitorId&&clearInterval(this._latencyMonitorId),this._latencyMonitorId=setInterval(()=>{if(!e.srcObject||e.paused)return;const t=e.buffered;if(t.length>0){const o=t.end(t.length-1),s=o-e.currentTime;s>.5&&(console.log(`Latency correction: was ${s.toFixed(2)}s behind`),e.currentTime=o-.1)}},2e3)}}window.ReachyMini=Z;window.dispatchEvent(new Event("reachymini:ready"));const $=new URLSearchParams(window.location.search),ee=$.get("embedded")==="1"||$.get("embed")==="1";ee?P(()=>import("./embed-DSsDnZHG.js"),__vite__mapDeps([0,1])):P(async()=>{const{mountHost:r}=await import("./auto-CcEOuy4Q.js");return{mountHost:r}},__vite__mapDeps([2,1])).then(({mountHost:r})=>{r({appName:"Reachy Mini Dashboard",appIconUrl:"/icon.svg",appEmoji:"🛰️",enableMicrophone:!0,devToken:void 0,clientId:void 0})});export{z as a,R as d,te as m,C as r};

assets/protocol-yMW1n-O_.js

@@ -1,3 +0,0 @@
-var L=Object.defineProperty,$=(n,e,t)=>e in n?L(n,e,{enumerable:!0,configurable:!0,writable:!0,value:t}):n[e]=t,A=(n,e,t)=>($(n,typeof e!="symbol"?e+"":e,t),t),P="https://huggingface.co";async function C(n,e){var t,s;const o=new D(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: ${o.requestId}`:void 0].filter(Boolean).join(". 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This can happen when the user refreshes the page after logging in, without changing the URL."),!1):!1}async function N(n){var e,t;if(typeof window>"u")throw new Error("oauthLogin is only available in the browser");const s=n?.hubUrl||P,o=`${new URL(s).origin}/.well-known/openid-configuration`,i=await fetch(o,{headers:{Accept:"application/json"}});if(!i.ok)throw await C(i);const r=await i.json(),l=globalThis.crypto.randomUUID(),d=globalThis.crypto.randomUUID()+globalThis.crypto.randomUUID();localStorage.setItem("huggingface.co:oauth:nonce",l),localStorage.setItem("huggingface.co:oauth:code_verifier",d);const a=n?.redirectUrl||window.location.href,u=JSON.stringify({nonce:l,redirectUri:a,state:n?.state}),h=(t=(e=window?.huggingface)==null?void 0:e.variables)!=null?t:null,p=n?.clientId||h?.OAUTH_CLIENT_ID;if(!p)throw h?new Error("Missing clientId, please add hf_oauth: true to the README.md's metadata in your static Space"):new Error("Missing clientId");const m=x(new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256",new TextEncoder().encode(d)))).replace(/[+]/g,"-").replace(/[/]/g,"_").replace(/=/g,"");return`${r.authorization_endpoint}?${new URLSearchParams({client_id:p,scope:n?.scopes||h?.OAUTH_SCOPES||"openid profile",response_type:"code",redirect_uri:a,state:u,code_challenge:m,code_challenge_method:"S256"}).toString()}`}function S(n){return n*Math.PI/180}function B(n,e,t){const s=S(n),o=S(e),i=S(t),r=Math.cos(i),l=Math.sin(i),d=Math.cos(o),a=Math.sin(o),u=Math.cos(s),h=Math.sin(s);return[[r*d,r*a*h-l*u,r*a*u+l*h,0],[l*d,l*a*h+r*u,l*a*u-r*h,0],[-a,d*h,d*u,0],[0,0,0,1]]}function F(){if(typeof window>"u"||!window.location.hash)return;const n=window.location.hash.startsWith("#")?window.location.hash.slice(1):window.location.hash;let e;try{e=new URLSearchParams(n)}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();try{sessionStorage.setItem("hf_token",t),sessionStorage.setItem("hf_username",s),sessionStorage.setItem("hf_token_expires",i)}catch(d){console.warn("[reachy-mini] could not persist pre-seeded HF credentials:",d)}e.delete("hf_token"),e.delete("hf_username"),e.delete("hf_token_expires");const r=e.toString(),l=window.location.pathname+window.location.search+(r?"#"+r:"");try{window.history.replaceState(null,"",l)}catch{}}function V(){if(typeof window>"u")return null;if(window.location.hash){const n=window.location.hash.startsWith("#")?window.location.hash.slice(1):window.location.hash;try{const e=new URLSearchParams(n).get("robot_peer_id");if(e)return e}catch{}}if(window.location.search)try{const n=new URLSearchParams(window.location.search).get("robot_peer_id");if(n)return n}catch{}return null}function q(n){const e=n.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;return!1}const w=12*1024,E=1*1024*1024,W=512*1024;function J(){return typeof CompressionStream<"u"}function U(){return"u"+Math.random().toString(36).slice(2,11)+Date.now().toString(36)}function k(n){let e="";for(let t=0;t<n.length;t+=32768)e+=String.fromCharCode.apply(null,Array.from(n.subarray(t,t+32768)));return btoa(e)}async function z(n){const e=new TextEncoder().encode(n),t=await new Response(new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))).arrayBuffer();return k(new Uint8Array(t))}function j(n){const e=Math.round(Number(n)||0);return Math.max(0,Math.min(100,e))}class Y extends EventTarget{_signalingUrl;_clientId;_appName;_videoJitterBufferTargetMs;_autoStartFromUrl;_autoStartAttempted;_state="disconnected";_robots=[];_robotState={};_preselectedRobotId;_token=null;_username=null;_tokenExpires=null;_sseAbortController=null;_pc=null;_dc=null;_sessionId=null;_selectedRobotId=null;_pendingRemoteIce=[];_micStream=null;_micMuted=!0;_audioMuted=!0;_micSupported=!1;_latencyMonitorId=null;_stateRefreshInterval=null;_versionResolve=null;_hardwareIdResolve=null;_volumeResolve=null;_micVolumeResolve=null;_applyAudioConfigResolve=null;_readAudioParameterResolve=null;_logSubscribers=new Set;_broadcastWaiters=[];_activeMoveUploadId=null;_activeAudioUploadId=null;_sessionResolve=null;_sessionReject=null;_iceConnected=!1;_dcOpen=!1;_pendingMotionCompletions={wake_up:[],goto_sleep:[]};_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()}get state(){return this._state}get robots(){return this._robots}get robotState(){return this._robotState}get username(){return this._username}get isAuthenticated(){return!!this._token}get micSupported(){return this._micSupported}get micMuted(){return this._micMuted}get audioMuted(){return this._audioMuted}get preselectedRobotId(){return this._preselectedRobotId}get isEmbedded(){return this._preselectedRobotId!==null}_maybeAutoStart(){if(!this._autoStartFromUrl||this._autoStartAttempted||!this._preselectedRobotId||this._state!=="connected"||!this._robots.find(t=>t.id===this._preselectedRobotId))return;this._autoStartAttempted=!0;const e=this._preselectedRobotId;setTimeout(()=>{this._state==="connected"&&this.startSession(e).catch(t=>{console.warn("[reachy-mini] autoStartFromUrl: startSession rejected:",t)})},0)}async authenticate(){try{F();const e=await O();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)>new Date?(this._token=t,this._username=s,this._tokenExpires=o,!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)}logout(){sessionStorage.removeItem("hf_token"),sessionStorage.removeItem("hf_username"),sessionStorage.removeItem("hf_token_expires"),this._username=null,this._tokenExpires=null,this.disconnect()}async connect(e){if(this._state!=="disconnected")throw new Error("Already connected");if(e&&(this._token=e),!this._token)throw new Error("No token — call authenticate() first or pass a token");this._sseAbortController=new AbortController;let t;try{t=await fetch(`${this._signalingUrl}/events`,{signal:this._sseAbortController.signal,headers:{Authorization:`Bearer ${this._token}`}})}catch(s){throw this._sseAbortController=null,s}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(),l=new TextDecoder;let d="";(async()=>{try{for(;;){const{done:a,value:u}=await r.read();if(a)break;d+=l.decode(u,{stream:!0});const h=d.split(`
-`);d=h.pop()??"";for(const p of h)if(p.startsWith("data:"))try{const m=JSON.parse(p.slice(5).trim());!i&&m.type==="welcome"&&m.peerId&&(i=!0,this._state="connected",await this._sendToServer({type:"setPeerStatus",roles:["listener"],meta:{name:this._appName}}),this._emit("connected",{peerId:m.peerId}),s()),this._handleSignalingMessage(m)}catch{}}}catch(a){if(a.name!=="AbortError"&&this._emit("error",{source:"signaling",error:a}),!i){o(a);return}}this._state!=="disconnected"&&(this._state="disconnected",this._emit("disconnected",{reason:"SSE closed"})),i||o(new Error("Connection closed before welcome"))})()})}async autoConnect(e={}){const{token:t,pickRobot:s,autoPickIfSingle:o=!0,filterBusy:i=!0,wakeOnConnect:r=!0}=e;if(this._state==="streaming"){const d=this._robots?.find(a=>a.id===this._selectedRobotId);return{robotId:this._selectedRobotId,robotName:d?.meta?.name??null,isEmbedded:this.isEmbedded,alreadyStreaming:!0}}const l=this._autoStartFromUrl;this._autoStartFromUrl=!1;try{if(t)this._token=t;else if(!this._token&&!await this.authenticate())throw new Error("Not authenticated — call login() or pass a token");this._state==="disconnected"&&await this.connect();let d,a=null;if(this.isEmbedded){d=this._preselectedRobotId;try{await this._waitForRobotInList(d,5e3)}catch{}a=this._robots?.find(u=>u.id===d)?.meta?.name??null}else{const u=await this._fetchOwnedRobots({filterBusy:i});if(u.length===0)throw new Error("No reachable robots");if(o&&u.length===1&&!u[0].busy)d=u[0].id,a=u[0].name;else if(s){const h=await s(u);if(!h)throw new Error("Robot selection cancelled");d=h,a=u.find(p=>p.id===h)?.name??null}else throw new Error("Multiple robots available — pass a pickRobot callback to autoConnect()")}if(await this.startSession(d),r&&typeof this.ensureAwake=="function")try{await this.ensureAwake()}catch(u){console.warn("[reachy-mini] autoConnect: ensureAwake failed:",u)}return{robotId:d,robotName:a,isEmbedded:this.isEmbedded}}finally{this._autoStartFromUrl=l}}async _fetchOwnedRobots({filterBusy:e=!0}={}){try{const t=await fetch(`${this._signalingUrl}/api/robot-status`,{headers:{Authorization:`Bearer ${this._token}`}});if(!t.ok)throw new Error(`HTTP ${t.status}`);const s=await t.json(),o=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})}return Array.from(o.values()).sort((i,r)=>(i.lastSeenAgeSeconds??1/0)-(r.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,busy:!1,activeApp:null,meta:s.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(l=>l.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`))},t);this.addEventListener("robotsChanged",i)})}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(),l=o.createGain();l.gain.value=0,r.connect(l).connect(i),r.start();const d=i.stream;d.getAudioTracks().forEach(a=>{a.enabled=!1}),this._micStream=d,this._micMuted=!0}catch(t){console.warn("Audio sender placeholder setup failed:",t),this._micStream=null}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;try{o.receiver.jitterBufferTarget=i}catch{}try{o.receiver.playoutDelayHint=i/1e3}catch{}this._emit("videoTrack",{track:o.track,stream:o.streams[0]})}},this._pc.onicecandidate=async o=>{o.candidate&&this._sessionId&&await this._sendToServer({type:"peer",sessionId:this._sessionId,ice:{candidate:o.candidate.candidate,sdpMLineIndex:o.candidate.sdpMLineIndex,sdpMid:o.