Finalize Reachy homepage layout and simulator changes

.gitignore

@@ -1 +1,4 @@
 .env
+.reference/
+app/.npm-cache/
+app/test-results/

app/package-lock.json

@@ -21,6 +21,7 @@
         "zustand": "^5.0.15"
       },
       "devDependencies": {
+        "@playwright/test": "^1.63.0",
         "@vitejs/plugin-react": "^6.1.0",
         "vite": "^8.2.2"
       }
@@ -222,7 +223,6 @@
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       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@babel/runtime": "^7.18.3",
         "@emotion/babel-plugin": "^11.13.5",
@@ -266,7 +266,6 @@
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       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@babel/runtime": "^7.18.3",
         "@emotion/babel-plugin": "^11.13.5",
@@ -579,6 +578,22 @@
         "url": "https://github.com/sponsors/Boshen"
       }
     },
+    "node_modules/@playwright/test": {
+      "version": "1.63.0",
+      "resolved": "https://registry.npmjs.org/@playwright/test/-/test-1.63.0.tgz",
+      "integrity": "sha512-oxMK4vllB9RK5NQ2l1pq1IfOf2AvnEuj/vYGDj0H2nMtmtZpKtCwt/l00GEO6xjGfpBNAvjovvYdCm50dRQkpQ==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "playwright": "1.63.0"
+      },
+      "bin": {
+        "playwright": "cli.js"
+      },
+      "engines": {
+        "node": ">=20"
+      }
+    },
     "node_modules/@popperjs/core": {
       "version": "2.11.8",
       "resolved": "https://registry.npmjs.org/@popperjs/core/-/core-2.11.8.tgz",
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       "license": "MIT"
     },
+    "node_modules/playwright": {
+      "version": "1.63.0",
+      "resolved": "https://registry.npmjs.org/playwright/-/playwright-1.63.0.tgz",
+      "integrity": "sha512-+7ziBLidS4NaNCdt57SUDT+wYmmd5fmiQejUic/kb+YsYSCPyOOE9sebzMjNmQrsnNpDJqd4WHvV/8lfKfUDUg==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "playwright-core": "1.63.0"
+      },
+      "bin": {
+        "playwright": "cli.js"
+      },
+      "engines": {
+        "node": ">=20"
+      }
+    },
+    "node_modules/playwright-core": {
+      "version": "1.63.0",
+      "resolved": "https://registry.npmjs.org/playwright-core/-/playwright-core-1.63.0.tgz",
+      "integrity": "sha512-rYCsBF/M5HjUch52bbtVONEFjv6Xu8sm8h72dNlR5bzIE1fvC/bxgspzkjSfU+MweEMmPM8KJebG6nnyxo5mCg==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "bin": {
+        "playwright-core": "cli.js"
+      },
+      "engines": {
+        "node": ">=20"
+      }
+    },
     "node_modules/postcss": {
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       "resolved": "https://registry.npmjs.org/postcss/-/postcss-8.5.26.tgz",
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       "license": "MIT",
-      "peer": true,
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       "license": "MIT",
-      "peer": true,
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-      "license": "MIT",
-      "peer": true
+      "license": "MIT"
     },
     "node_modules/tinyglobby": {
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       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "lightningcss": "^1.33.0",
         "picomatch": "^4.0.5",

app/package.json

@@ -23,6 +23,7 @@
     "zustand": "^5.0.15"
   },
   "devDependencies": {
+    "@playwright/test": "^1.63.0",
     "@vitejs/plugin-react": "^6.1.0",
     "vite": "^8.2.2"
   }

