diff --git a/.gitattributes b/.gitattributes
index 33e7dae9..4d5d0dce 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,3 +11,4 @@
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.npz filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+src/reachy_mini/daemon/app/wasm/bin/** filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..41692988
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "src/reachy_mini/daemon/app/wasm/mujoco_web"]
+	path = src/reachy_mini/daemon/app/wasm/mujoco_web
+	url = git@github.com:pollen-robotics/mujoco_web.git
+	branch = mirror
diff --git a/src/reachy_mini/daemon/app/dashboard/style.css b/src/reachy_mini/daemon/app/dashboard/style.css
index d59674bd..5bf89468 100644
--- a/src/reachy_mini/daemon/app/dashboard/style.css
+++ b/src/reachy_mini/daemon/app/dashboard/style.css
@@ -34,4 +34,97 @@ ul#examples-list li a {
 
 ul#examples-list li a:hover {
     text-decoration: underline;
+}
+
+/* Tab styles */
+.tab-container {
+    margin: 0 2em;
+}
+
+.tab-nav {
+    display: flex;
+    border-bottom: 2px solid #ddd;
+    margin-bottom: 1em;
+}
+
+.tab-button {
+    padding: 0.8em 1.5em;
+    border: none;
+    background: #f0f0f0;
+    cursor: pointer;
+    margin-right: 2px;
+    border-top-left-radius: 8px;
+    border-top-right-radius: 8px;
+    font-size: 0.9em;
+    transition: background-color 0.2s;
+}
+
+.tab-button:hover {
+    background: #e0e0e0;
+}
+
+.tab-button.active {
+    background: #2d3e50;
+    color: white;
+}
+
+.tab-content {
+    display: none;
+    padding: 1em 0;
+}
+
+.tab-content.active {
+    display: block;
+}
+
+/* MuJoCo container styles */
+#mujoco-container {
+    background: #000;
+    border-radius: 8px;
+    overflow: hidden;
+    border: 1px solid #ddd;
+}
+
+/* Daemon control styles */
+#daemon-control {
+    background: #fff;
+    padding: 1.5em;
+    border-radius: 8px;
+    box-shadow: 0 2px 6px rgba(0, 0, 0, 0.07);
+    margin-bottom: 1em;
+}
+
+#daemon-control h2 {
+    margin-top: 0;
+    color: #2d3e50;
+}
+
+#daemon-control button {
+    padding: 0.5em 1em;
+    margin-right: 0.5em;
+    margin-bottom: 0.5em;
+    border: none;
+    border-radius: 4px;
+    cursor: pointer;
+    font-size: 0.9em;
+}
+
+#start-daemon {
+    background: #27ae60;
+    color: white;
+}
+
+#stop-daemon {
+    background: #e74c3c;
+    color: white;
+}
+
+#restart-daemon {
+    background: #f39c12;
+    color: white;
+}
+
+#daemon-control label {
+    display: block;
+    margin: 0.5em 0;
 }
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/main.py b/src/reachy_mini/daemon/app/main.py
index 60be7a45..a83aa0f8 100644
--- a/src/reachy_mini/daemon/app/main.py
+++ b/src/reachy_mini/daemon/app/main.py
@@ -119,6 +119,85 @@ async def list_examples(request: Request):
         name="dashboard",
     )
 
+    # Mount WASM files - always use bin directory
+    wasm_bin_dir = Path(__file__).parent / "wasm" / "bin"
+    original_mjcf_dir = Path(__file__).parent.parent.parent / "descriptions" / "reachy_mini" / "mjcf"
+
+    if wasm_bin_dir.exists():
+        # Mount original model files from descriptions directory
+        if original_mjcf_dir.exists():
+            app.mount(
+                "/wasm/dist/examples/scenes/reachy",
+                StaticFiles(directory=str(original_mjcf_dir)),
+                name="wasm_original_models",
+            )
+
+        # Mount general path last
+        app.mount(
+            "/wasm/dist",
+            StaticFiles(directory=str(wasm_bin_dir)),
+            name="wasm",
+        )
+
+        # Add redirects for React app assets when accessed from iframe
+        from fastapi.responses import RedirectResponse
+
+        @app.get("/assets/{file_path}")
+        async def get_asset_redirect(file_path: str):
+            # Handle versioned files by mapping to generic names
+            if file_path.startswith("mujoco_wasm-") and file_path.endswith(".wasm"):
+                return RedirectResponse(url="/wasm/dist/assets/mujoco_wasm.wasm")
+            elif file_path.startswith("mujoco_wasm-") and file_path.endswith(".js"):
+                return RedirectResponse(url="/wasm/dist/assets/mujoco_wasm.js")
+            elif file_path.startswith("index-") and file_path.endswith(".js"):
+                return RedirectResponse(url="/wasm/dist/assets/index.js")