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=()=>{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);return}o?.sessionId&&(this._sessionId=o.sessionId)})})}_failSessionRejected(e){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)}}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(e=>e.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"})}setTarget({head:e,antennas:t,body_yaw:s}={}){const o={type:"set_full_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(i=>Number.isFinite(i)))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}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(i=>Number.isFinite(i)))throw new TypeError(`setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);o.antennas=t}if(s!==void 0){if(!Number.isFinite(s))throw new TypeError(`setTarget: body_yaw must be a finite number (radians); got ${s}`);o.body_yaw=s}return this._sendCommand(o)}gotoTarget({head:e,antennas:t,body_yaw:s,duration:o}){const i={type:"goto_target"};if(e!==void 0){if(!Array.isArray(e)||e.length!==16||!e.every(r=>Number.isFinite(r)))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}if(t!==void 0){if(!Array.isArray(t)||t.length!==2||!t.every(r=>Number.isFinite(r)))throw new TypeError(`gotoTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t)?`Array(${t.length})`:typeof t}`);i.antennas=t}if(s!==void 0){if(!Number.isFinite(s))throw new TypeError(`gotoTarget: body_yaw must be a finite number (radians); got ${s}`);i.body_yaw=s}if(!Number.isFinite(o)||o<=0)throw new TypeError(`gotoTarget: duration must be a positive finite number (seconds); got ${o}`);return i.duration=o,this._sendCommand(i)}setHeadRpyDeg(e,t,s){return this.setTarget({head:B(e,t,s).flat()})}setAntennasDeg(e,t){return this.setTarget({antennas:[S(e),S(t)]})}setBodyYawDeg(e){return this.setTarget({body_yaw:S(e)})}playSound(e){return this._sendCommand({type:"play_sound",file:e})}setMotorMode(e){return this._sendCommand({type:"set_motor_mode",mode:e})}setMotorTorque(e,t=null){return this._sendCommand({type:"set_torque",on:e,ids:t})}wakeUp({timeoutMs:e=8e3}={}){return this._sendCommand({type:"set_motor_mode",mode:"enabled"}),this._sendCommandAwaitCompletion("wake_up",e)}gotoSleep({timeoutMs:e=8e3}={}){return this._sendCommandAwaitCompletion("goto_sleep",e)}_sendCommandAwaitCompletion(e,t){return this._sendCommand({type:e})?new Promise((s,o)=>{const i={resolve:s,reject:o,timer:setTimeout(()=>{const r=this._pendingMotionCompletions[e],l=r.indexOf(i);l!==-1&&r.splice(l,1),o(new Error(`${e} timed out after ${t}ms`))},t)};this._pendingMotionCompletions[e].push(i)}):Promise.reject(new Error(`${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)}}}isAwake(){const e=this._robotState?.motor_mode;return e==="enabled"||e==="gravity_compensation"}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()}),this.isAwake()||this.wakeUp().catch(()=>{}),!0}getVersion(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._versionResolve&&this._versionResolve(null),this._versionResolve=e,this._sendCommand({type:"get_version"})})}getHardwareId(){return new Promise((e,t)=>{if(!this._dc||this._dc.readyState!=="open"){t(new Error("Data channel not open"));return}this._hardwareIdResolve&&this._hardwareIdResolve(null),this._hardwareIdResolve=e,this._sendCommand({type:"get_hardware_id"})})}getVolume(){return this._slotRoundtrip(()=>this._volumeResolve,e=>{this._volumeResolve=e},{type:"get_volume"})}setVolume(e){return this._slotRoundtrip(()=>this._volumeResolve,t=>{this._volumeResolve=t},{type:"set_volume",volume:j(e)})}getMicrophoneVolume(){return this._slotRoundtrip(()=>this._micVolumeResolve,e=>{this._micVolumeResolve=e},{type:"get_microphone_volume"})}setMicrophoneVolume(e){return this._slotRoundtrip(()=>this._micVolumeResolve,t=>{this._micVolumeResolve=t},{type:"set_microphone_volume",volume:j(e)})}applyAudioConfig(e,{verify:t=!0}={}){return this._slotRoundtrip(()=>this._applyAudioConfigResolve,s=>{this._applyAudioConfigResolve=s},{type:"apply_audio_config",config:e,verify:t}).then(s=>s===!0)}readAudioParameter(e){return this._slotRoundtrip(()=>this._readAudioParameterResolve,t=>{this._readAudioParameterResolve=t},{type:"read_audio_parameter",name:e})}_slotRoundtrip(e,t,s){return new Promise((o,i)=>{if(!this._dc||this._dc.readyState!=="open"){i(new Error("Data channel not open"));return}const r=e();r&&r(null),t(o),this._sendCommand(s)})}sendRaw(e){return this._sendCommand(e)}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;return()=>{i||(i=!0,this._logSubscribers.delete(s),this._logSubscribers.size===0&&this._sendCommand({type:"unsubscribe_logs"}))}}requestState(){return this._sendCommand({type:"get_state"})}setAudioMuted(e){this._audioMuted=e,this._videoElement&&(this._videoElement.muted=e)}setMicMuted(e){this._micMuted=e,this._micStream&&this._micStream.getAudioTracks().forEach(t=>{t.enabled=!e})}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=()=>{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}}async playMove(e,{audioBlob:t=null,audioLeadMs:s=-100,description:o="move",encoding:i="gzip+base64",playFrequency:r=100,initialGotoDuration:l=0,startTimeoutMs:d=8e3,onProgress:a=()=>{},onStarted:u=()=>{}}={}){if(!this._dc||this._dc.readyState!=="open")throw new Error("data channel not open");if(!e?.time?.length||!e?.set_target_data?.length)throw new Error("playMove: motion must have time + set_target_data");const h=U();this._activeMoveUploadId=h;const p={description:o,time:e.time,set_target_data:e.set_target_data},m=JSON.stringify(p);let y,v;i==="gzip+base64"&&J()?(y=await z(m),v="gzip+base64"):(y=m,v="json");const f=Math.ceil(y.length/w)||1;a({phase:"starting",sent:0,total:f,bytes:y.length,encoding:v}),this._sendCommand({type:"upload_move_start",upload_id:h,total_chunks:f,description:o,encoding:v});for(let c=0;c<f;c++){this._dc.bufferedAmount>E&&await this._awaitDataChannelDrain();const _=c*w;this._sendCommand({type:"upload_move_chunk",upload_id:h,chunk_index:c,chunk:y.slice(_,_+w)}),a({phase:"upload",sent:c+1,total:f})}if(this._sendCommand({type:"upload_move_finish",upload_id:h}),a({phase:"uploaded",sent:f,total:f}),t){const c=new Uint8Array(await t.arrayBuffer()),_=k(c),b=Math.ceil(_.length/w)||1;a({phase:"audio-starting",sent:0,total:b,bytes:_.length}),this._sendCommand({type:"upload_audio_start",upload_id:h,total_chunks:b,encoding:"wav-base64",description:o});for(let I=0;I<b;I++){this._dc.bufferedAmount>E&&await this._awaitDataChannelDrain();const M=I*w;this._sendCommand({type:"upload_audio_chunk",upload_id:h,chunk_index:I,chunk:_.slice(M,M+w)}),a({phase:"audio-upload",sent:I+1,total:b})}this._sendCommand({type:"upload_audio_finish",upload_id:h}),a({phase:"audio-uploaded",sent:b,total:b})}this._sendCommand({type:"play_uploaded_move",upload_id:h,play_frequency:r,initial_goto_duration:l,audio_lead_ms:s});let g;try{g=await this._waitForBroadcast(c=>c?.type==="play_uploaded_move"&&c?.upload_id===h&&(c.started===!0||typeof c.error=="string"),{timeoutMs:d,debugLabel:"play_uploaded_move started"})}catch(c){throw new Error(`Daemon did not respond to play_uploaded_move (requires the reachy_mini daemon with feature/daemon-side-move-upload). Underlying: ${c.message}`)}if(typeof g.error=="string")throw new Error(`play_uploaded_move: ${g.error}`);try{u({duration_s:g.duration_s,has_audio:g.has_audio===!0})}catch(c){console.warn("playMove.onStarted threw:",c)}a({phase:"playing",duration_s:g.duration_s});const R=await this._waitForBroadcast(c=>c?.type==="play_uploaded_move"&&c?.upload_id===h&&(c.finished===!0||c.cancelled===!0||typeof c.error=="string"),{timeoutMs:(g.duration_s+30)*1e3,debugLabel:"play_uploaded_move final"});return this._activeMoveUploadId===h&&(this._activeMoveUploadId=null),R}cancelMove(e=null){const t=e??this._activeMoveUploadId;return t?this._sendCommand({type:"cancel_move",upload_id:t}):!1}async uploadAudio(e,{description:t="audio",onProgress:s=()=>{}}={}){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=k(i),l=Math.ceil(r.length/w)||1;s({phase:"audio-starting",sent:0,total:l,bytes:r.length}),this._sendCommand({type:"upload_audio_start",upload_id:o,total_chunks:l,encoding:"wav-base64",description:t});for(let d=0;d<l;d++){this._dc.bufferedAmount>E&&await this._awaitDataChannelDrain();const a=d*w;this._sendCommand({type:"upload_audio_chunk",upload_id:o,chunk_index:d,chunk:r.slice(a,a+w)}),s({phase:"audio-upload",sent:d+1,total:l})}return this._sendCommand({type:"upload_audio_finish",upload_id:o}),s({phase:"audio-uploaded",sent:l,total:l}),o}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"),{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}cancelAudio(e=null){const t=e??this._activeAudioUploadId;return t?(this._activeAudioUploadId===t&&(this._activeAudioUploadId=null),this._sendCommand({type:"cancel_audio",upload_id:t})):!1}_emit(e,t){this.dispatchEvent(new CustomEvent(e,{detail:t}))}_waitForBroadcast(e,{timeoutMs:t=5e3,debugLabel:s=""}={}){return new Promise((o,i)=>{const r={predicate:e,resolve:o,timer:setTimeout(()=>{const l=this._broadcastWaiters.indexOf(r);l!==-1&&this._broadcastWaiters.splice(l,1),i(new Error(`broadcast timeout (${t} ms): ${s}`))},t)};this._broadcastWaiters.push(r)})}async _awaitDataChannelDrain(){for(;this._dc&&this._dc.bufferedAmount>W;)if(await new Promise(e=>setTimeout(e,30)),!this._dc||this._dc.readyState!=="open")throw new Error("data channel closed mid-upload")}async _sendToServer(e){if(!this._token)throw new Error("No token — authenticate() first");try{const t=await fetch(`${this._signalingUrl}/send`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:`Bearer ${this._token}`},body:JSON.stringify(e)});if(!t.ok){let s="";try{s=await t.text()}catch{}return console.warn(`[reachy-mini] /send rejected (${t.status}) for type=${e?.type}; body=${s||"<empty>"}`),null}return await t.json()}catch(t){return console.error("Send error:",t),null}}_sendCommand(e){return!this._dc||this._dc.readyState!