app/plan.md

@@ -0,0 +1,24 @@
+# Shared browser simulator
+
+User-approved scope: retain Vite, React, Three.js, MuJoCo WASM and all Microduck ONNX policies and input capabilities. Add official Reachy Mini in the same physics world, left of Microduck, facing it. No Python runtime, daemon, Gradio, or iframe.
+
+## Inspection
+
+Reviewed the existing source tree, assets, model variants, control/policy loop, UI, rendering effects, audio, ghosts, tests and deployment. Read upstream reachy_mini/AGENTS.md and setup guidance. Hardware/host-shell setup does not apply to this explicitly browser-only simulator. The user's detailed request supplies the architecture and implementation authorization.
+
+Reviewed official Reachy MJCF, SDK AnalyticalKinematics/RecordedMove, desktop app GLTFRobot and its legacy passive-joint Rust/WASM helper, and the SDK's Rust inverse-kinematics implementation. Use calibrated upstream equations, not newly derived Stewart math.
+
+## Phases
+
+1. Vendor pinned official model/assets and compose through native MJCF model attachment with a prefix. Render Reachy from shared MuJoCo body transforms. Preserve Microduck joint/actuator addressing and both locomotion variants. Frame both robots. Run tests/build and physics checks.
+2. Add independent left/right panels, Reachy pose/sequence/custom queue playback, preserve keyboard/gamepad/touch and all Microduck actions. Run tests/build.
+3. Add exclusive asynchronous emotion orchestration: Microduck completion, speech completion, official Reachy recording completion, unlock. Use simulation-clock promises and audio/speech completion events, cancellation and error cleanup. Run tests/build and browser checks.
+
+## Resolved choices
+
+- Runtime: entirely in browser (provided by user).
+- Emotion mapping: joy/cheerful1, sadness/sad1, anger/furious1 (provided).
+- Speech: English browser synthesis behind reachySay(text) (provided).
+- Model variant: standard official Reachy Mini MJCF, its fixed base retained.
+- Custom units: translation in mm, angles in degrees, duration in seconds.
+- No deployment or external publication requested.

app/playwright.config.js

@@ -0,0 +1,18 @@
+import { defineConfig } from "@playwright/test";
+
+export default defineConfig({
+  testDir: "./test/browser",
+  timeout: 120_000,
+  workers: 1,
+  use: {
+    baseURL: "http://127.0.0.1:5173",
+    channel: process.env.PLAYWRIGHT_CHANNEL || (process.platform === "win32" ? "msedge" : undefined),
+    viewport: { width: 1440, height: 900 },
+    launchOptions: { args: ["--enable-unsafe-swiftshader"] },
+  },
+  webServer: {
+    command: "npm run dev -- --host 127.0.0.1",
+    url: "http://127.0.0.1:5173",
+    reuseExistingServer: !process.env.CI,
+  },
+});

app/public/robot/reachy/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
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app/public/robot/reachy/SOURCES.md

@@ -0,0 +1,11 @@
+# Reachy Mini source provenance
+
+- MJCF, meshes, calibration: https://github.com/pollen-robotics/reachy_mini/tree/234a978e4426895fc88d864e7f154643aea77f53/src/reachy_mini
+- `reachy_mini.xml` is the unmodified official model. The application attaches its root body with prefix `reachy/` and translates it to the left of the arena. Its collision geometry, inertia, actuator parameters and five loop closures are preserved.
+- Apache-2.0 license: LICENSE in this directory.
+- SDK analytical wrapper and recorded playback inspected at the same revision.
+- Desktop implementation inspected: https://github.com/pollen-robotics/reachy-mini-desktop-app/tree/467ad30e00855cd5051c8483fed00b4e00b57d1a (GLTFRobot.tsx, kinematics-wasm/src/lib.rs).
+- SDK inverse kinematics source: https://github.com/pollen-robotics/reachy_mini_rust_kinematics/tree/c76e0d6c7f27119ad9d2501185fd915cc40217da (inverse_kinematics and inverse_kinematics_safe).
+- `emotions/` JSON and OGG pairs come from the pinned official `pollen-robotics/reachy-mini-emotions-library` dataset; the browser uses the recorded JSON tracks and keeps OGG files available for fixed-audio replacement.
+
+No Python daemon or desktop application is executed by this Space.

app/public/robot/reachy/assets/5w_speaker.part

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+    "partId": "JFD",
+    "suppressed": false,
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+}

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