+            elif file_path.startswith("index-") and file_path.endswith(".css"):
+                return RedirectResponse(url="/wasm/dist/assets/index.css")
+            else:
+                return RedirectResponse(url=f"/wasm/dist/assets/{file_path}")
+
+        @app.get("/vite.svg")
+        async def get_vite_svg():
+            return RedirectResponse(url="/wasm/dist/vite.svg")
+
+        # Also add direct redirects for the full paths
+        @app.get("/wasm/dist/assets/mujoco_wasm-{hash}.wasm")
+        async def get_versioned_mujoco_wasm(hash: str):
+            return RedirectResponse(url="/wasm/dist/assets/mujoco_wasm.wasm")
+
+        @app.get("/wasm/dist/assets/mujoco_wasm-{hash}.js")
+        async def get_versioned_mujoco_js(hash: str):
+            return RedirectResponse(url="/wasm/dist/assets/mujoco_wasm.js")
+
+        @app.get("/wasm/dist/assets/index-{hash}.js")
+        async def get_versioned_index_js(hash: str):
+            return RedirectResponse(url="/wasm/dist/assets/index.js")
+
+        @app.get("/wasm/dist/assets/index-{hash}.css")
+        async def get_versioned_index_css(hash: str):
+            return RedirectResponse(url="/wasm/dist/assets/index.css")
+
+        # Add proper MIME types and COOP/COEP headers for WASM
+        @app.middleware("http")
+        async def add_wasm_headers(request: Request, call_next):
+            response = await call_next(request)
+
+            # Add MIME types
+            if request.url.path.endswith('.wasm'):
+                response.headers["content-type"] = "application/wasm"
+            elif request.url.path.endswith('.js') and '/wasm/' in request.url.path:
+                response.headers["content-type"] = "text/javascript"
+
+            # Add Cross-Origin headers for WASM Web Workers
+            response.headers["Cross-Origin-Opener-Policy"] = "same-origin"
+            response.headers["Cross-Origin-Embedder-Policy"] = "require-corp"
+
+            return response
+
+    else:
+        print(f"Warning: WASM bin directory not found at {wasm_bin_dir}")
+        print("Run the build script to generate the bin directory with generic asset names")
+
     return app
 
 
diff --git a/src/reachy_mini/daemon/app/templates/dashboard.html b/src/reachy_mini/daemon/app/templates/dashboard.html
index f667c514..a35c841c 100644
--- a/src/reachy_mini/daemon/app/templates/dashboard.html
+++ b/src/reachy_mini/daemon/app/templates/dashboard.html
@@ -9,32 +9,141 @@
 
 <body>
     <h1>Dashboard</h1>
-    <section id="daemon-control">
-        <h2>Daemon Control</h2>
-        <div id="daemon-status">Loading daemon status...</div>
-        <button id="start-daemon">Start Daemon</button>
-        <button id="stop-daemon">Stop Daemon</button>
-        <button id="restart-daemon">Restart Daemon</button>
-        <label><input type="checkbox" id="wake-up-on-start" checked> Wake up on start</label>
-        <label><input type="checkbox" id="goto-sleep-on-stop" checked> Go to sleep on stop</label>
-    </section>
-    <hr>
-    <h2>Video stream</h2>
-    <div id="video-stream">
-        <div class="video">
-            <video id="video"></video>
+
+    <!-- Tab Navigation -->
+    <div class="tab-container">
+        <div class="tab-nav">
+            <button class="tab-button active" data-tab="control">Control</button>
+            <button class="tab-button" data-tab="renderer">Renderer</button>
+            <button class="tab-button" data-tab="video">Video</button>
+            <button class="tab-button" data-tab="examples">Examples</button>
+        </div>
+
+        <!-- Control Tab -->
+        <div class="tab-content active" id="control-tab">
+            <section id="daemon-control">
+                <h2>Daemon Control</h2>
+                <div id="daemon-status">Loading daemon status...</div>
+                <button id="start-daemon">Start Daemon</button>
+                <button id="stop-daemon">Stop Daemon</button>
+                <button id="restart-daemon">Restart Daemon</button>
+                <label><input type="checkbox" id="wake-up-on-start" checked> Wake up on start</label>
+                <label><input type="checkbox" id="goto-sleep-on-stop" checked> Go to sleep on stop</label>
+            </section>
+        </div>
+
+        <!-- Renderer Tab -->
+        <div class="tab-content" id="renderer-tab">
+            <h2>MuJoCo Renderer</h2>