=="open"?!1:(this._dc.send(JSON.stringify(e)),!0)}_checkSessionReady(){this._iceConnected&&this._dcOpen&&this._sessionResolve&&(this._state="streaming",this.requestState(),this._stateRefreshInterval=setInterval(()=>this.requestState(),500),this._emit("streaming",{sessionId:this._sessionId,robotId:this._selectedRobotId}),this._sessionResolve(),this._sessionResolve=null,this._sessionReject=null)}async _handleSignalingMessage(e){switch(e.type){case"welcome":break;case"list":this._robots=e.producers||[],this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart();break;case"peerStatusChanged":{const t=await this._sendToServer({type:"list"});t?.producers&&(this._robots=t.producers,this._emit("robotsChanged",{robots:this._robots}),this._maybeAutoStart());break}case"sessionStarted":this._sessionId=e.sessionId??null;break;case"sessionRejected":this._failSessionRejected(e);break;case"endSession":this._handleEndSession(e);break;case"peer":this._handlePeerMessage(e);break}}_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;if(this._sessionReject){const o=new Error(s||`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);return}this._state==="streaming"&&(this._emit("sessionStopped",{reason:t||"remote_end",message:s}),this.stopSession().catch(()=>{}))}async _handlePeerMessage(e){if(this._pc)try{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);await this._pc.setRemoteDescription(new RTCSessionDescription(t));const i=await this._pc.createAnswer();await this._pc.setLocalDescription(i),await this._sendToServer({type:"peer",sessionId:this._sessionId,sdp:{type:"answer",sdp:i.sdp}})}else await this._pc.setRemoteDescription(new RTCSessionDescription(t));const s=this._pendingRemoteIce;if(s&&s.length){this._pendingRemoteIce=[];for(const o of s)try{await this._pc.addIceCandidate(new RTCIceCandidate(o))}catch(i){console.warn("[reachy-mini] buffered ICE candidate rejected:",i)}}}if(e.ice){if(!e.ice.candidate)return;this._pc.remoteDescription?await this._pc.addIceCandidate(new RTCIceCandidate(e.ice)):(this._pendingRemoteIce||(this._pendingRemoteIce=[]),this._pendingRemoteIce.push(e.ice))}}catch(t){console.error("WebRTC error:",t),this._emit("error",{source:"webrtc",error:t})}}_handleRobotMessage(e){if("version"in e&&this._versionResolve){this._versionResolve(e.version),this._versionResolve=null;return}if("hardware_id"in e&&this._hardwareIdResolve){this._hardwareIdResolve(e.hardware_id),this._hardwareIdResolve=null;return}if(e.command==="get_volume"||e.command==="set_volume"){this._volumeResolve&&(this._volumeResolve(e.status==="error"?null:e.volume),this._volumeResolve=null);return}if(e.command==="get_microphone_volume"||e.command==="set_microphone_volume"){this._micVolumeResolve&&(this._micVolumeResolve(e.status==="error"?null:e.volume),this._micVolumeResolve=null);return}if(e.command==="apply_audio_config"){this._applyAudioConfigResolve&&(this._applyAudioConfigResolve(e.error?!1:!!e.applied),this._applyAudioConfigResolve=null);return}if(e.command==="read_audio_parameter"){this._readAudioParameterResolve&&(this._readAudioParameterResolve(e.error?null:e.values??null),this._readAudioParameterResolve=null);return}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();return}if(e.error&&t.length>0){const s=t.shift();clearTimeout(s.timer),s.reject(new Error(`${e.command}: ${e.error}`));return}}if(e.type==="log_line"){for(const t of this._logSubscribers)try{t.onLine({timestamp:e.timestamp,line:e.line})}catch(s){console.error("subscribeLogs onLine threw:",s)}return}if(e.type==="log_stream_error"){for(const t of this._logSubscribers)if(typeof t.onError=="function")try{t.onError(e.error)}catch(s){console.error("subscribeLogs onError threw:",s)}return}if(e.state){const t=e.state;t.head_pose&&(this._robotState.head=t.head_pose.flat()),t.antennas&&(this._robotState.antennas=[t.antennas[0],t.antennas[1]]),typeof t.body_yaw=="number"&&(this._robotState.body_yaw=t.body_yaw),t.motor_mode&&(this._robotState.motor_mode=t.motor_mode),typeof t.is_move_running=="boolean"&&(this._robotState.is_move_running=t.is_move_running),this._emit("state",{...this._robotState})}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);return}}}_startLatencyMonitor(e){this._latencyMonitorId&&clearInterval(this._latencyMonitorId),this._latencyMonitorId=setInterval(()=>{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>.5&&(console.log(`Latency correction: was ${o.toFixed(2)}s behind`),e.currentTime=s-.1)}},2e3)}}const K=1,H="reachy-mini";function Q(n){if(!n||typeof n!="object")return!1;const e=n;return e.source===H&&typeof e.type=="string"&&e.version===1}function Z(n){const e=JSON.stringify(n),t=G(e);return`creds=${encodeURIComponent(t)}`}function ee(n){if(!n)return null;const e=n.startsWith("#")?n.slice(1):n;for(const t of e.split("&"))if(t.startsWith("creds="))try{const s=decodeURIComponent(t.slice(6)),o=X(s);return JSON.parse(o)}catch(s){return console.warn("[reachy-mini-sdk/host] failed to decode creds hash",s),null}return null}function G(n){if(typeof window<"u"&&typeof window.btoa=="function"){const e=new TextEncoder().encode(n);let t="";for(const s of e)t+=String.fromCharCode(s);return window.btoa(t)}return Buffer.from(n,"utf8").toString("base64")}function X(n){if(typeof window<"u"&&typeof window.atob=="function"){const e=window.atob(n),t=new Uint8Array(e.length);for(let s=0;s<e.length;s++)t[s]=e.charCodeAt(s);return new TextDecoder().decode(t)}return Buffer.from(n,"base64").toString("utf8")}export{Y as J,ee as a,H as c,Q as d,K as f,Z as u};

index.html

@@ -1,100 +1,1160 @@
 <!doctype html>
 <html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta
-      name="viewport"
-      content="width=device-width, initial-scale=1.0, viewport-fit=cover"
-    />
-    <title>Reachy Mini · Dashboard</title>
-    <link rel="icon" href="/icon.svg" type="image/svg+xml" />
-
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800&display=swap"
-      rel="stylesheet"
-    />
-
-    <!--
-      Theme bootstrap: paints the right palette BEFORE the React tree
-      mounts, so there's no flash of the wrong palette. Resolution
-      order:
-        1. `?theme=dark|light` query param (host shell sets this when
-           iframing us, mobile catalog deep-links too)
-        2. `prefers-color-scheme` (standalone)
-      The MUI theme picks the same source-of-truth on mount.
-    -->
+<head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no" />
+    <title>Reachy Mini - Pollen Robotics</title>
+    <link rel="preconnect" href="https://fonts.googleapis.com">
+    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
+    <link rel="preconnect" href="https://cdn.jsdelivr.net" crossorigin>
+    <link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700&display=swap" rel="stylesheet">
+    <link rel="stylesheet" href="style.css">
+    <!-- Kick off both JS modules during HTML parse so they're in flight
+         before the bottom-of-body <script> executes. The embed entry
+         pulls two hashed chunks of its own which we can't preload
+         (the hashes drift across SDK releases), but front-loading the
+         two top-level modules still shaves ~hundreds of ms off a cold
+         CDN edge. -->
+    <link rel="modulepreload" href="https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1.7.3-main.7654ffe/+esm" crossorigin>
+    <link rel="modulepreload" href="https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1.7.3-main.7654ffe/host/dist/entry/embed.js" crossorigin>
+    <!-- Inline pre-paint script: if we're loaded as an iframe embed,
+         flip the DOM directly to the connected-shell view + a
+         "Connecting…" status pill BEFORE the JS module starts
+         running. Skips the visual flash of the Sign-in button while
+         connectToHost is busy doing its OAuth round-trip + WebRTC
+         handshake (which can be 3-8 s on a cold network). The script
+         runs after </head> only because the elements it touches are
+         in <body>; the cost of moving this script to a `defer="false"`
+         block at the start of <body> is one DOM-ready paint that we
+         already pay for. -->
     <script>
-      (function () {
-        try {
-          var params = new URLSearchParams(window.location.search);
-          var raw = params.get("theme");
-          var mode;
-          if (raw === "dark" || raw === "light") {
-            mode = raw;
-          } else if (
-            window.matchMedia &&
-            window.matchMedia("(prefers-color-scheme: dark)").matches === false
-          ) {
-            mode = "light";
-          } else {
-            mode = "dark";
-          }
-          document.documentElement.setAttribute("data-theme", mode);
-          document.documentElement.style.backgroundColor =
-            mode === "dark" ? "#101013" : "#fafafa";
-        } catch (_) {
-          document.documentElement.setAttribute("data-theme", "dark");
-        }
-      })();
+        (function () {
+            try {
+                const params = new URLSearchParams(window.location.search);
+                if (params.get('embedded') !== '1') return;
+                // Defer the DOM mutations until after the elements
+                // exist (we're parsed before <body>). DOMContentLoaded
+                // fires once the body is done parsing — cheap, no UX
+                // cost vs. the seconds-long connectToHost.
+                document.addEventListener('DOMContentLoaded', function () {
+                    const login = document.getElementById('loginView');
+                    const main = document.getElementById('mainApp');
+                    const statusText = document.getElementById('statusText');
+                    const statusIndicator = document.getElementById('statusIndicator');
+                    if (login) login.classList.add('hidden');
+                    if (main) main.classList.remove('hidden');
+                    if (statusIndicator) statusIndicator.className = 'status-indicator connecting';
+                    if (statusText) statusText.textContent = 'Connecting…';
+                });
+            } catch (e) {
+                // Best-effort UX polish — never block boot.
+            }
+        })();
     </script>
+</head>
+<body>
+    <!-- Login View -->
+    <div id="loginView" class="login-view">
+        <div class="login-card">
+            <img class="login-logo" src="https://raw.githubusercontent.com/pollen-robotics/reachy-mini-desktop-app/develop/src-tauri/icons/128x128.png" alt="Reachy Mini">
+            <h2>Reachy Mini</h2>
+            <p>Sign in with your HuggingFace account to connect and control your robot remotely.</p>
+            <button class="btn-hf" onclick="loginToHuggingFace()">
+                <svg width="18" height="18" viewBox="0 0 95 88" fill="currentColor">
+                    <path d="M47.5 0C26.3 0 9.1 17.2 9.1 38.4v2.9c0 4.5 1.1 9 3.2 13L0 88h95L82.7 54.3c2.1-4 3.2-8.5 3.2-13v-2.9C85.9 17.2 68.7 0 47.5 0z"/>
+                </svg>
+                Sign in with Hugging Face
+            </button>
+        </div>
+    </div>
 
-    <!--
-      Hugging Face Spaces helper variables.
-
-      - In production (`sdk: static` + `hf_oauth: true`), HF substitutes
-        these placeholders inside any `.html` file at the Space root at
-        serve time. The substituted values get exposed on
-        `window.huggingface.variables`, where the SDK picks them up.
-      - In `npm run dev`, the placeholders stay untouched (the leading
-        `__` gives them away); we detect that and drop the global so
-        the SDK falls back to whatever was passed to `mountHost({
-        clientId, devToken })`.
