Mirror Time

pyproject.toml

@@ -101,6 +101,7 @@ Reachy_OpenWebUI = [
   "sub_apps/marionette/marionette/static/*",
   "sub_apps/marionette/marionette/static/fonts/*",
   "sub_apps/marionette/marionette/assets/*",
+  "sub_apps/reachy_mirror/static/*",
   ".env.example",
   "demos/**/*.txt",
   "profiles/**/*.txt",

src/Reachy_OpenWebUI/console.py

@@ -33,6 +33,7 @@ from Reachy_OpenWebUI.audio.alsa_levels import (
 from Reachy_OpenWebUI.app_profiles import resolve_tool_profile_source
 from Reachy_OpenWebUI.sub_apps.conversation_app.chat_history import append_chat_history, clear_chat_history
 from Reachy_OpenWebUI.sub_apps.marionette.runtime_host import MarionetteRuntimeHost, _thread_running
+from Reachy_OpenWebUI.sub_apps.reachy_mirror import ReachyMirrorRuntimeHost
 from Reachy_OpenWebUI.config import config, set_runtime_mode
 from Reachy_OpenWebUI.sub_apps.attitudes import available_attitudes
 from Reachy_OpenWebUI.tool_server import register_reachy_tool_routes
@@ -317,6 +318,12 @@ class LocalStream:
             data_root=Path(self._instance_path or self._stable_env_path().parent) / "marionette",
             reset_live_pipeline=self._reset_live_pipeline_for_mode_change,
         )
+        self._reachy_mirror = ReachyMirrorRuntimeHost(
+            robot=self._robot,
+            handler=self.handler,
+            reset_live_pipeline=self._reset_live_pipeline_for_mode_change,
+            restore_head_tracking=self._apply_live_head_tracking_settings,
+        )
 
         self._init_settings_ui_if_needed()
         self._attach_app_dependencies()
@@ -934,6 +941,7 @@ class LocalStream:
             "active_profile": config.REACHY_MINI_CUSTOM_PROFILE or "",
             "cookaiware_active": config.REACHY_MINI_CUSTOM_PROFILE == COOKAIWARE_PROFILE,
             "marionette_active": self._marionette.is_running(),
+            "reachy_mirror_active": self._reachy_mirror.is_running(),
             "movement_running": movement_running,
             "head_wobbler_running": head_wobbler_running,
             "reachy_idle_attitude": idle_attitude,
@@ -979,6 +987,10 @@ class LocalStream:
                 self._settings_app.mount("/apps/marionette", self._marionette.app(), name="marionette")
             except Exception as exc:
                 logger.warning("Could not mount Marionette sub-app: %s", exc)
+            try:
+                self._settings_app.mount("/apps/reachy-mirror", self._reachy_mirror.app(), name="reachy-mirror")
+            except Exception as exc:
+                logger.warning("Could not mount Reachy Mirror sub-app: %s", exc)
 
         class OpenWebUISettingsPayload(BaseModel):
             openwebui_url: str
@@ -1075,6 +1087,16 @@ class LocalStream:
             result = self._marionette.stop()
             return JSONResponse({**result, **self._status_payload()})
 
+        @self._settings_app.post("/reachy-mirror/enter")
+        def _reachy_mirror_enter() -> JSONResponse:
+            result = self._reachy_mirror.start()
+            return JSONResponse({**result, **self._status_payload()})
+
+        @self._settings_app.post("/reachy-mirror/exit")
+        def _reachy_mirror_exit() -> JSONResponse:
+            result = self._reachy_mirror.stop()
+            return JSONResponse({**result, **self._status_payload()})
+
         @self._settings_app.get("/cooking/state")
         def _cooking_state() -> JSONResponse:
             return JSONResponse({"ok": True, **self._cooking_state_payload()})
@@ -2160,6 +2182,7 @@ class LocalStream:
         logger.info("Stopping LocalStream...")
 
         self._marionette.stop(restart_normal=False)
+        self._reachy_mirror.stop(restart_normal=False)
 
         # Signal async loops to stop
         self._pipeline_state = "shutting_down"

src/Reachy_OpenWebUI/sub_apps/cookAIware/cook_log.py

@@ -0,0 +1,68 @@
+from __future__ import annotations
+
+from datetime import datetime, timezone
+from pathlib import Path
+from typing import Any, Dict, List
+from uuid import uuid4
+
+from Reachy_OpenWebUI.sub_apps.cookAIware.data_store import load_json, save_json
+
+
+COOK_LOG_FILE = "cook_log.json"
+
+
+def _log_path(data_dir: Path) -> Path:
+    return data_dir / COOK_LOG_FILE
+
+
+def list_entries(data_dir: Path, limit: int = 20, query: str | None = None) -> List[Dict[str, Any]]:
+    entries = load_json(_log_path(data_dir), [])
+    if not isinstance(entries, list):
+        entries = []
+
+    cleaned = [entry for entry in entries if isinstance(entry, dict)]
+    if query:
+        needle = query.strip().lower()
+        cleaned = [
+            entry
+            for entry in cleaned
+            if needle in " ".join(str(value).lower() for value in entry.values())
+        ]
+
+    cleaned.sort(key=lambda entry: str(entry.get("created_at", "")), reverse=True)
+    return cleaned[: max(1, int(limit or 20))]
+
+
+def add_entry(
+    data_dir: Path,
+    note: str,
+    category: str = "note",
+    title: str | None = None,
+    tags: list[str] | None = None,
+    related_items: list[str] | None = None,
+) -> Dict[str, Any]:
+    entries = load_json(_log_path(data_dir), [])
+    if not isinstance(entries, list):
+        entries = []
+
+    clean_note = note.strip()
+    entry: Dict[str, Any] = {
+        "id": uuid4().hex,
+        "created_at": datetime.now(timezone.utc).isoformat(),
+        "category": (category or "note").strip().lower(),
+        "note": clean_note,
+    }
+    if title:
+        entry["title"] = title.strip()
+    if tags:
+        entry["tags"] = [str(tag).strip().lower() for tag in tags if str(tag).strip()]
+    if related_items:
+        entry["related_items"] = [str(item).strip().lower() for item in related_items if str(item).strip()]
+
+    entries.append(entry)
+    save_json(_log_path(data_dir), entries)
+    return entry
+
+
+def clear_entries(data_dir: Path) -> None:
+    save_json(_log_path(data_dir), [])

src/Reachy_OpenWebUI/sub_apps/cookAIware/data/app_settings.json

@@ -1,3 +1,4 @@
 {
-  "language": "ca"
+  "language": "en",
+  "unit_system": "imperial"
 }