+            <iframe id="mujoco-iframe" src="" style="width: 100%; height: 80vh; border: none; display: none;"></iframe>
+            <div id="mujoco-container" style="width: 100%; height: 80vh; position: relative; background: #264059;">
+                <div id="loading-text" style="position: absolute; top: 50%; left: 50%; transform: translate(-50%, -50%); color: white;">Loading MuJoCo Renderer...</div>
+            </div>
+        </div>
+
+        <!-- Video Tab -->
+        <div class="tab-content" id="video-tab">
+            <h2>Video Stream</h2>
+            <div id="video-stream">
+                <div class="video">
+                    <video id="video"></video>
+                </div>
+            </div>
+            <input type="text" id="video-ip" placeholder="IP address" value="pierre-pi.local" style="margin-right:8px;">
+            <button id="connect-video">Connect</button>
+        </div>
+
+        <!-- Examples Tab -->
+        <div class="tab-content" id="examples-tab">
+            <h2>Examples</h2>
+            <ul id="examples-list">
+                {% for fname in files %}
+                <li><a href="/dashboard/{{ fname }}">{{ fname }}</a></li>
+                {% endfor %}
+            </ul>
         </div>
     </div>
-    <input type="text" id="video-ip" placeholder="IP address" value="pierre-pi.local" style="margin-right:8px;">
-    <button id="connect-video">Connect</button>
-    <h2>Examples</h2>
-    <ul id="examples-list">
-        {% for fname in files %}
-        <li><a href="/dashboard/{{ fname }}">{{ fname }}</a></li>
-        {% endfor %}
-    </ul>
     <script src="/dashboard/js/3rdparty/gstwebrtc-api-2.0.0.min.js"></script>
     <script src="/dashboard/js/dashboard.js"></script>
+    <script>
+        // Tab functionality
+        function initTabs() {
+            const tabButtons = document.querySelectorAll('.tab-button');
+            const tabContents = document.querySelectorAll('.tab-content');
+
+            tabButtons.forEach(button => {
+                button.addEventListener('click', () => {
+                    const targetTab = button.getAttribute('data-tab');
+
+                    // Remove active class from all buttons and contents
+                    tabButtons.forEach(btn => btn.classList.remove('active'));
+                    tabContents.forEach(content => content.classList.remove('active'));
+
+                    // Add active class to clicked button and corresponding content
+                    button.classList.add('active');
+                    document.getElementById(targetTab + '-tab').classList.add('active');
+
+                    // Initialize MuJoCo when renderer tab is activated
+                    if (targetTab === 'renderer' && !window.mujocoInitialized) {
+                        initMujocoRenderer();
+                        window.mujocoInitialized = true;
+                    }
+                });
+            });
+        }
+
+        // Simple MuJoCo renderer using iframe as fallback
+        function initMujocoRenderer() {
+            const iframe = document.getElementById('mujoco-iframe');
+            const container = document.getElementById('mujoco-container');
+            const loadingText = document.getElementById('loading-text');
+
+            try {
+                // Load the MuJoCo React app in iframe to avoid Web Worker issues
+                iframe.src = '/wasm/dist/index.html';
+                iframe.style.display = 'block';
+                container.style.display = 'none';
+
+                iframe.onload = function() {
+                    console.log('MuJoCo renderer loaded in iframe');
+                    // Try to communicate with the iframe to sync robot state
+                    try {
+                        setInterval(() => {
+                            // Send robot state to iframe (if same-origin)
+                            if (iframe.contentWindow) {
+                                fetch('/api/state/full?with_head_joints=true&with_antenna_positions=true&with_head_pose=true')
+                                    .then(response => response.json())
+                                    .then(robotState => {
+                                        iframe.contentWindow.postMessage({
+                                            type: 'robotState',