-    -->
-    <script>
-      (function () {
-        var clientId = "__OAUTH_CLIENT_ID__";
-        var scopes = "__OAUTH_SCOPES__";
-        var spaceHost = "__SPACE_HOST__";
-        var spaceId = "__SPACE_ID__";
-        var looksSubstituted = clientId && clientId.indexOf("__") !== 0;
-        if (looksSubstituted) {
-          window.huggingface = window.huggingface || {};
-          window.huggingface.variables = {
-            OAUTH_CLIENT_ID: clientId,
-            OAUTH_SCOPES:
-              scopes && scopes.indexOf("__") !== 0
-                ? scopes
-                : "openid profile",
-            SPACE_HOST:
-              spaceHost && spaceHost.indexOf("__") !== 0 ? spaceHost : "",
-            SPACE_ID:
-              spaceId && spaceId.indexOf("__") !== 0 ? spaceId : "",
-          };
-        }
-      })();
+    <!-- Main App -->
+    <div id="mainApp" class="hidden">
+        <header class="header">
+            <div class="logo">
+                <img src="https://raw.githubusercontent.com/pollen-robotics/reachy-mini-desktop-app/develop/src-tauri/icons/128x128.png" alt="Reachy Mini">
+                <div class="logo-text">Reachy Mini <span>by Pollen Robotics</span></div>
+            </div>
+            <div class="user-section">
+                <!-- Daemon version is filled in once the WebRTC data channel
+                     is open (via robot.getVersion()). Hidden until then so
+                     we don't show a stale/empty badge during connect. -->
+                <div id="daemonVersion" class="user-badge hidden" title="Daemon version"></div>
+                <div class="user-badge"><span id="username">@user</span></div>
+                <button class="btn-logout" onclick="logout()">Sign out</button>
+            </div>
+        </header>
+
+        <div class="app-container">
+            <!-- Video -->
+            <div class="video-container">
+                <video id="remoteVideo" autoplay playsinline muted></video>
+
+                <div class="video-overlay-top">
+                    <div class="connection-badge">
+                        <div class="status-indicator" id="statusIndicator"></div>
+                        <span id="statusText">Disconnected</span>
+                    </div>
+                    <div class="robot-name" id="robotName"></div>
+                    <div class="latency-badge hidden" id="latencyBadge">
+                        <span id="latencyValue">--</span>
+                    </div>
+                </div>
+
+                <div class="video-overlay-bottom">
+                    <div class="video-controls">
+                        <!--
+                          Connect button drives the all-in-one autoConnect()
+                          flow: SSE → robot selection (auto-pick if one free,
+                          else pickRobot callback opens the panel) →
+                          startSession → ensureAwake. The legacy two-step
+                          Connect+Start split is gone; Start is kept hidden
+                          for any consumer still wiring against #startBtn.
+                        -->
+                        <button class="btn btn-primary" id="connectBtn" onclick="connectAndStream()">Connect</button>
+                        <button class="btn btn-primary hidden" id="startBtn" onclick="startStream()" disabled>Start</button>
+                        <button class="btn btn-danger" id="stopBtn" onclick="stopStream()" disabled>Stop</button>
+                        <button class="btn btn-mute muted" id="muteBtn" onclick="toggleMute()" disabled>
+                            <svg id="speakerOffIcon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+                                <polygon points="11 5 6 9 2 9 2 15 6 15 11 19 11 5"></polygon>
+                                <line x1="23" y1="9" x2="17" y2="15"></line>
+                                <line x1="17" y1="9" x2="23" y2="15"></line>
+                            </svg>
+                            <svg id="speakerOnIcon" class="hidden" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+                                <polygon points="11 5 6 9 2 9 2 15 6 15 11 19 11 5"></polygon>
+                                <path d="M19.07 4.93a10 10 0 0 1 0 14.14M15.54 8.46a5 5 0 0 1 0 7.07"></path>
+                            </svg>
+                            <span id="muteText">Unmute</span>
+                        </button>
+                        <button class="btn btn-mute muted" id="micBtn" onclick="toggleMic()" disabled>
+                            <svg id="micOffIcon" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+                                <line x1="1" y1="1" x2="23" y2="23"></line>
+                                <path d="M9 9v3a3 3 0 0 0 5.12 2.12M15 9.34V4a3 3 0 0 0-5.94-.6"></path>
+                                <path d="M17 16.95A7 7 0 0 1 5 12v-2m14 0v2c0 .76-.13 1.49-.35 2.17"></path>
+                                <line x1="12" y1="19" x2="12" y2="23"></line>
+                                <line x1="8" y1="23" x2="16" y2="23"></line>
+                            </svg>
+                            <svg id="micOnIcon" class="hidden" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+                                <path d="M12 1a3 3 0 0 0-3 3v8a3 3 0 0 0 6 0V4a3 3 0 0 0-3-3z"></path>
+                                <path d="M19 10v2a7 7 0 0 1-14 0v-2"></path>
+                                <line x1="12" y1="19" x2="12" y2="23"></line>
+                                <line x1="8" y1="23" x2="16" y2="23"></line>
+                            </svg>
+                            <span id="micText">Mic Off</span>
+                        </button>
+                    </div>
+                </div>
+            </div>
+
+
+            <!-- Robot Selector -->
+            <div id="robotSelector" class="panel hidden">
+                <div class="panel-header">Available Robots</div>
+                <div class="panel-content">
+                    <div id="robotList" class="robot-list">
+                        <div style="color: var(--text-muted); font-size: 0.85em;">Searching...</div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Head Control - RPY Sliders -->
+            <div class="panel">
+                <div class="panel-header">Head Orientation</div>
+                <div class="panel-content">
+                    <div class="slider-row">
+                        <span class="slider-label">Roll</span>
+                        <input type="range" class="slider" id="rollSlider" min="-20" max="20" value="0" step="0.5">
+                        <span class="slider-value" id="rollValue">0.0°</span>
+                    </div>
+                    <div class="slider-row">
+                        <span class="slider-label">Pitch</span>
+                        <input type="range" class="slider" id="pitchSlider" min="-30" max="30" value="0" step="0.5">
+                        <span class="slider-value" id="pitchValue">0.0°</span>
+                    </div>
+                    <div class="slider-row">
+                        <span class="slider-label">Yaw</span>
+                        <input type="range" class="slider" id="yawSlider" min="-160" max="160" value="0" step="0.5">
+                        <span class="slider-value" id="yawValue">0.0°</span>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Body / Base Yaw -->
+            <div class="panel">
+                <div class="panel-header">Body</div>
+                <div class="panel-content">
+                    <div class="slider-row">
+                        <span class="slider-label">Yaw</span>
+                        <input type="range" class="slider" id="bodyYawSlider" min="-160" max="160" value="0" step="1">
+                        <span class="slider-value" id="bodyYawValue">0°</span>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Antennas -->
+            <div class="panel">
+                <div class="panel-header">Antennas</div>
+                <div class="panel-content">
+                    <div class="slider-row">
+                        <span class="slider-label">Right</span>
+                        <input type="range" class="slider" id="rightAntSlider" min="-175" max="175" value="0">
+                        <span class="slider-value" id="rightAntValue">0°</span>
+                    </div>
+                    <div class="slider-row">
+                        <span class="slider-label">Left</span>
+                        <input type="range" class="slider" id="leftAntSlider" min="-175" max="175" value="0">
+                        <span class="slider-value" id="leftAntValue">0°</span>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Animations -->
+            <div class="panel">
+                <div class="panel-header">Animations</div>
+                <div class="panel-content">
+                    <div class="sound-row">
+                        <button class="btn btn-primary" id="btnWakeUp" onclick="playWakeUp()" disabled>Wake up</button>
+                        <button class="btn btn-secondary" id="btnGotoSleep" onclick="playGotoSleep()" disabled>Go to sleep</button>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Torque -->
+            <div class="panel">
+                <div class="panel-header">Torque</div>
+                <div class="panel-content">
+                    <div class="sound-row">
+                        <!-- Label and action flip based on the current motor
+                             mode, which is surfaced via the 'state' event. -->
+                        <button class="btn btn-primary" id="btnTorqueToggle" onclick="toggleTorque()" disabled>Torque …</button>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Sound -->
+            <div class="panel">
+                <div class="panel-header">Sound</div>
+                <div class="panel-content">
+                    <div class="sound-row">
+                        <input type="text" class="sound-input" id="soundInput" placeholder="Sound file...">
+                        <button class="btn btn-primary" id="btnPlaySound" onclick="playSound()" disabled>Play</button>
+                    </div>
+                    <div class="sound-presets">
+                        <span class="preset-chip" onclick="playSoundPreset('wake_up.wav')">wake_up</span>
+                        <span class="preset-chip" onclick="playSoundPreset('go_sleep.wav')">go_sleep</span>
+                        <span class="preset-chip" onclick="playSoundPreset('yes.wav')">yes</span>
+                        <span class="preset-chip" onclick="playSoundPreset('no.wav')">no</span>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Volume -->
+            <div class="panel">
+                <div class="panel-header">Volume</div>
+                <div class="panel-content">
+                    <div class="slider-row">
+                        <span class="slider-label">Speaker</span>
+                        <input type="range" class="slider" id="volumeSlider" min="0" max="100" value="50" disabled>
+                        <span class="slider-value" id="volumeValue">--</span>
+                    </div>
+                </div>
+            </div>
+
+            <!-- Daemon logs -->
+            <div class="panel">
+                <div class="panel-header">
+                    Daemon logs
+                    <button class="btn btn-secondary" id="btnClearLogs" onclick="clearLogs()" style="margin-left:auto;font-size:0.8em;padding:4px 8px;">Clear</button>
+                </div>
+                <div class="panel-content">
+                    <pre id="logsView" style="max-height:240px;overflow:auto;background:#0b0b0b;color:#c8c8c8;font-family:ui-monospace,SFMono-Regular,Menlo,monospace;font-size:11px;padding:8px;margin:0;white-space:pre-wrap;word-break:break-word;border-radius:6px;">Waiting for stream...</pre>
+                </div>
+            </div>
+
+        </div>
+    </div>
+
+    <script type="module">
+        // Both imports below pull from the same npm package version:
+        // @pollen-robotics/reachy-mini-sdk@1.7.3-main.7654ffe.
+        //
+        // The package exports:
+        //   - `.` (root)            → reachy-mini-sdk.js   (the SDK runtime:
+        //                                                  ReachyMini class,
+        //                                                  matrix/RPY helpers,
+        //                                                  autoConnect, etc.)
+        //   - `./host/embed`        → host/dist/entry/embed.js  (the embed-
+        //                                                  side helper that
+        //                                                  decodes `#creds=`
+        //                                                  and runs auth +
+        //                                                  startSession +
+        //                                                  ensureAwake)
+        //
+        // The 1.7.3 stable tag publishes ONLY the root (no `host/` subpath
+        // yet), so we use the `1.7.3-main.<sha>` prerelease auto-published
+        // by CI on every push to main. Pin to a specific `<sha>` (the
+        // mobile app pins the same in lockstep). Bump when a stable that
+        // ships `host/` lands on npm.
+        //
+        // SDK URL ends with `/+esm` (a jsdelivr-specific endpoint) rather
+        // than the literal `dist/reachy-mini-sdk.js`. `/+esm` runs a Rollup
+        // + Terser pass on jsdelivr's edge that inlines the SDK's bare
+        // npm dependencies (currently `@huggingface/hub` for OAuth) into a
+        // single self-contained ESM bundle. Without it, the browser fails
+        // on `import "@huggingface/hub"` (bare specifiers don't resolve in
+        // browser-direct ESM without a bundler or import map). The host
+        // bundle is already Vite-built and self-contained, so it points
+        // at the raw `host/dist/entry/embed.js` path directly.
+        //
+        // jsdelivr serves npm versions directly — no manual purge needed
+        // when bumping the pin (npm tarballs are immutable, the CDN edge
+        // refreshes naturally for each new version string).
+        import { ReachyMini, matrixToRpy, radToDeg, rpyToMatrix, degToRad } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1.7.3-main.7654ffe/+esm";
+        // Host-embed entry. Loading this module side-effect-installs
+        // `window.ReachyMini` (if unset) and exposes `connectToHost`,
+        // which decodes the `#creds=<base64>` bundle the mobile shell
+        // writes into the URL hash, instantiates the SDK against those
+        // creds, and runs auth + startSession + ensureAwake before
+        // resolving. Standalone visits never touch it — the dispatcher
+        // below branches on `?embedded=1`.