src/Reachy_OpenWebUI/sub_apps/cookAIware/data/inventory.json

@@ -1,55 +1,55 @@
 [
   {
-    "name": "arroz",
-    "display_name": "arroz",
-    "quantity": 600.0,
-    "unit": "g",
+    "name": "rice",
+    "display_name": "Rice",
+    "quantity": 21.16,
+    "unit": "oz",
     "expiration_date": "2027-02-07",
-    "storage_location": "armario"
+    "storage_location": "pantry"
   },
   {
     "name": "pasta",
-    "display_name": "pasta",
-    "quantity": 1000.0,
-    "unit": "g",
+    "display_name": "Pasta",
+    "quantity": 35.27,
+    "unit": "oz",
     "expiration_date": "2027-02-07",
-    "storage_location": "armario"
+    "storage_location": "pantry"
   },
   {
-    "name": "pollo",
-    "display_name": "pollo",
+    "name": "chicken",
+    "display_name": "Chicken",
     "quantity": 0.0,
-    "unit": "g",
+    "unit": "oz",
     "expiration_date": "2026-02-10",
-    "storage_location": "nevera"
+    "storage_location": "fridge"
   },
   {
-    "name": "tomates cherry",
-    "display_name": "tomates cherry",
-    "quantity": 300.0,
-    "unit": "g",
+    "name": "cherry tomatoes",
+    "display_name": "Cherry Tomatoes",
+    "quantity": 10.58,
+    "unit": "oz",
     "expiration_date": "2026-02-14",
-    "storage_location": "armario"
+    "storage_location": "pantry"
   },
   {
-    "name": "mix de verduras",
-    "display_name": "mix de verduras",
+    "name": "mixed vegetables",
+    "display_name": "Mixed Vegetables",
     "quantity": 0.0,
-    "unit": "g",
+    "unit": "oz",
     "expiration_date": "2026-02-14",
     "storage_location": null
   },
   {
     "name": "chicken",
-    "display_name": "chicken",
+    "display_name": "Chicken",
     "quantity": 0.0,
-    "unit": "g",
+    "unit": "oz",
     "expiration_date": "2026-02-10",
-    "storage_location": "nevera"
+    "storage_location": "fridge"
   },
   {
     "name": "corn on the cob",
-    "display_name": "corn on the cob",
+    "display_name": "Corn on the Cob",
     "quantity": 0.0,
     "unit": "pcs",
     "expiration_date": null,

src/Reachy_OpenWebUI/sub_apps/cookAIware/data/meal_plan.json

@@ -23,57 +23,57 @@
       "meals": [
         {
           "meal": "dinner",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 5,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         },
         {
           "meal": "adult_lunch",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 1,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 150.0,
-              "unit": "g",
-              "display_quantity": "150.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 5.29,
+              "unit": "oz",
+              "display_quantity": "5.29 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 120.0,
-              "unit": "g",
-              "display_quantity": "120.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 4.23,
+              "unit": "oz",
+              "display_quantity": "4.23 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 100.0,
-              "unit": "g",
-              "display_quantity": "100.00 g"
+              "quantity": 3.53,
+              "unit": "oz",
+              "display_quantity": "3.53 oz"
             }
           ]
         }
@@ -85,29 +85,29 @@
       "meals": [
         {
           "meal": "dinner",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 5,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         }
@@ -119,57 +119,57 @@
       "meals": [
         {
           "meal": "dinner",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 5,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         },
         {
           "meal": "adult_lunch",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 1,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 150.0,
-              "unit": "g",
-              "display_quantity": "150.00 g"
+              "quantity": 5.29,
+              "unit": "oz",
+              "display_quantity": "5.29 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 120.0,
-              "unit": "g",
-              "display_quantity": "120.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 4.23,
+              "unit": "oz",
+              "display_quantity": "4.23 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 100.0,
-              "unit": "g",
-              "display_quantity": "100.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 3.53,
+              "unit": "oz",
+              "display_quantity": "3.53 oz"
             }
           ]
         }
@@ -181,29 +181,29 @@
       "meals": [
         {
           "meal": "dinner",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 5,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         }
@@ -215,57 +215,57 @@
       "meals": [
         {
           "meal": "dinner",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 5,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         },
         {
           "meal": "adult_lunch",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 1,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 150.0,
-              "unit": "g",
-              "display_quantity": "150.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 5.29,
+              "unit": "oz",
+              "display_quantity": "5.29 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 120.0,
-              "unit": "g",
-              "display_quantity": "120.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 4.23,
+              "unit": "oz",
+              "display_quantity": "4.23 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 100.0,
-              "unit": "g",
-              "display_quantity": "100.00 g"
+              "quantity": 3.53,
+              "unit": "oz",
+              "display_quantity": "3.53 oz"
             }
           ]
         }
@@ -277,57 +277,57 @@
       "meals": [
         {
           "meal": "lunch",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 5,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         },
         {
           "meal": "dinner",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 5,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         }
@@ -339,57 +339,57 @@
       "meals": [
         {
           "meal": "lunch",
-          "name": "Chicken with Tomates Cherry and Arroz",
+          "name": "Chicken with Cherry Tomatoes and Rice",
           "servings": 5,
           "ingredients": [
             {
               "name": "chicken",
               "display_name": "Chicken",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "tomates cherry",
-              "display_name": "Tomates Cherry",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "cherry tomatoes",
+              "display_name": "Cherry Tomatoes",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
-              "name": "arroz",
-              "display_name": "Arroz",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "name": "rice",
+              "display_name": "Rice",
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         },
         {
           "meal": "dinner",
-          "name": "Pollo with Mix De Verduras and Pasta",
+          "name": "Chicken with Mixed Vegetables and Pasta",
           "servings": 5,
           "ingredients": [
             {
-              "name": "pollo",
-              "display_name": "Pollo",
-              "quantity": 750.0,
-              "unit": "g",
-              "display_quantity": "750.00 g"
+              "name": "chicken",
+              "display_name": "Chicken",
+              "quantity": 26.46,
+              "unit": "oz",
+              "display_quantity": "26.46 oz"
             },
             {
-              "name": "mix de verduras",
-              "display_name": "Mix De Verduras",
-              "quantity": 600.0,
-              "unit": "g",
-              "display_quantity": "600.00 g"
+              "name": "mixed vegetables",
+              "display_name": "Mixed Vegetables",
+              "quantity": 21.16,
+              "unit": "oz",
+              "display_quantity": "21.16 oz"
             },
             {
               "name": "pasta",
               "display_name": "Pasta",
-              "quantity": 500.0,
-              "unit": "g",
-              "display_quantity": "500.00 g"
+              "quantity": 17.64,
+              "unit": "oz",
+              "display_quantity": "17.64 oz"
             }
           ]
         }