+                                            data: robotState
+                                        }, '*');
+                                    })
+                                    .catch(console.warn);
+                            }
+                        }, 100);
+                    } catch (e) {
+                        console.warn('Cannot communicate with iframe:', e);
+                    }
+                };
+
+                iframe.onerror = function() {
+                    iframe.style.display = 'none';
+                    container.style.display = 'block';
+                    container.innerHTML = '<div style="text-align: center; color: red; padding: 20px;">Failed to load MuJoCo renderer</div>';
+                };
+
+            } catch (error) {
+                console.error('Error initializing MuJoCo renderer:', error);
+                iframe.style.display = 'none';
+                container.style.display = 'block';
+                container.innerHTML = `<div style="text-align: center; color: red; padding: 20px;">Error: ${error.message}</div>`;
+            }
+        }
+
+        // Initialize tabs when DOM is loaded
+        document.addEventListener('DOMContentLoaded', initTabs);
+    </script>
 </body>
 
 </html>
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/wasm/.gitattributes b/src/reachy_mini/daemon/app/wasm/.gitattributes
new file mode 100644
index 00000000..a6344aac
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/.gitattributes
@@ -0,0 +1,35 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
diff --git a/src/reachy_mini/daemon/app/wasm/.gitignore b/src/reachy_mini/daemon/app/wasm/.gitignore
new file mode 100644
index 00000000..7a09779c
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/.gitignore
@@ -0,0 +1,41 @@
+# Build outputs (ignore dist but keep bin for production)
+dist/
+dist
+# Keep bin directory for production deployment
+!bin/
+
+# Node.js dependencies
+node_modules/
+package-lock.json
+pnpm-lock.yaml
+
+# Build artifacts
+build_workspace/
+emsdk/
+
+# MuJoCo web fork build artifacts
+fork/mujoco_web/build/
+fork/mujoco_web/dist/
+fork/mujoco_web/node_modules/
+fork/mujoco_web/pnpm-lock.yaml
+
+# WASM build artifacts
+*.wasm
+*.wasm.map
+# But keep WASM files in bin directory for production
+!bin/**/*.wasm
+
+# CMake build artifacts
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
+Makefile
+
+# Temporary files
+*.tmp
+*.temp
+.DS_Store
+Thumbs.db
+
+# Generated package files
+package.json
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/wasm/bin/assets/index.css b/src/reachy_mini/daemon/app/wasm/bin/assets/index.css
new file mode 100644
index 00000000..86dc9570
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/assets/index.css
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e1e54eabccff6e471ba2f174dbc89618c4895dcc260cf26c7368cfab702e7e
+size 6428
diff --git a/src/reachy_mini/daemon/app/wasm/bin/assets/index.js b/src/reachy_mini/daemon/app/wasm/bin/assets/index.js
new file mode 100644
index 00000000..92d29d3c
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/assets/index.js
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf617a36adcbf15c6a412bf32a656f526773105346320c0d4dd15b8c9a58878
+size 1171845
diff --git a/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.js b/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.js
new file mode 100644
index 00000000..ef563a21
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.js
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff660a3616cbadd83bf78f94e695a594840b9d8b1548f4f1336b55b5b2a4bb07
+size 103458
diff --git a/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.wasm b/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.wasm
new file mode 100644
index 00000000..bd4d4de6
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/assets/mujoco_wasm.wasm
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2846e4293b399265c943e23ca703c666730354806a3b5f084ce032d50d228775
+size 6750430
diff --git a/src/reachy_mini/daemon/app/wasm/bin/index.html b/src/reachy_mini/daemon/app/wasm/bin/index.html
new file mode 100644
index 00000000..111da470
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/index.html
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b029085610e71ec9f4346ef4f69c6b24bc97d0b498868f673cc61b39f28011d
+size 655