+        import { connectToHost } from "https://cdn.jsdelivr.net/npm/@pollen-robotics/reachy-mini-sdk@1.7.3-main.7654ffe/host/dist/entry/embed.js";
+
+        // `let` (not `const`) because the embed path below replaces this
+        // module-level SDK with the live instance returned by
+        // connectToHost(). The pre-constructed object is harmless: its
+        // ctor doesn't open sockets, so dropping it on the floor in
+        // embed mode is fine.
+        let robot = new ReachyMini({
+            appName: "Reachy Mini WebRTC Demo",
+            // Pin the org-owned canonical central. The SDK default
+            // still tracks an older instance, so we keep this
+            // explicit for self-documentation.
+            signalingUrl: 'https://pollen-robotics-reachy-mini-central.hf.space',
+            // NB: `autoStartFromUrl: true` is intentionally NOT set.
+            // We use `autoConnect()` for embed bring-up; both running
+            // at once raced two `startSession()` calls against the
+            // same preselected robot, with central rejecting the
+            // second one as "Robot is busy: <our own appName>". The
+            // SDK now defensively suppresses `autoStartFromUrl` while
+            // `autoConnect()` is in-flight, so this is just docs and
+            // belt-and-suspenders.
+        });
+
+        let selectedRobotId = null;
+        let headSlidersActive = false;
+        let bodyYawSliderActive = false;
+        // Last body yaw the user committed via the slider, in degrees.
+        // Used to compute the delta we need to subtract from the head yaw
+        // command so the head visually fixates a point in world frame
+        // while the base rotates.
+        let lastBodyYawDeg = 0;
+        let detachVideo = null;
+        let latencyIntervalId = null;
+        // Returned by robot.subscribeLogs(); call to stop the daemon-side
+        // journalctl stream. Reset on every sessionStopped.
+        let logsUnsub = null;
+        // Cap the logs panel so a long session doesn't grow without bound.
+        const LOGS_MAX_LINES = 500;
+
+        // Export functions for inline onclick handlers
+        window.loginToHuggingFace = () => robot.login();
+        window.logout = logout;
+        window.connectAndStream = connectAndStream;
+        // Kept exported for any deep-link / debugger script that still
+        // pokes them by name — the in-app buttons now route through
+        // connectAndStream() instead.
+        window.connectSignaling = connectAndStream;
+        window.startStream = connectAndStream;
+        window.stopStream = stopStream;
+        window.playSound = playSound;
+        window.playSoundPreset = playSoundPreset;
+        window.playWakeUp = playWakeUp;
+        window.playGotoSleep = playGotoSleep;
+        window.toggleTorque = toggleTorque;
+        window.toggleMute = toggleMute;
+        window.toggleMic = toggleMic;
+        window.clearLogs = clearLogs;
+
+        document.addEventListener('DOMContentLoaded', async () => {
+            // Dispatcher: `?embedded=1` means we're loaded inside the
+            // mobile-app shell's iframe. The shell passes credentials
+            // in the URL hash as a base64 `creds=` bundle (token +
+            // username + robotPeerId + signalingUrl + theme + config).
+            // We hand control to `connectToHost`, which decodes that
+            // bundle and brings the WebRTC session up before resolving.
+            // Standalone visits fall through to the existing
+            // authenticate() → user-driven Connect flow.
+            const isEmbed =
+                new URLSearchParams(window.location.search).get('embedded') === '1';
+
+            if (isEmbed) {
+                try {
+                    const handle = await connectToHost();
+                    // Swap the module-level SDK for the live instance
+                    // the host handed back. All closures below that
+                    // call `robot.*` resolve `robot` at call time, so
+                    // they pick up the new value automatically.
+                    robot = handle.reachy;
+                    // The host attached the inbound track on the
+                    // handle's media surface; replay it into our <video>.
+                    handle.media.attachVideo(document.getElementById('remoteVideo'));
+                    initSliders();
+                    initRobotEvents();
+                    showMainApp();
+                    // The session is already up. Flip the UI directly
+                    // to the "connected" visual state — same set of
+                    // toggles the `streaming` event handler runs in
+                    // the standalone flow.
+                    document.getElementById('robotSelector').classList.add('hidden');
+                    updateStatus('connected', 'Connected');
+                    enableControls(true);
+                    document.getElementById('connectBtn').disabled = true;
+                    document.getElementById('stopBtn').disabled = false;
+                    startLatencyDisplay();
+                    fetchDaemonVersionOnce();
+                    syncVolumeSlider();
+                    startLogsStream();
+                } catch (err) {
+                    console.error('[embed] connectToHost failed:', err);
+                    updateStatus(
+                        '',
+                        'Embed connect failed: ' + (err?.message || err),
+                    );
+                }
+                return;
+            }
+
+            // Standalone path — unchanged behaviour. Bind the <video>
+            // sink eagerly (attachVideo is lazy: it remembers the
+            // element and wires the inbound track when it arrives),
+            // then run authenticate(). Falls through to the login
+            // screen when no cached token is found.
+            initSliders();
+            initRobotEvents();
+            detachVideo = robot.attachVideo(document.getElementById('remoteVideo'));
+            if (await robot.authenticate()) {
+                showMainApp();
+            } else {
+                showLogin();
+            }
+        });
+
+        // ===================== Auth =====================
+        function logout() {
+            if (detachVideo) { detachVideo(); detachVideo = null; }
+            robot.logout();
+            showLogin();
+        }
+
+        function showLogin() {
+            document.getElementById('loginView').classList.remove('hidden');
+            document.getElementById('mainApp').classList.add('hidden');
+        }
+
+        function showMainApp() {
+            document.getElementById('loginView').classList.add('hidden');
+            document.getElementById('mainApp').classList.remove('hidden');
+            document.getElementById('username').textContent = '@' + robot.username;
+        }
+
+        // ===================== Robot Events =====================
+        function initRobotEvents() {
+            // The SSE `list` push fires on every producer come-and-go.
+            // We don't drive selection from it any more — autoConnect's
+            // pickRobot callback owns the picker render — but we still
+            // dim cards whose robot dropped off while the panel is open.
+            robot.addEventListener('robotsChanged', (e) => refreshPickerOnList(e.detail.robots));
+
+            robot.addEventListener('streaming', () => {
+                updateStatus('connected', 'Connected');
+                enableControls(true);
+                document.getElementById('connectBtn').disabled = true;
+                document.getElementById('stopBtn').disabled = false;
+                document.getElementById('robotSelector').classList.add('hidden');
+                startLatencyDisplay();
+                // Data channel is open — fetch daemon version (one-shot) and
+                // sync the volume slider to the robot's current level. Both
+                // swallow failures so a missing command handler or an
+                // unsupported audio platform doesn't break the UI.
+                // Wake/torque is already handled inside autoConnect() —
+                // no ensureAwakeOnce() call needed here.
+                fetchDaemonVersionOnce();
+                syncVolumeSlider();
+                startLogsStream();
+            });
+
+            robot.addEventListener('sessionStopped', (e) => {
+                document.getElementById('connectBtn').disabled = false;
+                document.getElementById('stopBtn').disabled = true;
+                document.getElementById('robotSelector').classList.remove('hidden');
+                enableControls(false);
+                // e.detail.message is set when the stop was server-initiated (e.g.
+                // a local Python app took over the robot). null for user-initiated.
+                updateStatus('connected', e.detail?.message || 'Connected');
+                updateMicButton();
+                stopLatencyDisplay();
+                // Disable the volume slider and clear the version pill — they
+                // only make sense while the data channel is open.
+                document.getElementById('volumeSlider').disabled = true;
+                document.getElementById('volumeValue').textContent = '--';
+                document.getElementById('daemonVersion').classList.add('hidden');
+                // Reset the torque button label so it doesn't claim a stale
+                // state between sessions.
+                const tb = document.getElementById('btnTorqueToggle');
+                tb.textContent = 'Torque …';
+                delete tb.dataset.currentMode;
+                stopLogsStream();
+            });
+
+            robot.addEventListener('state', (e) => updateStateDisplay(e.detail));
+
+            robot.addEventListener('micSupported', () => {
+                enableControls(robot.state === 'streaming');
+            });
+
+            robot.addEventListener('disconnected', () => {
+                updateStatus('', 'Disconnected');
+                document.getElementById('connectBtn').disabled = false;
+                document.getElementById('robotSelector').classList.add('hidden');
+            });
+
+            robot.addEventListener('error', (e) => {
+                console.error(`[${e.detail.source}]`, e.detail.error);
+                if (e.detail.source === 'webrtc') {
+                    updateStatus('', 'Connection lost');
+                }
+            });
+        }
+
+        // ===================== Connection =====================
+        function updateStatus(status, text) {
+            document.getElementById('statusIndicator').className = 'status-indicator ' + status;
+            document.getElementById('statusText').textContent = text;
+        }
+
+        // Wake-on-stream is handled inside autoConnect() now (it calls
+        // robot.ensureAwake() after startSession resolves), so no
+        // ensureAwakeOnce() wrapper lives here any more.
+
+        // ---- Daemon version (fetched once per session over WebRTC) ----
+        async function fetchDaemonVersionOnce() {
+            try {
+                const v = await robot.getVersion();
+                if (!v) return;
+                const el = document.getElementById('daemonVersion');
+                el.textContent = `Daemon v${v}`;
+                el.classList.remove('hidden');
+            } catch (e) {
+                // Data channel closed mid-request, or lib version too old
+                // to support get_version. Non-fatal — but log at WARN so
+                // a stale CDN-cached lib (missing the method) is visible
+                // in the browser console without "Verbose" level turned on.
+                console.warn('getVersion failed:', e);
+            }
+        }
+
+        // ---- Volume slider wiring ----
+        //
+        // Two events matter:
+        //   - 'input'   fires continuously while dragging — used for the
+        //               live "75%" label so the UI feels responsive.
+        //   - 'change'  fires on release — the only moment we actually
+        //               call setVolume over WebRTC. Avoids spamming the
+        //               robot with one command per pixel of drag.
+        //
+        // syncVolumeSlider() runs on streaming-start to pull the robot's
+        // real current volume so the slider reflects reality rather than
+        // the default "50" in the markup.
+        async function syncVolumeSlider() {
+            const slider = document.getElementById('volumeSlider');
+            const label = document.getElementById('volumeValue');
+            // Early detection: if the loaded JS lib predates the volume
+            // commands (stale jsdelivr cache, old branch), fail loudly
+            // rather than silently rendering "n/a".
+            if (typeof robot.getVolume !== 'function') {
+                console.warn(
+                    'robot.getVolume is not a function — the reachy-mini.js ' +
+                    'lib loaded from CDN is older than the webrtc_example UI. ' +
+                    'Purge jsdelivr and hard-refresh the page.'
+                );
+                label.textContent = 'lib';
+                return;
+            }
+            try {
+                const v = await robot.getVolume();
+                if (v == null) {
+                    // Volume control unavailable (unsupported platform or
+                    // audio stack down) — keep the slider disabled.
+                    label.textContent = 'n/a';
+                    return;
+                }
+                slider.value = v;
+                label.textContent = `${v}%`;
+                slider.disabled = false;
+            } catch (e) {
+                // Log at WARN so it's visible without "Verbose" level.
+                console.warn('getVolume failed:', e);
+                label.textContent = 'n/a';
+            }
+        }
+
+        // ===================== Daemon log stream =====================
+        //
+        // The daemon exposes its `journalctl -u reachy-mini-daemon` lines as
+        // typed `log_line` messages on the WebRTC data channel. We open the
+        // subscription on streaming-start and tear it down on stop so the
+        // daemon-side subprocess only runs while a peer is actively viewing.
+        // The same SDK call works for the LAN-direct GStreamer signaling
+        // path and the Central + WebRTC remote path — both share the typed
+        // command surface.