src/Reachy_OpenWebUI/sub_apps/cookAIware/data/shopping_list.json

@@ -1,27 +1,32 @@
 [
   {
-    "name": "arroz",
-    "quantity": 1600,
-    "unit": "g"
+    "name": "rice",
+    "quantity": 56.44,
+    "unit": "oz",
+    "display_name": "Rice"
   },
   {
-    "name": "mix de verduras",
-    "quantity": 2140,
-    "unit": "g"
+    "name": "mixed vegetables",
+    "quantity": 75.49,
+    "unit": "oz",
+    "display_name": "Mixed Vegetables"
   },
   {
     "name": "pasta",
-    "quantity": 200,
-    "unit": "g"
+    "quantity": 7.05,
+    "unit": "oz",
+    "display_name": "Pasta"
   },
   {
-    "name": "pollo",
-    "quantity": 6700,
-    "unit": "g"
+    "name": "chicken",
+    "quantity": 236.34,
+    "unit": "oz",
+    "display_name": "Chicken"
   },
   {
-    "name": "tomates cherry",
-    "quantity": 2620,
-    "unit": "g"
+    "name": "cherry tomatoes",
+    "quantity": 92.42,
+    "unit": "oz",
+    "display_name": "Cherry Tomatoes"
   }
 ]

src/Reachy_OpenWebUI/sub_apps/cookAIware/profiles/cookaiware/cook_log_action.py

@@ -0,0 +1,63 @@
+from __future__ import annotations
+
+from typing import Any, Dict
+
+from Reachy_OpenWebUI.tools.core_tools import Tool, ToolDependencies
+from Reachy_OpenWebUI.sub_apps.cookAIware.cook_log import add_entry, clear_entries, list_entries
+
+
+class CookLogActionTool(Tool):
+    name = "cook_log_action"
+    description = "Record or retrieve cooking notes, preferences, substitutions, and meal feedback."
+    parameters_schema = {
+        "type": "object",
+        "properties": {
+            "action": {"type": "string", "enum": ["add", "list", "search", "clear"]},
+            "note": {"type": "string"},
+            "title": {"type": "string"},
+            "category": {
+                "type": "string",
+                "enum": ["note", "preference", "meal_feedback", "substitution", "reminder"],
+            },
+            "tags": {"type": "array", "items": {"type": "string"}},
+            "related_items": {"type": "array", "items": {"type": "string"}},
+            "query": {"type": "string"},
+            "limit": {"type": "integer"},
+        },
+        "required": ["action"],
+    }
+
+    async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]:
+        if deps.data_dir is None:
+            return {"status": "error", "message": "Data directory not available."}
+
+        action = str(kwargs.get("action") or "").strip().lower()
+
+        if action == "add":
+            note = str(kwargs.get("note") or "").strip()
+            if not note:
+                return {"status": "needs_clarification", "message": "What should I log?", "missing": ["note"]}
+            entry = add_entry(
+                deps.data_dir,
+                note=note,
+                title=kwargs.get("title"),
+                category=str(kwargs.get("category") or "note"),
+                tags=kwargs.get("tags") if isinstance(kwargs.get("tags"), list) else None,
+                related_items=kwargs.get("related_items") if isinstance(kwargs.get("related_items"), list) else None,
+            )
+            return {"status": "ok", "message": "Cooking note logged.", "entry": entry}
+
+        if action in {"list", "search"}:
+            query = str(kwargs.get("query") or "").strip() if action == "search" else None
+            limit = int(kwargs.get("limit") or 20)
+            return {
+                "status": "ok",
+                "message": "Cooking log listed.",
+                "entries": list_entries(deps.data_dir, limit=limit, query=query),
+            }
+
+        if action == "clear":
+            clear_entries(deps.data_dir)
+            return {"status": "ok", "message": "Cooking log cleared."}
+
+        return {"status": "error", "message": "Unknown action."}

src/Reachy_OpenWebUI/sub_apps/cookAIware/profiles/cookaiware/tools.txt

@@ -3,10 +3,11 @@ inventory_action
 family_profile_action
 meal_plan_action
 shopping_list_action
-app_settings_action
-dance
-stop_dance
-play_emotion
+app_settings_action
+cook_log_action
+dance
+stop_dance
+play_emotion
 stop_emotion
 move_head
 sweep_look

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/__init__.py

@@ -0,0 +1,3 @@
+from Reachy_OpenWebUI.sub_apps.reachy_mirror.runtime_host import ReachyMirrorRuntimeHost
+
+__all__ = ["ReachyMirrorRuntimeHost"]