diff --git a/src/reachy_mini/daemon/app/wasm/bin/mujoco.js b/src/reachy_mini/daemon/app/wasm/bin/mujoco.js
new file mode 100644
index 00000000..0301b28f
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/mujoco.js
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59125e3ef20b0cae66935844d86dab0f3354e52f9fded17a9bb6425cbab29f25
+size 270512
diff --git a/src/reachy_mini/daemon/app/wasm/bin/mujoco.wasm b/src/reachy_mini/daemon/app/wasm/bin/mujoco.wasm
new file mode 100755
index 00000000..bd4d4de6
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/mujoco.wasm
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2846e4293b399265c943e23ca703c666730354806a3b5f084ce032d50d228775
+size 6750430
diff --git a/src/reachy_mini/daemon/app/wasm/bin/vite.svg b/src/reachy_mini/daemon/app/wasm/bin/vite.svg
new file mode 100644
index 00000000..bf6ee755
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/bin/vite.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a748afd443918bb16591c834c401dae33e87861ab5dbad0811c3a3b4a9214fb
+size 1497
diff --git a/src/reachy_mini/daemon/app/wasm/build.sh b/src/reachy_mini/daemon/app/wasm/build.sh
new file mode 100755
index 00000000..ecc3eb18
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/build.sh
@@ -0,0 +1,272 @@
+#!/bin/bash
+
+# Build script for MuJoCo WASM React App
+# Replicates the multi-stage Docker build process
+# Usage: ./build.sh [MODEL_PATH]
+# Example: ./build.sh /home/user/reachy_mini/descriptions/reachy_mini/mjcf
+
+set -e  # Exit on any error
+
+# Check if model path is provided
+if [[ -z "$1" ]]; then
+    echo "❌ Error: Model path is required"
+    echo "Usage: ./build.sh MODEL_PATH"
+    echo "Example: ./build.sh /home/cdussieux/dev/reachy_mini/reachy_mini/src/reachy_mini/descriptions/reachy_mini/mjcf"
+    exit 1
+fi
+
+MODEL_PATH="$1"
+
+# Validate model path exists
+if [[ ! -d "$MODEL_PATH" ]]; then
+    echo "❌ Error: Model path does not exist: $MODEL_PATH"
+    exit 1
+fi
+
+echo "🚀 Starting MuJoCo WASM React App build..."
+echo "📁 Using model path: $MODEL_PATH"
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Function to print colored output
+print_step() {
+    echo -e "${BLUE}📋 $1${NC}"
+}
+
+print_success() {
+    echo -e "${GREEN}✅ $1${NC}"
+}
+
+print_warning() {
+    echo -e "${YELLOW}⚠️  $1${NC}"
+}
+
+print_error() {
+    echo -e "${RED}❌ $1${NC}"
+}
+
+# Check prerequisites
+print_step "Checking prerequisites..."
+
+# Check if we're in the right directory
+if [[ ! -f "server.js" || ! -d "mujoco_web" ]]; then
+    print_error "This script must be run from the directory containing server.js and mujoco_web submodule"
+    exit 1
+fi
+
+# Check if required tools are installed
+command -v node >/dev/null 2>&1 || { print_error "Node.js is required but not installed. Aborting."; exit 1; }
+command -v npm >/dev/null 2>&1 || { print_error "npm is required but not installed. Aborting."; exit 1; }
+command -v cmake >/dev/null 2>&1 || { print_error "cmake is required but not installed. Aborting."; exit 1; }
+command -v git >/dev/null 2>&1 || { print_error "git is required but not installed. Aborting."; exit 1; }
+
+print_success "Prerequisites check passed"
+
+# Install pnpm if not available
+if ! command -v pnpm >/dev/null 2>&1; then
+    print_step "Installing pnpm..."
+    npm install -g pnpm
+    print_success "pnpm installed"
+fi
+
+# Check for Emscripten SDK
+if [[ ! -d "/emsdk" ]]; then
+    print_step "Installing Emscripten SDK..."
+
+    # Clone emsdk if it doesn't exist
+    if [[ ! -d "emsdk" ]]; then
+        git clone https://github.com/emscripten-core/emsdk.git emsdk
+    fi
+
+    cd emsdk
+    ./emsdk install latest
+    ./emsdk activate latest
+    cd ..
+
+    export EMSDK="$(pwd)/emsdk"
+    export PATH="$EMSDK:$EMSDK/node/$(ls $EMSDK/node)/bin:$EMSDK/upstream/emscripten:$EMSDK/upstream/bin:$PATH"
+
+    print_success "Emscripten SDK installed and configured"
+else
+    print_step "Using existing Emscripten SDK..."
+    export EMSDK=/emsdk
+    export PATH="/emsdk:/emsdk/node/$(ls /emsdk/node)/bin:/emsdk/upstream/emscripten:/emsdk/upstream/bin:$PATH"
+fi
+
+# Create workspace directory
+WORKSPACE_DIR="build_workspace"
+print_step "Setting up workspace: $WORKSPACE_DIR"
+
+rm -rf "$WORKSPACE_DIR"
+mkdir -p "$WORKSPACE_DIR"
+
+# Copy mujoco_web submodule
+print_step "Copying MuJoCo web submodule..."