+        function appendLogLine({ timestamp, line }) {
+            const view = document.getElementById('logsView');
+            if (!view) return;
+            const wasInitial = view.firstChild && view.firstChild.nodeType === Node.TEXT_NODE
+                && view.textContent === 'Waiting for stream...';
+            if (wasInitial) view.textContent = '';
+            // Auto-scroll only if the user is already pinned to the bottom;
+            // otherwise let them browse history without snapping back.
+            const stick = view.scrollTop + view.clientHeight >= view.scrollHeight - 4;
+            const div = document.createElement('div');
+            div.textContent = timestamp ? `${timestamp}  ${line}` : line;
+            view.appendChild(div);
+            // Trim oldest lines past the cap so the DOM doesn't grow forever.
+            while (view.childElementCount > LOGS_MAX_LINES) {
+                view.removeChild(view.firstChild);
+            }
+            if (stick) view.scrollTop = view.scrollHeight;
+        }
+
+        function startLogsStream() {
+            if (typeof robot.subscribeLogs !== 'function') {
+                console.warn(
+                    'robot.subscribeLogs is not a function — the reachy-mini.js ' +
+                    'lib loaded from CDN predates the daemon log feature. ' +
+                    'Purge jsdelivr and hard-refresh the page.'
+                );
+                document.getElementById('logsView').textContent = 'subscribeLogs not in SDK';
+                return;
+            }
+            stopLogsStream();
+            document.getElementById('logsView').textContent = 'Subscribing...';
+            try {
+                logsUnsub = robot.subscribeLogs({
+                    onLine: appendLogLine,
+                    onError: (err) => {
+                        appendLogLine({ timestamp: '', line: `[log_stream_error] ${err}` });
+                    },
+                });
+            } catch (e) {
+                console.warn('subscribeLogs failed:', e);
+                document.getElementById('logsView').textContent = `Failed: ${e.message || e}`;
+            }
+        }
+
+        function stopLogsStream() {
+            if (logsUnsub) {
+                try { logsUnsub(); } catch (e) { console.warn('logsUnsub threw:', e); }
+                logsUnsub = null;
+            }
+        }
+
+        function clearLogs() {
+            const view = document.getElementById('logsView');
+            if (view) view.textContent = '';
+        }
+
+        (function initVolumeSlider() {
+            const slider = document.getElementById('volumeSlider');
+            const label = document.getElementById('volumeValue');
+            slider.addEventListener('input', () => {
+                label.textContent = `${slider.value}%`;
+            });
+            slider.addEventListener('change', async () => {
+                const requested = parseInt(slider.value, 10);
+                if (typeof robot.setVolume !== 'function') {
+                    console.warn(
+                        'robot.setVolume is not a function — old JS lib on CDN; ' +
+                        'purge jsdelivr and hard-refresh.'
+                    );
+                    return;
+                }
+                try {
+                    const applied = await robot.setVolume(requested);
+                    if (applied != null) {
+                        // Server may clamp/round — reflect the truth back
+                        // into the UI so the slider isn't a lie.
+                        slider.value = applied;
+                        label.textContent = `${applied}%`;
+                    }
+                } catch (e) {
+                    console.warn('setVolume failed:', e);
+                }
+            });
+        })();
+
+        // All-in-one: auth (cached) → SSE → robot selection → session →
+        // wake. Replaces the previous "Connect → pick robot → Start"
+        // three-step flow with a single button.
+        //
+        // In standalone mode autoConnect() invokes our `pickRobot`
+        // callback when there is more than one free robot; we render
+        // the panel and resolve the Promise on user click.
+        //
+        // In embed mode autoConnect detects `isEmbedded` and skips the
+        // picker entirely — the preselected robot id is used directly.
+        async function connectAndStream() {
+            if (!robot.isAuthenticated) return;
+            if (typeof robot.autoConnect !== 'function') {
+                console.error(
+                    'robot.autoConnect is not a function — the reachy-mini.js ' +
+                    'lib loaded from CDN predates the autoConnect feature. ' +
+                    'Purge jsdelivr and hard-refresh the page.'
+                );
+                updateStatus('', 'SDK too old — purge jsdelivr cache');
+                return;
+            }
+
+            updateStatus('connecting', 'Connecting...');
+            document.getElementById('connectBtn').disabled = true;
+
+            // Re-bind the <video> sink if a previous logout() tore it
+            // down. attachVideo() is lazy — the SDK remembers the
+            // element and wires the inbound track when it arrives, so
+            // calling it before autoConnect() works for both first
+            // session and post-logout reconnects.
+            if (!detachVideo) {
+                detachVideo = robot.attachVideo(document.getElementById('remoteVideo'));
+            }
+
+            try {
+                const { robotName } = await robot.autoConnect({
+                    pickRobot: presentRobotPicker,
+                });
+                if (robotName) {
+                    document.getElementById('robotName').textContent = robotName;
+                }
+                // The `streaming` event handler does the rest (status
+                // pill, latency display, daemon version, volume sync,
+                // logs subscription). autoConnect already called
+                // ensureAwake() before resolving.
+            } catch (e) {
+                console.error('autoConnect failed:', e);
+                // Same error taxonomy as the old startStream():
+                //   "robot_busy"           → central refused: another remote JS app is connected.
+                //   "robot_busy_local_app" → relay refused: a local Python app holds the robot.
+                //   "local_app_started"    → a local Python app evicted a streaming session.
+                //   "robot_busy_local"     → relay safety net; another session slipped in.
+                let msg;
+                if (e.reason === 'robot_busy') {
+                    msg = `Robot busy — "${e.activeApp}" is already connected`;
+                } else if ((e.reason && e.reason.startsWith('robot_busy')) || e.reason === 'local_app_started') {
+                    msg = e.message;
+                } else {
+                    msg = e.message || String(e);
+                }
+                updateStatus('', msg);
+                document.getElementById('connectBtn').disabled = false;
+                document.getElementById('robotSelector').classList.add('hidden');
+            }
+        }
+
+        // pickRobot callback for autoConnect(). Renders the existing
+        // robot-selector panel and resolves with the id the user
+        // clicks. Receives the SDK-shaped robot objects (id, name,
+        // busy, activeApp, meta, lastSeenAgeSeconds) already filtered
+        // to "free" and deduped by install_id.
+        function presentRobotPicker(robots) {
+            return new Promise((resolve) => {
+                const panel = document.getElementById('robotSelector');
+                const list = document.getElementById('robotList');
+                panel.classList.remove('hidden');
+                list.innerHTML = '';
+                if (!robots?.length) {
+                    list.innerHTML = '<div style="color: var(--text-muted);">No robots online</div>';
+                    resolve(null);
+                    return;
+                }
+                for (const r of robots) {
+                    const div = document.createElement('div');
+                    div.className = 'robot-card';
+                    const subtitle = r.busy
+                        ? `busy — ${r.activeApp ?? 'unknown app'}`
+                        : `${r.id.slice(0, 12)}...`;
+                    div.innerHTML = `<div class="name">${r.name || 'Reachy Mini'}</div><div class="id">${subtitle}</div>`;
+                    div.onclick = () => {
+                        if (r.busy) return;  // selecting busy is a no-op
+                        document.querySelectorAll('.robot-card').forEach(e => e.classList.remove('selected'));
+                        div.classList.add('selected');
+                        selectedRobotId = r.id;
+                        document.getElementById('robotName').textContent = r.name || 'Reachy Mini';
+                        resolve(r.id);
+                    };
+                    list.appendChild(div);
+                }
+            });
+        }
+
+        // Live SSE list updates: we still refresh the in-panel list as
+        // robots come and go, but only while the panel is visible (i.e.
+        // we're inside an active pickRobot prompt).
+        function refreshPickerOnList(robots) {
+            const panel = document.getElementById('robotSelector');
+            if (panel.classList.contains('hidden')) return;
+            // The picker promise already resolved once — re-rendering
+            // here would replace the click handlers with stale ones
+            // that try to resolve an already-settled Promise. Just
+            // visually mark the cards.
+            const list = document.getElementById('robotList');
+            const presentIds = new Set((robots || []).map((r) => r.id));
+            for (const card of list.querySelectorAll('.robot-card')) {
+                // The id snippet is in the second child — best-effort
+                // dim cards whose robot dropped off the list.
+                const stillPresent = Array.from(presentIds).some((id) =>
+                    card.textContent.includes(id.slice(0, 12)),
+                );
+                card.style.opacity = stillPresent ? '' : '0.4';
+            }
+        }
+
+        // ===================== Latency =====================
+        function startLatencyDisplay() {
+            const badge = document.getElementById('latencyBadge');
+            const label = document.getElementById('latencyValue');
+            badge.classList.remove('hidden');
+
+            latencyIntervalId = setInterval(async () => {
+                const video = document.getElementById('remoteVideo');
+                let bufLagMs = null;
+                let rttMs = null;
+                let vidJitterMs = null;
+                let audJitterMs = null;
+
+                // Buffer lag (how far behind live edge)
+                if (video && video.buffered && video.buffered.length > 0) {
+                    const end = video.buffered.end(video.buffered.length - 1);
+                    bufLagMs = Math.round((end - video.currentTime) * 1000);
+                }
+
+                // WebRTC stats: RTT + jitter buffer delay (video & audio)
+                if (robot._pc) {
+                    try {
+                        const stats = await robot._pc.getStats();
+                        stats.forEach(report => {
+                            if (report.type === 'candidate-pair' && report.currentRoundTripTime != null) {
+                                rttMs = Math.round(report.currentRoundTripTime * 1000);
+                            }
+                            if (report.type === 'inbound-rtp' && report.jitterBufferDelay != null && report.jitterBufferEmittedCount > 0) {
+                                const jMs = Math.round((report.jitterBufferDelay / report.jitterBufferEmittedCount) * 1000);
+                                if (report.kind === 'video') vidJitterMs = jMs;
+                                if (report.kind === 'audio') audJitterMs = jMs;
+                            }
+                        });
+                    } catch (_) { /* no stats yet */ }
+                }
+
+                // Display
+                const parts = [];
+                if (bufLagMs != null) parts.push(`buf ${bufLagMs}ms`);
+                if (rttMs != null) parts.push(`rtt ${rttMs}ms`);
+                if (vidJitterMs != null) parts.push(`v-jit ${vidJitterMs}ms`);
+                if (audJitterMs != null) parts.push(`a-jit ${audJitterMs}ms`);
+                label.textContent = parts.length ? parts.join(' · ') : '--';
+
+                // Color based on buffer lag
+                badge.classList.remove('good', 'ok', 'bad');
+                if (bufLagMs != null) {
+                    if (bufLagMs < 200) badge.classList.add('good');
+                    else if (bufLagMs < 500) badge.classList.add('ok');
+                    else badge.classList.add('bad');
+                }
+            }, 1000);
+        }
+
+        function stopLatencyDisplay() {
+            if (latencyIntervalId) { clearInterval(latencyIntervalId); latencyIntervalId = null; }
+            const badge = document.getElementById('latencyBadge');
+            badge.classList.add('hidden');
+            badge.classList.remove('good', 'ok', 'bad');
+        }
+
+        // ===================== Session =====================
+        // The old two-step "Connect → Start" flow is collapsed into
+        // connectAndStream() above. Anything that used to call
+        // startStream() now routes through connectAndStream() via the
+        // window.startStream alias.