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/runtime.py

@@ -0,0 +1,317 @@
+from __future__ import annotations
+
+import base64
+import logging
+import math
+import threading
+import time
+from pathlib import Path
+from typing import Any
+
+from fastapi import FastAPI
+from fastapi.responses import FileResponse, StreamingResponse
+from pydantic import BaseModel
+from starlette.staticfiles import StaticFiles
+
+try:
+    import cv2
+    import numpy as np
+except Exception:  # pragma: no cover - mirror mode reports this at runtime
+    cv2 = None  # type: ignore
+    np = None  # type: ignore
+
+
+logger = logging.getLogger(__name__)
+
+VERTICAL_PITCH_CORRECTION = -5.0
+
+
+class MirrorSettings(BaseModel):
+    frameRateDown: int | None = None
+    motionReduction: int | None = None
+    showProcessing: bool | None = None
+    isMirror: bool | None = None
+
+
+class FrameData(BaseModel):
+    image: str | None = None
+
+
+class ReachyMirrorRuntime:
+    def __init__(self) -> None:
+        self.ready = False
+        self.is_processing = False
+        self.last_frame: np.ndarray | None = None
+        self.head_angles = [0.0, 0.0, 0.0]
+        self.antenna_angles = [0.0, 0.0]
+        self.frame_rate_down = 30
+        self.motion_reduction = 60
+        self.show_processing = True
+        self.is_mirror = True
+        self.frame_count = 0
+        self.frame_count_total = 0
+        self.down_value = 0
+        self.down_value_avg = 0
+        self._face_mesh: Any | None = None
+        self._hands: Any | None = None
+        self._mp_draw: Any | None = None
+        self._mp_hands: Any | None = None
+
+    def app(self) -> FastAPI:
+        app = FastAPI(title="Reachy Mirror")
+        static_dir = Path(__file__).parent / "static"
+        app.mount("/static", StaticFiles(directory=str(static_dir)), name="static")
+
+        @app.get("/")
+        def index() -> FileResponse:
+            return FileResponse(static_dir / "index.html")
+
+        @app.get("/ready")
+        def ready() -> dict[str, bool]:
+            return {"ready": self.ready}
+
+        @app.get("/webcam_feed")
+        def webcam_feed() -> StreamingResponse:
+            return StreamingResponse(
+                self._frame_generator(),
+                media_type="multipart/x-mixed-replace; boundary=frame",
+            )
+
+        @app.post("/settings")
+        def update_settings(state: MirrorSettings) -> dict[str, bool]:
+            if state.motionReduction is not None:
+                self.motion_reduction = max(0, min(100, int(state.motionReduction)))
+            if state.frameRateDown is not None:
+                self.frame_rate_down = max(1, min(60, int(state.frameRateDown)))
+            if state.showProcessing is not None:
+                self.show_processing = bool(state.showProcessing)
+            if state.isMirror is not None:
+                self.is_mirror = bool(state.isMirror)
+            return {"ok": True}
+
+        @app.post("/process_frame")
+        def process_frame(data: FrameData) -> dict[str, Any]:
+            return self.process_frame(data.image)
+
+        return app
+
+    def run(self, reachy_mini: Any, stop_event: threading.Event) -> None:
+        try:
+            self._ensure_vision()
+        except Exception as exc:
+            logger.error("Reachy Mirror vision dependencies are not available: %s", exc)
+            self.ready = False
+            while not stop_event.is_set():
+                time.sleep(0.5)
+            return
+        self.ready = True
+        t0_total = time.time()
+        t0_last = time.time()
+        t0 = time.time()
+
+        try:
+            from reachy_mini.utils import create_head_pose
+
+            reachy_mini.goto_target(
+                create_head_pose(pitch=VERTICAL_PITCH_CORRECTION),
+                antennas=[-0.5, 0.5],
+                body_yaw=0.0,
+                duration=1.0,
+            )
+        except Exception as exc:
+            logger.warning("Reachy Mirror greeting pose failed: %s", exc)
+
+        while not stop_event.is_set():
+            frame = self._get_robot_frame(reachy_mini)
+            if frame is not None:
+                image = cv2.resize(frame, (640, 480))
+                if self.is_mirror:
+                    image = cv2.flip(image, 1)
+                self.last_frame = image
+
+            self._apply_robot_target(reachy_mini)
+            self.frame_count += 1
+            self.frame_count_total += 1
+
+            now = time.time()
+            elapsed = now - t0_last
+            sleep_time = max(0.0, (1.0 / max(1, self.frame_rate_down)) - elapsed)
+            t0_last = now
+            if now - t0 > 1.0:
+                self.down_value = math.floor(self.frame_count / (now - t0) * 10) / 10
+                self.down_value_avg = math.floor(self.frame_count_total / (now - t0_total) * 10) / 10
+                t0 = now
+                self.frame_count = 0
+            time.sleep(sleep_time)
+
+        self.ready = False
+
+    def process_frame(self, image: str | None) -> dict[str, Any]:
+        if not image or self.is_processing:
+            return {}
+        self.is_processing = True
+        try:
+            self._ensure_vision()
+            image_data = image.split(",", 1)[1] if "," in image else image
+            image_bytes = base64.b64decode(image_data)
+            frame = cv2.imdecode(np.frombuffer(image_bytes, np.uint8), cv2.IMREAD_COLOR)
+            if frame is None:
+                return {"error": "Could not decode frame."}
+            processed = self._draw_landmarks_to_frame(frame)
+            if processed is not None and self.show_processing:
+                ok, buffer = cv2.imencode(".jpg", processed)
+                if not ok:
+                    return {"error": "Could not encode frame."}
+                encoded = base64.b64encode(buffer).decode("utf-8")
+                return {
+                    "image": f"data:image/jpeg;base64,{encoded}",
+                    "head": [int(self.head_angles[0]), int(self.head_angles[1]), int(self.head_angles[2])],
+                    "hands": [
+                        int(180 * self.antenna_angles[0] / math.pi),
+                        int(180 * self.antenna_angles[1] / math.pi),
+                    ],
+                    "downValue": self.down_value,
+                    "downValueAvg": self.down_value_avg,
+                }
+            return {}
+        except Exception as exc:
+            logger.warning("Reachy Mirror frame processing failed: %s", exc)
+            return {"error": str(exc)}
+        finally:
+            self.is_processing = False
+
+    def _ensure_vision(self) -> None:
+        if self._face_mesh is not None:
+            return
+        if cv2 is None or np is None:
+            raise RuntimeError("OpenCV and NumPy are required for Reachy Mirror.")
+        import mediapipe as mp
+
+        self._mp_hands = mp.solutions.hands
+        self._mp_draw = mp.solutions.drawing_utils
+        self._face_mesh = mp.solutions.face_mesh.FaceMesh(
+            static_image_mode=True,
+            max_num_faces=1,
+            min_detection_confidence=0.5,
+            min_tracking_confidence=0.5,
+        )
+        self._hands = self._mp_hands.Hands()
+
+    def _get_robot_frame(self, reachy_mini: Any) -> np.ndarray | None:
+        try:
+            return reachy_mini.media.get_frame()
+        except Exception as exc:
+            logger.debug("Reachy Mirror robot frame unavailable: %s", exc)
+            return None
+
+    def _apply_robot_target(self, reachy_mini: Any) -> None:
+        try:
+            from reachy_mini.utils import create_head_pose
+
+            reduction = self.motion_reduction / 100.0
+            reachy_mini.set_target(
+                head=create_head_pose(
+                    pitch=-self.head_angles[0] * reduction + VERTICAL_PITCH_CORRECTION,
+                    yaw=self.head_angles[1] * reduction,
+                    roll=-self.head_angles[2] * reduction,
+                ),
+                antennas=self.antenna_angles,
+            )
+        except Exception as exc:
+            logger.debug("Reachy Mirror target update failed: %s", exc)
+
+    def _frame_generator(self) -> Any:
+        while True:
+            if self.last_frame is None:
+                time.sleep(0.05)
+                continue
+            ok, jpeg = cv2.imencode(".jpg", self.last_frame)
+            if ok:
+                yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + jpeg.tobytes() + b"\r\n"
+            time.sleep(0.05)
+
+    @staticmethod
+    def _rotation_matrix_to_angles(rotation_matrix: np.ndarray) -> np.ndarray:
+        x = math.atan2(rotation_matrix[2, 1], rotation_matrix[2, 2])
+        y = math.atan2(
+            -rotation_matrix[2, 0],
+            math.sqrt(rotation_matrix[0, 0] ** 2 + rotation_matrix[1, 0] ** 2),
+        )
+        z = math.atan2(rotation_matrix[1, 0], rotation_matrix[0, 0])
+        return np.array([x, y, z]) * 180.0 / math.pi
+
+    def _draw_landmarks_to_frame(self, image: np.ndarray) -> np.ndarray | None:
+        if self.is_mirror:
+            image = cv2.flip(image, 1)
+        img_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        self._process_hands(image, img_rgb)
+        return self._process_head(image, img_rgb)
+
+    def _process_hands(self, image: np.ndarray, img_rgb: np.ndarray) -> None:
+        results = self._hands.process(img_rgb)
+        hand_angles: list[float] = []
+        hand_types: list[str] = []
+        if not results.multi_hand_landmarks:
+            self.antenna_angles = [0.0, 0.0]
+            return
+        for hand in results.multi_handedness:
+            hand_types.append(hand.classification[0].label)
+        for hand_lms in results.multi_hand_landmarks:
+            self._mp_draw.draw_landmarks(image, hand_lms, self._mp_hands.HAND_CONNECTIONS, None)
+            base = None
+            tip = None
+            h, w, _ = image.shape
+            for idx, lm in enumerate(hand_lms.landmark):
+                point = [int(lm.x * w), int(lm.y * h)]
+                if idx == 0:
+                    base = point
+                elif idx == 8:
+                    tip = point
+            if base is not None and tip is not None:
+                hand_angles.append(math.atan2(tip[0] - base[0], tip[1] - base[1]))
+
+        angles = [0.0, 0.0]
+        for index, angle in enumerate(hand_angles[:2]):
+            hand_type = hand_types[index] if index < len(hand_types) else ""
+            if hand_type == "Left":
+                angles[0] = -angle + math.pi
+            else:
+                angles[1] = -angle - math.pi
+        if abs(angles[0]) > math.pi:
+            angles[0] -= 2 * math.pi
+        if abs(angles[1]) > math.pi:
+            angles[1] += 2 * math.pi
+        self.antenna_angles = angles
+
+    def _process_head(self, image: np.ndarray, img_rgb: np.ndarray) -> np.ndarray | None:
+        results = self._face_mesh.process(img_rgb)
+        if not results.multi_face_landmarks:
+            return None
+
+        real_world = np.array(
+            [[285, 528, 200], [285, 371, 152], [197, 574, 128], [173, 425, 108], [360, 574, 128], [391, 425, 108]],
+            dtype=np.float64,
+        )
+        h, w, _ = image.shape
+        image_points = []
+        for face_landmarks in results.multi_face_landmarks:
+            for idx, lm in enumerate(face_landmarks.landmark):
+                x, y = int(lm.x * w), int(lm.y * h)
+                if self.show_processing:
+                    cv2.circle(image, (x, y), 1, (255, 196, 69), cv2.FILLED)
+                if idx in [1, 9, 57, 130, 287, 359]:
+                    image_points.append([x, y])
+            break
+
+        if len(image_points) != 6:
+            return None
+        image_points_np = np.array(image_points, dtype=np.float64)
+        focal_length = float(w)
+        camera_matrix = np.array([[focal_length, 0, w / 2], [0, focal_length, h / 2], [0, 0, 1]])
+        dist_matrix = np.zeros((4, 1), dtype=np.float64)
+        ok, rotation_vec, _ = cv2.solvePnP(real_world, image_points_np, camera_matrix, dist_matrix)
+        if not ok:
+            return None
+        rotation_matrix, _ = cv2.Rodrigues(rotation_vec)
+        self.head_angles = self._rotation_matrix_to_angles(rotation_matrix).tolist()
+        return image