+cp -r mujoco_web "$WORKSPACE_DIR/"
+print_success "MuJoCo web submodule copied"
+
+# Copy model files from provided path
+print_step "Copying model files from: $MODEL_PATH"
+mkdir -p "$WORKSPACE_DIR/models"
+cp -r "$MODEL_PATH"/* "$WORKSPACE_DIR/models/"
+print_success "Model files copied"
+
+# Build MuJoCo WASM
+print_step "Building MuJoCo WASM..."
+cd "$WORKSPACE_DIR/mujoco_web"
+
+# Build using emscripten
+emcmake cmake -B build -H. -DCMAKE_BUILD_TYPE=Release
+cmake --build build -j"$(nproc)"
+
+print_success "MuJoCo WASM build completed"
+
+# Copy WASM outputs to public directory
+print_step "Copying WASM files to public directory..."
+mkdir -p public
+cp src/wasm/mujoco_wasm.wasm public/mujoco.wasm
+cp src/wasm/mujoco_wasm.js public/mujoco.js
+
+print_success "WASM files copied"
+
+# Copy model files to public directory
+print_step "Copying models to public directory..."
+mkdir -p public/models/reachy
+cp -r ../models/* public/models/reachy/
+
+print_success "Models copied to public directory"
+
+# Build React app
+print_step "Installing React dependencies..."
+pnpm install
+
+print_success "Dependencies installed"
+
+# Backup WASM files for light builds (save to main directory)
+print_step "Backing up WASM files for light builds..."
+mkdir -p ../../mujoco_web/wasm_backup
+cp src/wasm/mujoco_wasm.wasm ../../mujoco_web/wasm_backup/
+cp src/wasm/mujoco_wasm.js ../../mujoco_web/wasm_backup/
+print_success "WASM files backed up to main directory"
+
+print_step "Patching mujoco_wasm.js for Vite..."
+sed -i 's/, {/, \/* @vite-ignore *\/ {/' src/wasm/mujoco_wasm.js
+
+print_step "Building React application..."
+pnpm run build
+
+print_success "React build completed"
+
+# Go back to original directory
+cd ../..
+
+# Set up production files
+print_step "Setting up production files..."
+rm -rf dist
+mkdir -p dist
+
+# Copy built React app
+cp -r "$WORKSPACE_DIR/mujoco_web/dist"/* dist/
+
+# Copy model scenes to the correct location
+print_step "Copying model scenes to dist..."
+mkdir -p dist/examples/scenes/reachy
+cp -r "$WORKSPACE_DIR/models"/* dist/examples/scenes/reachy/
+
+print_success "Production files ready"
+
+# Create or update package.json for production server
+print_step "Creating production package.json..."
+cat > package.json << EOF
+{
+  "name": "mujoco_web_server",
+  "version": "1.0.0",
+  "main": "server.js",
+  "scripts": {
+    "start": "node server.js",
+    "build": "./build.sh"
+  },
+  "dependencies": {
+    "express": "^4.18.2"
+  }
+}
+EOF
+
+# Install production dependencies
+if [[ ! -d "node_modules" ]]; then
+    print_step "Installing production dependencies..."
+    npm install --production
+    print_success "Production dependencies installed"
+fi
+
+# Create bin directory with essential files for FastAPI app
+print_step "Creating bin directory with essential app files..."
+rm -rf bin
+mkdir -p bin/assets
+
+# Copy essential files for FastAPI integration
+cp dist/vite.svg bin/
+cp dist/mujoco.js bin/
+cp dist/mujoco.wasm bin/
+
+# Create index.html with generic asset references
+sed 's|/assets/index-[^.]*\.js|/assets/index.js|g; s|/assets/index-[^.]*\.css|/assets/index.css|g' dist/index.html > bin/index.html
+print_success "Created index.html with generic asset references"
+
+# Copy React app assets with generic names
+INDEX_JS=$(ls dist/assets/index-*.js 2>/dev/null | head -1)
+INDEX_CSS=$(ls dist/assets/index-*.css 2>/dev/null | head -1)
+
+if [[ -n "$INDEX_JS" ]]; then
+    cp "$INDEX_JS" bin/assets/index.js
+    print_success "Copied $(basename "$INDEX_JS") as index.js"
+fi
+
+if [[ -n "$INDEX_CSS" ]]; then
+    cp "$INDEX_CSS" bin/assets/index.css
+    print_success "Copied $(basename "$INDEX_CSS") as index.css"
+fi
+
+# Copy MuJoCo WASM assets with generic names
+MUJOCO_WASM=$(ls dist/assets/mujoco_wasm-*.wasm 2>/dev/null | head -1)
+MUJOCO_JS=$(ls dist/assets/mujoco_wasm-*.js 2>/dev/null | head -1)
+
+if [[ -n "$MUJOCO_WASM" ]]; then
+    cp "$MUJOCO_WASM" bin/assets/mujoco_wasm.wasm
+    print_success "Copied $(basename "$MUJOCO_WASM") as mujoco_wasm.wasm"
+fi
+
+if [[ -n "$MUJOCO_JS" ]]; then
+    cp "$MUJOCO_JS" bin/assets/mujoco_wasm.js
+    print_success "Copied $(basename "$MUJOCO_JS") as mujoco_wasm.js"
+fi
+
+# Copy model files and examples directory structure
+print_step "Copying model files and examples..."