+
+        async function stopStream() {
+            if (detachVideo) { detachVideo(); detachVideo = null; }
+            await robot.stopSession();
+        }
+
+        // ===================== Audio =====================
+        function toggleMute() {
+            robot.setAudioMuted(!robot.audioMuted);
+            updateMuteButton();
+        }
+
+        function toggleMic() {
+            robot.setMicMuted(!robot.micMuted);
+            updateMicButton();
+        }
+
+        function updateMuteButton() {
+            const muted = robot.audioMuted;
+            const btn = document.getElementById('muteBtn');
+            btn.classList.toggle('muted', muted);
+            document.getElementById('speakerOffIcon').classList.toggle('hidden', !muted);
+            document.getElementById('speakerOnIcon').classList.toggle('hidden', muted);
+            document.getElementById('muteText').textContent = muted ? 'Unmute' : 'Mute';
+        }
+
+        function updateMicButton() {
+            const muted = robot.micMuted;
+            const btn = document.getElementById('micBtn');
+            btn.classList.toggle('muted', muted);
+            document.getElementById('micOffIcon').classList.toggle('hidden', !muted);
+            document.getElementById('micOnIcon').classList.toggle('hidden', muted);
+            document.getElementById('micText').textContent = muted ? 'Mic Off' : 'Mic On';
+        }
+
+        function enableControls(enabled) {
+            document.getElementById('btnPlaySound').disabled = !enabled;
+            document.getElementById('btnWakeUp').disabled = !enabled;
+            document.getElementById('btnGotoSleep').disabled = !enabled;
+            document.getElementById('btnTorqueToggle').disabled = !enabled;
+            document.getElementById('muteBtn').disabled = !enabled;
+            document.getElementById('micBtn').disabled = !enabled || !robot.micSupported;
+        }
+
+        // ===================== State Display =====================
+        // The "state" event ships raw wire units (flat 4×4 matrix, radians);
+        // the UI works in degrees, so we convert at the boundary.
+        function updateStateDisplay(state) {
+            // Also gate on bodyYawSliderActive: dragging the body slider
+            // mutates yawSlider.value (head/body rotate together), and the
+            // daemon's mid-IK present_head_pose lags the target. Without
+            // this gate, matrixToRpy of the in-flight pose pumps drifted
+            // roll/pitch/yaw back into the head sliders, which the next
+            // body-input event reads and re-sends — visible as pitch/roll
+            // jitter while the body slider is being dragged.
+            if (state.head && !headSlidersActive && !bodyYawSliderActive) {
+                // state.head is number[16] (flat row-major 4×4); matrixToRpy
+                // wants nested 4×4, so unflatten.
+                const m = [
+                    state.head.slice(0, 4),
+                    state.head.slice(4, 8),
+                    state.head.slice(8, 12),
+                    state.head.slice(12, 16),
+                ];
+                const rpy = matrixToRpy(m);
+                document.getElementById('rollSlider').value = rpy.roll;
+                document.getElementById('rollValue').textContent = rpy.roll.toFixed(1) + '°';
+                document.getElementById('pitchSlider').value = rpy.pitch;
+                document.getElementById('pitchValue').textContent = rpy.pitch.toFixed(1) + '°';
+                document.getElementById('yawSlider').value = rpy.yaw;
+                document.getElementById('yawValue').textContent = rpy.yaw.toFixed(1) + '°';
+            }
+            if (state.antennas) {
+                const r = radToDeg(state.antennas[0]).toFixed(0);
+                const l = radToDeg(state.antennas[1]).toFixed(0);
+                document.getElementById('rightAntSlider').value = r;
+                document.getElementById('rightAntValue').textContent = r + '°';
+                document.getElementById('leftAntSlider').value = l;
+                document.getElementById('leftAntValue').textContent = l + '°';
+            }
+            if (typeof state.body_yaw === 'number' && !bodyYawSliderActive) {
+                const y = radToDeg(state.body_yaw).toFixed(0);
+                document.getElementById('bodyYawSlider').value = y;
+                document.getElementById('bodyYawValue').textContent = y + '°';
+                // Sync the delta baseline so the next drag computes from
+                // the robot's actual current yaw, not whatever the slider
+                // happened to be at on page load.
+                lastBodyYawDeg = parseFloat(y);
+            }
+            if (state.motor_mode) updateTorqueButton(state.motor_mode);
+        }
+
+        function updateTorqueButton(mode) {
+            const btn = document.getElementById('btnTorqueToggle');
+            if (!btn) return;
+            // Normalise: anything other than "disabled" is considered "on"
+            // for toggle purposes. gravity_compensation is torque-on too.
+            const isOn = mode && mode !== 'disabled';
+            btn.textContent = isOn ? 'Torque: On (click to disable)' : 'Torque: Off (click to enable)';
+            // Stash the current intent so the click handler knows which
+            // direction to flip without rereading _robotState.
+            btn.dataset.currentMode = mode;
+        }
+
+        // ===================== Sliders =====================
+        function initSliders() {
+            // Head
+            const rollSlider = document.getElementById('rollSlider');
+            const pitchSlider = document.getElementById('pitchSlider');
+            const yawSlider = document.getElementById('yawSlider');
+            const rollValue = document.getElementById('rollValue');
+            const pitchValue = document.getElementById('pitchValue');
+            const yawValue = document.getElementById('yawValue');
+
+            // Body yaw
+            const bodyYawSlider = document.getElementById('bodyYawSlider');
+            const bodyYawValue = document.getElementById('bodyYawValue');
+
+            // Antennas
+            const rightSlider = document.getElementById('rightAntSlider');
+            const leftSlider = document.getElementById('leftAntSlider');
+            const rightAntValue = document.getElementById('rightAntValue');
+            const leftAntValue = document.getElementById('leftAntValue');
+
+            // Single source of truth: read every slider's DOM state and
+            // ship it in one atomic setTarget command. Per-slider input
+            // handlers update their label, optionally run cross-slider
+            // compensation (body-yaw drag → head-yaw counter-rotation),
+            // then call this. One round-trip per gesture, no chance for
+            // the daemon to see a half-applied target between components.
+            function sendCurrentTarget() {
+                robot.setTarget({
+                    head: rpyToMatrix(
+                        parseFloat(rollSlider.value),
+                        parseFloat(pitchSlider.value),
+                        parseFloat(yawSlider.value),
+                    ).flat(),
+                    antennas: [
+                        degToRad(parseFloat(rightSlider.value)),
+                        degToRad(parseFloat(leftSlider.value)),
+                    ],
+                    body_yaw: degToRad(parseFloat(bodyYawSlider.value)),
+                });
+            }
+
+            const onStart = () => { headSlidersActive = true; };
+            const onEnd = () => { headSlidersActive = false; };
+
+            for (const s of [rollSlider, pitchSlider, yawSlider]) {
+                s.addEventListener('mousedown', onStart);
+                s.addEventListener('touchstart', onStart);
+                s.addEventListener('mouseup', onEnd);
+                s.addEventListener('touchend', onEnd);
+            }
+
+            rollSlider.addEventListener('input', () => { rollValue.textContent = parseFloat(rollSlider.value).toFixed(1) + '°'; sendCurrentTarget(); });
+            pitchSlider.addEventListener('input', () => { pitchValue.textContent = parseFloat(pitchSlider.value).toFixed(1) + '°'; sendCurrentTarget(); });
+            yawSlider.addEventListener('input', () => { yawValue.textContent = parseFloat(yawSlider.value).toFixed(1) + '°'; sendCurrentTarget(); });
+
+            // Body yaw — the head pose in setTarget is interpreted in world
+            // frame (see look_at_world in the Python SDK), so the IK splits
+            // the requested world yaw between body rotation and the stewart
+            // platform. Mechanical limit: |head_yaw_world − body_yaw| ≤ 65°.
+            //
+            // To keep that relative yaw constant as the user drags the body
+            // slider, we move the head's commanded world yaw by the same
+            // delta — head and body rotate together (tank-style). The
+            // per-component values are then shipped atomically by
+            // sendCurrentTarget().
+            const onBodyStart = () => { bodyYawSliderActive = true; };
+            const onBodyEnd = () => { bodyYawSliderActive = false; };
+            bodyYawSlider.addEventListener('mousedown', onBodyStart);
+            bodyYawSlider.addEventListener('touchstart', onBodyStart);
+            bodyYawSlider.addEventListener('mouseup', onBodyEnd);
+            bodyYawSlider.addEventListener('touchend', onBodyEnd);
+
+            const yawMin = parseFloat(yawSlider.min);
+            const yawMax = parseFloat(yawSlider.max);
+            bodyYawSlider.addEventListener('input', () => {
+                const newBodyDeg = parseFloat(bodyYawSlider.value);
+                const delta = newBodyDeg - lastBodyYawDeg;
+                // Add the body-yaw delta to the head-yaw slider, clamped
+                // to its range. Once the head slider saturates, the head's
+                // world yaw stops keeping up with the body, the relative
+                // yaw starts to grow, and beyond ~65° the daemon's safe-IK
+                // will modulate body_yaw to stay within mechanical limits.
+                const newHeadYaw = Math.max(yawMin, Math.min(yawMax,
+                    parseFloat(yawSlider.value) + delta));
+                yawSlider.value = newHeadYaw;
+                yawValue.textContent = newHeadYaw.toFixed(1) + '°';
+                bodyYawValue.textContent = newBodyDeg.toFixed(0) + '°';
+                sendCurrentTarget();
+                lastBodyYawDeg = newBodyDeg;
+            });
+
+            rightSlider.addEventListener('input', () => {
+                rightAntValue.textContent = rightSlider.value + '°';
+                sendCurrentTarget();
+            });
+            leftSlider.addEventListener('input', () => {
+                leftAntValue.textContent = leftSlider.value + '°';
+                sendCurrentTarget();
+            });
+        }
+
+        // ===================== Sound =====================
+        function playSound() {
+            const file = document.getElementById('soundInput').value.trim();
+            if (file) robot.playSound(file);
+        }
+
+        function playSoundPreset(file) {
+            document.getElementById('soundInput').value = file;
+            robot.playSound(file);
+        }
+
+        // ===================== Animations =====================
+        //
+        // Fire-and-forget: the robot plays the full trajectory (~2 s) and
+        // we don't await completion. The buttons are briefly disabled
+        // during the motion to prevent the user from spamming the same
+        // animation on top of itself, using is_move_running from the
+        // state event as the authoritative "busy" signal.
+        //
+        // Staleness detection: if the lib loaded from CDN predates these
+        // methods (typeof check), warn instead of silently failing. Same
+        // pattern as the volume controls.
+        function playWakeUp() {
+            // Click receipt log: present so that "no log at all" definitively
+            // means the click event never reached this function (button still
+            // disabled, stale HTML in browser cache, or redeploy not live).
+            console.log('[animations] playWakeUp clicked; robot.state=', robot.state,
+                '; robot.wakeUp typeof=', typeof robot.wakeUp);
+            if (typeof robot.wakeUp !== 'function') {
+                console.warn('robot.wakeUp is not a function — stale JS lib; purge jsdelivr + hard-refresh.');
+                return;
+            }
+            const ok = robot.wakeUp();
+            console.log('[animations] robot.wakeUp() returned', ok);
+        }
+
+        function playGotoSleep() {
+            console.log('[animations] playGotoSleep clicked; robot.state=', robot.state,
+                '; robot.gotoSleep typeof=', typeof robot.gotoSleep);
+            if (typeof robot.gotoSleep !== 'function') {
+                console.warn('robot.gotoSleep is not a function — stale JS lib; purge jsdelivr + hard-refresh.');
+                return;
+            }
+            const ok = robot.gotoSleep();
+            console.log('[animations] robot.gotoSleep() returned', ok);
+        }
+
+        // ===================== Torque =====================
+        //
+        // The "current mode" read from the button's dataset is populated by
+        // updateTorqueButton() on every state-event. If a user clicks before
+        // the first state tick arrives, currentMode is falsy and we default
+        // to enabling — the safe-ish choice that matches what wakeUp() would
+        // do. The label then self-corrects on the next state tick.