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/runtime_host.py

@@ -0,0 +1,124 @@
+from __future__ import annotations
+
+import logging
+import threading
+from typing import Any, Callable
+
+from Reachy_OpenWebUI.sub_apps.reachy_mirror.runtime import ReachyMirrorRuntime
+
+
+logger = logging.getLogger(__name__)
+
+
+def _thread_running(thread: Any) -> bool:
+    return bool(thread is not None and hasattr(thread, "is_alive") and thread.is_alive())
+
+
+class ReachyMirrorRuntimeHost:
+    def __init__(
+        self,
+        *,
+        robot: Any,
+        handler: Any,
+        reset_live_pipeline: Callable[[], None],
+        restore_head_tracking: Callable[[], None] | None = None,
+    ) -> None:
+        self._robot = robot
+        self._handler = handler
+        self._reset_live_pipeline = reset_live_pipeline
+        self._restore_head_tracking = restore_head_tracking
+        self._runtime = ReachyMirrorRuntime()
+        self._app = self._runtime.app()
+        self._thread: threading.Thread | None = None
+        self._stop_event = threading.Event()
+        self._normal_movement_was_running = False
+        self._head_wobbler_was_running = False
+
+    def app(self) -> Any:
+        return self._app
+
+    def is_running(self) -> bool:
+        return bool(self._thread and self._thread.is_alive())
+
+    def start(self) -> dict[str, Any]:
+        if self.is_running():
+            return {"ok": True, "message": "Reachy Mirror already running."}
+        self._reset_live_pipeline()
+        self._pause_workers()
+        self._stop_event.clear()
+
+        def _run() -> None:
+            try:
+                self._runtime.run(self._robot, self._stop_event)
+            except Exception:
+                logger.exception("Reachy Mirror runtime crashed")
+            finally:
+                if not self._stop_event.is_set():
+                    self._restore_workers()
+
+        self._thread = threading.Thread(target=_run, name="reachy-mirror-runtime", daemon=True)
+        self._thread.start()
+        return {"ok": True, "message": "Reachy Mirror started."}
+
+    def stop(self, *, restart_normal: bool = True) -> dict[str, Any]:
+        was_running = self.is_running()
+        self._stop_event.set()
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=5.0)
+        self._thread = None
+        if restart_normal:
+            self._restore_workers()
+        else:
+            self._normal_movement_was_running = False
+            self._head_wobbler_was_running = False
+        return {"ok": True, "message": "Reachy Mirror stopped." if was_running else "Reachy Mirror was not running."}
+
+    def _pause_workers(self) -> None:
+        deps = getattr(self._handler, "deps", None)
+        movement_manager = getattr(deps, "movement_manager", None)
+        head_wobbler = getattr(deps, "head_wobbler", None)
+        camera_worker = getattr(deps, "camera_worker", None)
+        self._normal_movement_was_running = bool(
+            movement_manager is not None and _thread_running(getattr(movement_manager, "_thread", None))
+        )
+        self._head_wobbler_was_running = bool(
+            head_wobbler is not None and _thread_running(getattr(head_wobbler, "_thread", None))
+        )
+        if camera_worker is not None and hasattr(camera_worker, "set_head_tracking_enabled"):
+            try:
+                camera_worker.set_head_tracking_enabled(False)
+            except Exception as exc:
+                logger.warning("Could not pause head tracking for Reachy Mirror: %s", exc)
+        if movement_manager is not None and self._normal_movement_was_running:
+            try:
+                movement_manager.stop()
+            except Exception as exc:
+                logger.warning("Could not pause normal movement for Reachy Mirror: %s", exc)
+        if head_wobbler is not None and self._head_wobbler_was_running:
+            try:
+                head_wobbler.stop()
+            except Exception as exc:
+                logger.warning("Could not pause speech movement for Reachy Mirror: %s", exc)
+
+    def _restore_workers(self) -> None:
+        deps = getattr(self._handler, "deps", None)
+        movement_manager = getattr(deps, "movement_manager", None)
+        head_wobbler = getattr(deps, "head_wobbler", None)
+        if movement_manager is not None and self._normal_movement_was_running:
+            try:
+                movement_manager.start()
+            except Exception as exc:
+                logger.warning("Could not restore normal movement after Reachy Mirror: %s", exc)
+        if head_wobbler is not None and self._head_wobbler_was_running:
+            try:
+                head_wobbler.start()
+            except Exception as exc:
+                logger.warning("Could not restore speech movement after Reachy Mirror: %s", exc)
+        if self._restore_head_tracking is not None:
+            try:
+                self._restore_head_tracking()
+            except Exception as exc:
+                logger.warning("Could not restore head tracking after Reachy Mirror: %s", exc)
+        self._normal_movement_was_running = False
+        self._head_wobbler_was_running = False