+if [[ -d "dist/examples" ]]; then
+    cp -r dist/examples bin/
+    print_success "Examples and model files copied"
+fi
+
+if [[ -d "dist/models" ]]; then
+    cp -r dist/models bin/
+    print_success "Model files copied"
+fi
+
+print_success "Essential app files copied to bin directory with generic names"
+
+# Cleanup workspace
+print_step "Cleaning up workspace..."
+rm -rf "$WORKSPACE_DIR"
+print_success "Workspace cleaned up"
+
+print_success "🎉 Build completed successfully!"
+echo ""
+echo -e "${GREEN}📁 Built files are in: ./dist${NC}"
+echo -e "${GREEN}🚀 To start the server: npm start${NC}"
+echo -e "${GREEN}🌐 Server will run on: http://localhost:7860${NC}"
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/wasm/clean.sh b/src/reachy_mini/daemon/app/wasm/clean.sh
new file mode 100755
index 00000000..7d64ab50
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/clean.sh
@@ -0,0 +1,174 @@
+#!/bin/bash
+
+# Clean script for MuJoCo WASM React App
+# Removes ALL build artifacts and returns to clean state
+
+set -e  # Exit on any error
+
+echo "🧹 Starting complete cleanup..."
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Function to print colored output
+print_step() {
+    echo -e "${BLUE}📋 $1${NC}"
+}
+
+print_success() {
+    echo -e "${GREEN}✅ $1${NC}"
+}
+
+print_warning() {
+    echo -e "${YELLOW}⚠️  $1${NC}"
+}
+
+print_error() {
+    echo -e "${RED}❌ $1${NC}"
+}
+
+print_warning "Removing ALL build artifacts and dependencies..."
+echo "Files being removed:"
+echo "  - dist/"
+echo "  - node_modules/"
+echo "  - package.json"
+echo "  - package-lock.json"
+echo "  - pnpm-lock.yaml"
+echo "  - build_workspace/"
+echo "  - emsdk/"
+echo "  - Any CMake build directories"
+echo ""
+
+print_step "Removing distribution files..."
+if [[ -d "dist" ]]; then
+    rm -rf dist
+    print_success "Removed dist/"
+else
+    print_warning "dist/ not found"
+fi
+
+print_step "Removing Node.js dependencies..."
+if [[ -d "node_modules" ]]; then
+    rm -rf node_modules
+    print_success "Removed node_modules/"
+else
+    print_warning "node_modules/ not found"
+fi
+
+print_step "Removing package files..."
+if [[ -f "package.json" ]]; then
+    rm -f package.json
+    print_success "Removed package.json"
+else
+    print_warning "package.json not found"
+fi
+
+if [[ -f "package-lock.json" ]]; then
+    rm -f package-lock.json
+    print_success "Removed package-lock.json"
+else
+    print_warning "package-lock.json not found"
+fi
+
+if [[ -f "pnpm-lock.yaml" ]]; then
+    rm -f pnpm-lock.yaml
+    print_success "Removed pnpm-lock.yaml"
+else
+    print_warning "pnpm-lock.yaml not found"
+fi
+
+print_step "Removing build workspace..."
+if [[ -d "build_workspace" ]]; then
+    rm -rf build_workspace
+    print_success "Removed build_workspace/"
+else
+    print_warning "build_workspace/ not found"
+fi
+
+print_step "Removing Emscripten SDK..."
+if [[ -d "emsdk" ]]; then
+    rm -rf emsdk
+    print_success "Removed emsdk/"
+else
+    print_warning "emsdk/ not found"
+fi
+
+print_step "Cleaning MuJoCo web fork build artifacts..."