+        function toggleTorque() {
+            if (typeof robot.setMotorMode !== 'function') {
+                console.warn('robot.setMotorMode is not a function — stale JS lib; purge jsdelivr + hard-refresh.');
+                return;
+            }
+            const btn = document.getElementById('btnTorqueToggle');
+            const currentMode = btn.dataset.currentMode;
+            const next = (currentMode && currentMode !== 'disabled') ? 'disabled' : 'enabled';
+            console.log('[torque] toggle click; currentMode=', currentMode, '→ sending', next);
+            robot.setMotorMode(next);
+            // Optimistic UI update. If the robot rejects or differs, the
+            // next state tick (within ~500 ms) will overwrite.
+            updateTorqueButton(next);
+        }
     </script>
-    <script type="module" crossorigin src="/assets/index-CsmyDA4N.js"></script>
-  </head>
-  <body>
-    <div id="root"></div>
-    <!--
-      Single dispatcher. Picks the host shell (standalone visit) or
-      the embedded app (host's iframe) based on `?embedded=1`.
-      `src/dispatch.ts` also self-assigns `window.ReachyMini` so the
-      host's own bootstrap (which historically read it from a CDN
-      `<script>`) keeps working without a CDN dep.
-    -->
-  </body>
+</body>
 </html>

style.css

@@ -0,0 +1,467 @@
+:root {
+    --pollen-coral: #FF6B35;
+    --pollen-coral-light: #FF8A5C;
+    --pollen-coral-dark: #E55A2B;
+    --pollen-dark: #1A1A2E;
+    --pollen-darker: #0F0F1A;
+    --pollen-card: #16213E;
+    --pollen-card-light: #1E2A4A;
+    --text-primary: #FFFFFF;
+    --text-secondary: #A0AEC0;
+    --text-muted: #718096;
+    --success: #48BB78;
+    --warning: #ECC94B;
+    --danger: #F56565;
+}
+
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+    font-family: 'Inter', system-ui, -apple-system, sans-serif;
+    background: var(--pollen-darker);
+    color: var(--text-primary);
+    min-height: 100vh;
+    min-height: 100dvh;
+    overflow-x: hidden;
+}
+
+/* Header */
+.header {
+    background: rgba(0,0,0,0.4);
+    backdrop-filter: blur(10px);
+    padding: 8px 16px;
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    border-bottom: 1px solid rgba(255,107,53,0.2);
+}
+
+.logo {
+    display: flex;
+    align-items: center;
+    gap: 10px;
+}
+
+.logo img {
+    width: 32px;
+    height: 32px;
+    border-radius: 6px;
+}
+
+.logo-text {
+    font-weight: 700;
+    font-size: 1em;
+    color: var(--pollen-coral);
+}
+
+.logo-text span {
+    color: var(--text-secondary);
+    font-weight: 400;
+    font-size: 0.85em;
+}
+
+.user-section {
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+
+.user-badge {
+    background: var(--pollen-card);
+    padding: 4px 12px;
+    border-radius: 16px;
+    font-size: 0.8em;
+}
+
+.btn-logout {
+    background: transparent;
+    border: 1px solid var(--text-muted);
+    color: var(--text-secondary);
+    padding: 4px 12px;
+    border-radius: 12px;
+    cursor: pointer;
+    font-size: 0.75em;
+}
+
+/* Main Layout - Single Column */
+.app-container {
+    display: flex;
+    flex-direction: column;
+    padding: 8px;
+    gap: 8px;
+    max-width: 800px;
+    margin: 0 auto;
+}
+
+/* Video Section */
+.video-container {
+    position: relative;
+    background: #000;
+    border-radius: 12px;
+    overflow: hidden;
+    aspect-ratio: 16/9;
+    width: 100%;
+}
+
+video {
+    width: 100%;
+    height: 100%;
+    object-fit: cover;
+    background: linear-gradient(135deg, #0a0a15 0%, #1a1a2e 100%);
+}
+
+.video-overlay-top {
+    position: absolute;
+    top: 0;
+    left: 0;
+    right: 0;
+    padding: 12px;
+    background: linear-gradient(to bottom, rgba(0,0,0,0.7) 0%, transparent 100%);
+    display: flex;
+    justify-content: space-between;
+    align-items: flex-start;
+}
+
+.connection-badge {
+    display: flex;
+    align-items: center;
+    gap: 6px;
+    background: rgba(0,0,0,0.5);
+    padding: 6px 12px;
+    border-radius: 16px;
+    font-size: 0.8em;
+}
+
+.latency-badge {
+    display: flex;
+    align-items: center;
+    background: rgba(0,0,0,0.5);
+    padding: 4px 10px;
+    border-radius: 12px;
+    font-size: 0.75em;
+    font-variant-numeric: tabular-nums;
+    color: var(--text-secondary);
+    font-family: 'Inter', monospace;
+}
+
+.latency-badge.good { color: var(--success); }
+.latency-badge.ok { color: var(--warning); }
+.latency-badge.bad { color: var(--danger); }
+
+.status-indicator {
+    width: 8px;
+    height: 8px;
+    border-radius: 50%;
+    background: var(--danger);
+}
+
+.status-indicator.connected {
+    background: var(--success);
+    box-shadow: 0 0 8px var(--success);
+}
+
+.status-indicator.connecting {
+    background: var(--warning);
+    animation: blink 0.8s infinite;
+}
+
+@keyframes blink {
+    0%, 100% { opacity: 1; }
+    50% { opacity: 0.4; }
+}
+
+.robot-name {
+    background: rgba(0,0,0,0.5);
+    padding: 6px 12px;
+    border-radius: 16px;
+    font-size: 0.8em;
+    font-weight: 500;
+}
+
+.video-overlay-bottom {
+    position: absolute;
+    bottom: 0;
+    left: 0;
+    right: 0;
+    padding: 12px;
+    background: linear-gradient(to top, rgba(0,0,0,0.8) 0%, transparent 100%);
+}
+
+.video-controls {
+    display: flex;
+    justify-content: center;
+    gap: 8px;
+    flex-wrap: wrap;
+}
+
+.btn {
+    padding: 8px 16px;
+    border: none;
+    border-radius: 8px;
+    font-weight: 600;
+    font-size: 0.85em;
+    cursor: pointer;
+    transition: all 0.2s;
+}
+
+.btn-primary {
+    background: var(--pollen-coral);
+    color: white;
+}
+
+.btn-secondary {
+    background: rgba(255,255,255,0.15);
+    color: white;
+}
+
+.btn-danger {
+    background: var(--danger);
+    color: white;
+}
+
+.btn:disabled {
+    opacity: 0.4;
+    cursor: not-allowed;
+}
+
+.btn-mute {
+    background: rgba(255,255,255,0.15);
+    color: white;
+    display: flex;
+    align-items: center;
+    gap: 6px;
+}
+
+.btn-mute.muted {
+    background: var(--danger);
+}
+
+.btn-mute svg {
+    width: 16px;
+    height: 16px;
+}
+
+/* Panels */
+.panel {
+    background: var(--pollen-card);
+    border-radius: 12px;
+    overflow: hidden;
+}
+
+.panel-header {
+    padding: 10px 14px;
+    background: rgba(0,0,0,0.2);
+    font-weight: 600;
+    font-size: 0.85em;
+    color: var(--pollen-coral);
+}
+
+.panel-content {
+    padding: 12px;
+}
+
+/* Sliders */
+.slider-row {
+    display: flex;
+    gap: 12px;
+    align-items: center;
+    margin-bottom: 12px;
+}
+
+.slider-row:last-child {
+    margin-bottom: 0;
+}
+
+.slider-label {
+    font-size: 0.8em;
+    color: var(--text-secondary);
+    min-width: 80px;
+}
+
+.slider {
+    flex: 1;
+    height: 8px;
+    -webkit-appearance: none;
+    background: var(--pollen-darker);
+    border-radius: 4px;
+}
+
+.slider::-webkit-slider-thumb {
+    -webkit-appearance: none;
+    width: 20px;
+    height: 20px;
+    background: var(--pollen-coral);
+    border-radius: 50%;
+    cursor: pointer;
+}
+
+.slider-value {
+    font-family: monospace;
+    font-size: 0.8em;
+    color: var(--pollen-coral);
+    min-width: 45px;
+    text-align: right;
+}
+
+/* Sound */
+.sound-row {
+    display: flex;
+    gap: 8px;
+    margin-bottom: 10px;
+}
+
+.sound-input {
+    flex: 1;
+    padding: 8px 10px;
+    background: var(--pollen-darker);
+    border: 1px solid var(--pollen-card-light);
+    border-radius: 6px;
+    color: var(--text-primary);
+    font-size: 0.85em;
+}
+
+.sound-presets {
+    display: flex;
+    flex-wrap: wrap;
+    gap: 6px;
+    margin-bottom: 12px;
+}
+
+.preset-chip {
+    padding: 4px 10px;
+    background: var(--pollen-darker);
+    border: 1px solid var(--pollen-card-light);
+    border-radius: 12px;
+    color: var(--text-secondary);
+    font-size: 0.7em;
+    cursor: pointer;
+}
+
+.preset-chip:hover {
+    border-color: var(--pollen-coral);
+    color: var(--pollen-coral);
+}
+
+/* Robot Selector */
+.robot-list {
+    display: flex;
+    flex-direction: column;
+    gap: 8px;
+}
+
+.robot-card {
+    padding: 10px 14px;
+    background: var(--pollen-darker);
+    border: 2px solid transparent;
+    border-radius: 8px;
+    cursor: pointer;
+}
+
+.robot-card:hover {
+    background: var(--pollen-card-light);
+}
+
+.robot-card.selected {
+    border-color: var(--pollen-coral);
+}
+
+.robot-card .name {
+    font-weight: 600;
+    font-size: 0.9em;
+}
+
+.robot-card .id {
+    font-size: 0.75em;
+    color: var(--text-muted);
+    font-family: monospace;
+}
+
+/* Desktop Layout - Side by Side */
+@media (min-width: 900px) {
+    .app-container {
+        display: grid;
+        grid-template-columns: 1fr 1fr;
+        grid-template-rows: auto auto auto auto;
+        max-width: 1200px;
+        gap: 12px;
+    }
+
+    .video-container {
+        grid-column: 1;
+        grid-row: 1 / 3;
+    }
+
+    #robotSelector {
+        grid-column: 1;
+        grid-row: 3;
+    }
+
+    .panel:nth-of-type(1) { /* Head Control */
+        grid-column: 2;
+        grid-row: 1;
+    }
+
+    .panel:nth-of-type(2) { /* Antennas */
+        grid-column: 2;
+        grid-row: 2;
+    }
+
+    .panel:nth-of-type(3) { /* Sound */
+        grid-column: 2;
+        grid-row: 3;
+    }
+}
+
+/* Login View */
+.login-view {
+    min-height: 100vh;
+    min-height: 100dvh;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    padding: 20px;
+}
+
+.login-card {
+    background: var(--pollen-card);
+    padding: 40px;
+    border-radius: 16px;
+    text-align: center;
+    max-width: 380px;
+}
+
+.login-logo {
+    width: 72px;
+    height: 72px;
+    margin-bottom: 20px;
+    border-radius: 12px;
+}
+
+.login-card h2 {
+    color: var(--pollen-coral);
+    margin-bottom: 10px;
+    font-size: 1.5em;
+}
+
+.login-card p {
+    color: var(--text-secondary);
+    margin-bottom: 24px;
+    font-size: 0.9em;
+    line-height: 1.5;
+}
+
+.btn-hf {
+    background: #FFD21E;
+    color: #000;
+    border: none;
+    padding: 12px 28px;
+    border-radius: 8px;
+    font-size: 0.95em;
+    font-weight: 700;
+    cursor: pointer;
+    display: inline-flex;
+    align-items: center;
+    gap: 8px;
+}
+
+.hidden { display: none !important; }