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/static/index.html

@@ -0,0 +1,99 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <title>Reachy Mirror</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1" />
+    <link rel="stylesheet" href="./static/style.css" />
+  </head>
+  <body>
+    <h1>Reachy Mirror</h1>
+    <div class="container">
+
+      <div class="controls">
+        <div class="controls-panel panel">
+          <div class="setting-item">
+            <div class="setting-label">
+              <label for="motionReductionSlider">Motion</label>
+            </div>
+            <div class="slider-wrapper">
+              <input type="range" id="motionReductionSlider" min="20" max="100" class="slider" />
+            </div>
+            <div class="setting-value">
+              <span id="motionReductionValue"></span>%
+            </div>
+          </div>
+
+          <div class="setting-item">
+            <div class="setting-label">
+              <label for="frameRateUpSlider">Upload Limit</label>
+            </div>
+            <div class="slider-wrapper">
+              <input type="range" id="frameRateUpSlider" min="1" max="30" class="slider" />
+            </div>
+            <div class="setting-value">
+              <span id="frameRateUpValue"></span> FPS
+            </div>
+          </div>
+
+          <div class="setting-item">
+            <div class="setting-label">
+              <label for="frameRateDownSlider">Robot Limit</label>
+            </div>
+            <div class="slider-wrapper">
+              <input type="range" id="frameRateDownSlider" min="1" max="60" class="slider" />
+            </div>
+            <div class="setting-value">
+              <span id="frameRateDownValue"></span> FPS
+            </div>
+          </div>
+        </div>
+        
+        <div class="controls-panel panel">
+          <div class="setting-item">
+            <div class="setting-label-right">
+              <label for="showProcessingToggle">Show Process</label>
+            </div>
+            <label class="switch">
+              <input type="checkbox" id="showProcessingToggle" checked />
+              <span class="switch-slider"></span>
+            </label>
+          </div>
+
+          <div class="setting-item">
+            <div class="setting-label-right">
+              <label for="isMirrorToggle">Mirror Mode</label>
+            </div>
+            <label class="switch">
+              <input type="checkbox" id="isMirrorToggle" checked />
+              <span class="switch-slider"></span>
+            </label>
+          </div>
+          
+          <div class="setting-button">
+            <button id="resetButton">RESET</button>
+          </div>
+        </div>
+      </div>
+
+      <div class="video-container">
+        <video id="webcam" autoplay playsinline></video>
+        <div id="processed-wrapper" style="display: none;">
+          <img id="processed" />
+          <div id="processed-head"></div>
+          <div id="processed-hands"></div>
+        </div>
+        <img id="remote" style="display: none;" />
+      </div>
+
+      <div class="status">
+        <div id="spinner"></div>
+        <div id="status">Loading...</div>
+      </div>
+    </div>
+    <div class="footer">
+      Reachy Mirror
+    </div>
+    <script src="./static/main.js"></script>
+  </body>
+</html>

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/static/main.js

@@ -0,0 +1,266 @@
+// ** INITIAL VARS
+let appState
+let stream
+let frameRateUp = 10
+let frameCount = 0
+let frameCountTotal = 0
+let streamInterval
+let readyInterval
+let ready = false
+let t0 = new Date()
+let t0Total = new Date()
+
+// ** PROCESS STATUS
+async function checkStatus() {
+  try {
+    const resp = await fetch('./ready')
+    const data = await resp.json()
+    if( data.ready ) {
+      status.textContent = 'Streaming'
+      remote.style.display = ''
+      spinner.style.display = 'none'
+      remote.setAttribute('src', './webcam_feed')
+      await startWebcam()
+      await setAppState()
+      setStreamInterval()
+      setReadyInterval()
+    }
+    else {
+      status.textContent = 'Initializing...'
+      processedWrapper.style.display = 'none'
+      spinner.style.display = 'block'
+    }
+  } catch( e ) {
+    status.textContent = 'Connecting...'
+    processedWrapper.style.display = 'none'
+    remote.style.display = 'none'
+    remote.setAttribute('src', '')
+    spinner.style.display = 'block'
+  }
+}
+
+function setReadyInterval(running) {
+  if( readyInterval ) {
+    clearInterval(readyInterval)
+    readyInterval = null
+  }
+  if( running ) readyInterval = setInterval(checkStatus, 1000)
+}
+
+function setStreamInterval() {
+  if( streamInterval ) clearInterval(streamInterval)
+  streamInterval = setInterval(sendFrameToBackend, 1000/appState.frameRateUp)
+}
+
+async function startWebcam() {
+  try {
+    stream = await navigator.mediaDevices.getUserMedia({ video: { width: { ideal: 640 }, height: { ideal: 480 } } })
+    webcam.srcObject = stream
+    frameCount = 0
+    frameCountTotal = 0
+    t0 = new Date()
+    t0Total = new Date()
+  } catch (err) {
+    console.error('Video error:', err)
+  }
+}
+
+function stopWebcam() {
+  if( stream ) {
+    stream.getTracks().forEach(track => track.stop())
+    webcam.srcObject = null
+    stream = null
+  }
+    
+  if( streamInterval ) {
+    clearInterval(streamInterval)
+    streamInterval = null
+  }
+    
+  processed.src = ''
+  processedHead.textContent = ''
+  processedHands.textContent = ''
+  processedWrapper.style.display = 'none'
+}
+
+// ** HTML ELEMENT
+const status = document.getElementById('status')
+const spinner = document.getElementById('spinner')
+const webcam = document.getElementById('webcam')
+const remote = document.getElementById('remote')
+const processed = document.getElementById('processed')
+const processedWrapper = document.getElementById('processed-wrapper')
+const processedHead = document.getElementById('processed-head')
+const processedHands = document.getElementById('processed-hands')
+const frameRateUpValue = document.getElementById('frameRateUpValue')
+const frameRateDownValue = document.getElementById('frameRateDownValue')
+const motionReductionValue = document.getElementById('motionReductionValue')
+const showProcessingToggle = document.getElementById('showProcessingToggle')
+const isMirrorToggle = document.getElementById('isMirrorToggle')
+
+// * FPS UP
+document.getElementById('frameRateUpSlider').addEventListener('input', function() {
+  document.getElementById('frameRateUpValue').textContent = parseInt(this.value)
+})
+document.getElementById('frameRateUpSlider').addEventListener('change', function() {
+  const value = parseInt(this.value)
+  appState.frameRateUp = value
+  setCookie('frameRateUp', value)
+  setStreamInterval()
+})
+
+// * FPS DOWN
+document.getElementById('frameRateDownSlider').addEventListener('input', function() {
+  document.getElementById('frameRateDownValue').textContent = parseInt(this.value)
+})
+document.getElementById('frameRateDownSlider').addEventListener('change', async function() {
+  const value = parseInt(this.value)
+  appState.frameRateDown = value
+  setCookie('frameRateDown', value)
+  await fetch('./settings', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ frameRateDown: value })
+  })
+})
+
+// * MOTION REDUCTION
+document.getElementById('motionReductionSlider').addEventListener('input', function() {
+  document.getElementById('motionReductionValue').textContent = parseInt(this.value)
+})
+document.getElementById('motionReductionSlider').addEventListener('change', async function() {
+  const value = parseInt(this.value)
+  appState.motionReduction = value
+  await fetch('./settings', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ motionReduction: value })
+  })
+  setCookie('motionReduction', value)
+})
+
+// * PROCESSING DISPLAY
+document.getElementById('showProcessingToggle').addEventListener('change', async function() {
+  appState.showProcessing = this.checked
+  await fetch('./settings', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ showProcessing: this.checked })
+  })
+  setCookie('showProcessing', this.checked ? 'true' : 'false')
+  processedWrapper.style.display = this.checked ? 'block' : 'none'
+})
+
+// * MIRROR MODE
+document.getElementById('isMirrorToggle').addEventListener('change', async function() {
+  appState.isMirror = this.checked
+  await fetch('./settings', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ isMirror: this.checked })
+  })
+  setCookie('isMirror', this.checked ? 'true' : 'false')
+})
+
+document.getElementById('resetButton').addEventListener('click', async function() {
+  reset()
+  setAppState()
+})
+
+
+// ** COOKIE MANAGEMENT
+function setCookie(key, value) {
+    const expires = new Date()
+    expires.setTime(expires.getTime() + (1 * 24 * 60 * 60 * 1000))
+    document.cookie = key + '=' + value + ';expires=' + expires.toUTCString()
+}
+
+function getCookie(key) {
+    const keyValue = document.cookie.match('(^|;) ?' + key + '=([^;]*)(;|$)')
+    return keyValue ? keyValue[2] : null
+}
+
+function deleteCookie(name) {
+  document.cookie = name+'=; Max-Age=-99999999;';
+}
+
+// ** BACKEND HANDLER
+async function sendFrameToBackend() {
+  if (!webcam || webcam.paused || webcam.ended) return
+  
+  const canvas = document.createElement('canvas')
+  canvas.width = webcam.videoWidth
+  canvas.height = webcam.videoHeight
+  const ctx = canvas.getContext('2d')
+  ctx.drawImage(webcam, 0, 0)
+  const imageData = canvas.toDataURL('image/jpeg', 0.8)
+
+  try {
+    const resp = await fetch('./process_frame', {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify({ image: imageData })
+    })
+    if( appState.showProcessing ) {
+      const data = await resp.json()
+      if( data.image ) {
+        processed.src = data.image
+        frameCount++
+        frameCountTotal++
+        const now = new Date()
+        if( now - t0 > 1000 ) { // 1 second
+      status.textContent = `Streaming `
+          status.textContent += `• UP: ${Math.floor(frameCount/(now - t0)*10000)/10} FPS (~avg ${Math.floor(frameCountTotal/(now - t0Total)*10000)/10})`
+          if( data.downValue && data.downValueAvg ) status.textContent += ` • DOWN: ${data.downValue} FPS (~avg ${data.downValueAvg})`
+          t0 = now
+          frameCount = 0
+        }
+        if( data.head ) processedHead.textContent = `pitch: ${data.head[0]}\nyaw: ${data.head[1]}\nroll: ${data.head[2]}`
+        if( data.hands ) processedHands.textContent = `left: ${data.hands[0]}\nright: ${data.hands[1]}`
+        processedWrapper.style.display = 'block'
+      }
+      else if( data.error ) console.error('Backend error:', data.error)
+    }
+  }
+  catch(e) {
+    console.error('Network error:', e)
+    stopWebcam()
+    setReadyInterval(true)
+  }
+}
+
+function reset() {
+  deleteCookie('frameRateUp')
+  deleteCookie('frameRateDown')
+  deleteCookie('motionReduction')
+  deleteCookie('showProcessing')
+  deleteCookie('isMirror')
+}
+
+async function setAppState() {
+  appState = {}
+  appState.frameRateUp = frameRateUpSlider.value = frameRateUpValue.textContent = getCookie('frameRateUp') ?? 30, // 30 FPS UP
+  appState.frameRateDown = frameRateDownSlider.value = frameRateDownValue.textContent = getCookie('frameRateDown') ?? 60, // 60 FPS DOWN
+  appState.motionReduction = motionReductionSlider.value = motionReductionValue.textContent = getCookie('motionReduction') ?? 60, // 60% by default
+  appState.showProcessing = showProcessingToggle.checked = getCookie('showProcessing') === null ? true : getCookie('showProcessing') === 'true' ? true : false // Show processed
+  processedWrapper.style.display = 'none'
+  appState.isMirror = isMirrorToggle.checked = getCookie('isMirror') === null ? true : getCookie('isMirror') === 'true' ? true : false // Mirror mode
+
+  await fetch('./settings', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({
+      frameRateDown: appState.frameRateDown,
+      motionReduction: appState.motionReduction,
+      showProcessing: appState.showProcessing,
+      isMirror: appState.isMirror
+    })
+  })
+}
+
+window.addEventListener('beforeunload', _ => {
+  stopWebcam()
+  setReadyInterval()
+})
+
+setReadyInterval(true)

src/Reachy_OpenWebUI/sub_apps/reachy_mirror/static/style.css

@@ -0,0 +1,367 @@
+:root {
+  --bg: #667eea;
+  --bg-2: #764ba2;
+  --panel: rgba(11, 18, 36, 0.8);
+  --border: rgba(255, 255, 255, 0.08);
+  --text: #eaf2ff;
+  --muted: #9fb6d7;
+  --ok: #4ce0b3;
+  --warn: #ffb547;
+  --error: #ff5c70;
+  --accent: #45c4ff;
+  --hover: #1a739d;
+  --accent-2: #5ef0c1;
+  --background: #e9ecef;
+  --shadow: 0 20px 70px rgba(0, 0, 0, 0.45);
+}
+
+* {
+  margin: 0;
+  padding: 0;
+  box-sizing: border-box;
+}
+
+body {
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+  background: radial-gradient(circle at 20% 20%, rgba(69, 196, 255, 0.16), transparent 35%),
+              radial-gradient(circle at 80% 0%, rgba(94, 240, 193, 0.16), transparent 32%),
+              linear-gradient(135deg, var(--bg), var(--bg-2));
+  color: var(--text);
+  min-height: 100vh;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  justify-content: center;
+  color: var(--text);
+  padding: 20px;
+}
+
+a,
+a:hover,
+&:link,
+&:visited,
+&:active {
+  color: white;
+  text-decoration: none;
+}
+
+.footer {
+  position: sticky;
+  bottom: 10px;
+  left: 50%;
+  transform: translateX(-50%);
+}
+
+#spinner {
+  width: 46px;
+  height: 46px;
+  border: 4px solid rgba(255,255,255,0.15);
+  border-top-color: var(--accent);
+  border-radius: 50%;
+  animation: spin 1s linear infinite;
+  margin-bottom: 12px;
+}
+@keyframes spin { to { transform: rotate(360deg); } }
+#status { color: var(--text); margin: 0; letter-spacing: 0.4px; }
+
+.panel {
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 14px;
+  padding: 16px 24px;
+  box-shadow: var(--shadow);
+  backdrop-filter: blur(10px);
+}
+
+.container {
+  text-align: center;
+  width: 100%;
+  padding-bottom: 20px;
+}
+
+.video-container {
+  justify-content: center;
+  display: flex;
+  gap: 20px;
+  margin-bottom: 10px;
+}
+
+h1 {
+  display: flex;
+  align-items: center;
+  margin-bottom: 15px;
+}
+
+.emoji {
+  font-size: 24px;
+  margin-right: 10px;
+  width: 32px;
+  height: 32px;
+  background-color: white;
+  border-radius: 50%;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+}
+
+.status {
+  display: flex;
+  flex-direction: column;
+  justify-content: center;
+  align-items: center;
+  gap: 10px;
+}
+
+#processed-wrapper {
+  position: relative;
+  width: 50%;
+}
+
+#processed-head,
+#processed-hands {
+  position: absolute;
+  top: 20px;
+  color: var(--text);
+  white-space: pre-wrap;
+  text-transform: capitalize;
+  font-family: 'Courier New', Courier, monospace;
+  text-align: left;
+}
+
+#processed-head {
+  left: 20px;
+}
+
+#processed-hands {
+  right: 20px;
+}
+
+#remote,
+#webcam,
+#processed {
+  background: white;
+  width: 50%;
+  border-radius: 1em;
+  padding: 4px;
+  box-shadow: var(--shadow);
+  backdrop-filter: blur(10px);
+}
+
+#processed {
+  width: 100%;
+}
+
+#webcam {
+  display: none;
+  visibility: hidden;
+}
+
+.controls {
+  border-radius: 8px;
+  margin: 20px 0;
+  display: flex;
+  justify-content: center;
+  gap: 20px;
+}
+
+.controls-panel {
+  display: flex;
+  flex-direction: column;
+  gap: 10px;
+}
+
+.setting-item {
+  display: flex;
+  align-items: center;
+  padding: 8px 0;
+}
+
+.setting-button {
+  display: flex;
+  justify-content: end;
+  padding: 8px 0;
+}
+
+label {
+  display: flex;
+  align-items: center;
+}
+
+.setting-label {
+  width: 160px;
+  text-align: left;
+}
+
+.setting-label-right {
+  width: 190px;
+  text-align: left;
+}
+
+.setting-value {
+  width: 80px;
+  text-align: right;
+}
+
+
+button {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  padding: 11px 16px;
+  border: none;
+  border-radius: 10px;
+  background: linear-gradient(120deg, var(--accent), var(--accent-2));
+  color: var(--text);
+  cursor: pointer;
+  font-weight: 600;
+  letter-spacing: 0.2px;
+  box-shadow: 0 14px 40px rgba(69, 196, 255, 0.25);
+  transition: transform 0.12s ease, filter 0.12s ease, box-shadow 0.12s ease;
+}
+button:hover { filter: brightness(1.06); transform: translateY(-1px); }
+button:active { transform: translateY(0); }
+button.ghost {
+  background: rgba(255, 255, 255, 0.05);
+  color: var(--text);
+  box-shadow: none;
+  border: 1px solid var(--border);
+}
+button.ghost:hover { border-color: rgba(94, 240, 193, 0.4); }
+
+.slider-container {
+  width: 100%;
+  margin: 15px 0;
+}
+
+.slider-container label {
+  display: block;
+  margin-bottom: 5px;
+  font-weight: 500;
+  color: #495057;
+}
+
+.slider-wrapper {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+}
+
+.slider-value {
+  min-width: 30px;
+  text-align: right;
+  font-weight: bold;
+  color: var(--accent);
+}
+
+input[type="range"] {
+  -webkit-appearance: none;
+  appearance: none;
+  width: 100%;
+  height: 10px;
+  border-radius: 4px;
+  background: var(--background);
+  outline: none;
+  margin: 10px 0;
+}
+
+.switch {
+  position: relative;
+  display: inline-block;
+  width: 50px;
+  height: 24px;
+}
+
+.switch input {
+  opacity: 0;
+  width: 0;
+  height: 0;
+}
+
+.switch-slider {
+  position: absolute;
+  cursor: pointer;
+  top: 0;
+  left: 0;
+  right: 0;
+  bottom: 0;
+  background-color: var(--muted);
+  transition: 0.4s;
+  border-radius: 24px;
+}
+
+.switch-slider:before {
+  position: absolute;
+  content: "";
+  height: 16px;
+  width: 16px;
+  left: 4px;
+  bottom: 4px;
+  background-color: var(--text);
+  transition: 0.4s;
+  border-radius: 50%;
+}
+
+input:checked + .switch-slider {
+  background-color: var(--accent);
+}
+
+input:focus + .switch-slider {
+  box-shadow: 0 0 1px var(--accent);
+}
+
+input[type="range"]::-moz-range-track {
+  width: 100%;
+  height: 10px;
+  border-radius: 4px;
+  background: var(--background);
+  border: none;
+}
+
+input[type="range"]::-webkit-slider-runnable-track {
+  height: 10px;
+  border-radius: 4px;
+  background: var(--background);
+}
+
+input[type="range"]::-moz-range-progress {
+  height: 10px;
+  border-radius: 4px;
+  background-color: var(--accent); 
+}
+
+input[type="range"]::-webkit-slider-thumb {
+  -webkit-appearance: none;
+  appearance: none;
+  width: 24px;
+  height: 24px;
+  border-radius: 50%;
+  background: var(--accent);
+  cursor: pointer;
+  transition: all 0.15s ease;
+  transform: translateY(-8px);
+}
+
+input[type="range"]::-moz-range-thumb {
+  width: 24px;
+  height: 24px;
+  border: none;
+  border-radius: 50%;
+  background: var(--accent);
+  cursor: pointer;
+  transition: all 0.15s ease;
+}
+
+input[type="range"]::-webkit-slider-thumb:hover {
+  background: var(--hover);
+  transform: translateY(-8px) scale(1.2);
+}
+
+input[type="range"]::-moz-range-thumb:hover {
+  background: var(--hover);
+  transform: scale(1.2);
+}
+
+input:checked + .switch-slider:before {
+  transform: translateX(26px);
+}
+