+if [[ -d "fork/mujoco_web/build" ]]; then
+    rm -rf fork/mujoco_web/build
+    print_success "Removed fork/mujoco_web/build/"
+else
+    print_warning "fork/mujoco_web/build/ not found"
+fi
+
+if [[ -d "fork/mujoco_web/dist" ]]; then
+    rm -rf fork/mujoco_web/dist
+    print_success "Removed fork/mujoco_web/dist/"
+else
+    print_warning "fork/mujoco_web/dist/ not found"
+fi
+
+if [[ -d "fork/mujoco_web/node_modules" ]]; then
+    rm -rf fork/mujoco_web/node_modules
+    print_success "Removed fork/mujoco_web/node_modules/"
+else
+    print_warning "fork/mujoco_web/node_modules/ not found"
+fi
+
+if [[ -d "fork/mujoco_web/wasm_backup" ]]; then
+    rm -rf fork/mujoco_web/wasm_backup
+    print_success "Removed fork/mujoco_web/wasm_backup/"
+else
+    print_warning "fork/mujoco_web/wasm_backup/ not found"
+fi
+
+if [[ -d "fork/mujoco_web/public" ]]; then
+    rm -rf fork/mujoco_web/public
+    print_success "Removed fork/mujoco_web/public/"
+else
+    print_warning "fork/mujoco_web/public/ not found"
+fi
+
+if [[ -f "fork/mujoco_web/pnpm-lock.yaml" ]]; then
+    rm -f fork/mujoco_web/pnpm-lock.yaml
+    print_success "Removed fork/mujoco_web/pnpm-lock.yaml"
+else
+    print_warning "fork/mujoco_web/pnpm-lock.yaml not found"
+fi
+
+print_step "Cleaning WASM build artifacts..."
+if [[ -d "fork/mujoco_web/src/wasm" ]]; then
+    find fork/mujoco_web/src/wasm -name "*.wasm" -delete 2>/dev/null || true
+    find fork/mujoco_web/src/wasm -name "*.js" -delete 2>/dev/null || true
+    find fork/mujoco_web/src/wasm -name "*.wasm.map" -delete 2>/dev/null || true
+    print_success "Cleaned WASM artifacts from fork/mujoco_web/src/wasm/"
+fi
+
+print_step "Removing any temporary files..."
+find . -name "*.tmp" -delete 2>/dev/null || true
+find . -name "*.temp" -delete 2>/dev/null || true
+find . -name ".DS_Store" -delete 2>/dev/null || true
+find . -name "Thumbs.db" -delete 2>/dev/null || true
+
+print_step "Cleaning CMake caches..."
+find . -name "CMakeCache.txt" -delete 2>/dev/null || true
+find . -name "CMakeFiles" -type d -exec rm -rf {} + 2>/dev/null || true
+find . -name "cmake_install.cmake" -delete 2>/dev/null || true
+find . -name "Makefile" -not -path "./fork/mujoco_web/Makefile" -delete 2>/dev/null || true
+
+print_success "Temporary files cleaned"
+
+# Reset any environment variables that might have been set
+print_step "Resetting environment variables..."
+unset EMSDK 2>/dev/null || true
+print_success "Environment variables reset"
+
+print_success "🎉 Complete cleanup finished!"
+echo ""
+echo -e "${GREEN}🧼 Repository is now in clean state${NC}"
+echo -e "${GREEN}📁 Only source files remain (Dockerfile, server.js, fork/, stewart_little_control/, etc.)${NC}"
+echo -e "${GREEN}🚀 Ready for fresh build with: ./build.sh${NC}"
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/wasm/light_build.sh b/src/reachy_mini/daemon/app/wasm/light_build.sh
new file mode 100755
index 00000000..43859ba5
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/light_build.sh
@@ -0,0 +1,211 @@
+#!/bin/bash
+
+# Light Build script for MuJoCo WASM React App
+# Only rebuilds the React app part, skipping MuJoCo WASM compilation
+
+set -e  # Exit on any error
+
+echo "🚀 Starting light build (React app only)..."
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Function to print colored output
+print_step() {
+    echo -e "${BLUE}📋 $1${NC}"
+}
+
+print_success() {
+    echo -e "${GREEN}✅ $1${NC}"
+}
+
+print_warning() {
+    echo -e "${YELLOW}⚠️  $1${NC}"
+}
+
+print_error() {
+    echo -e "${RED}❌ $1${NC}"
+}
+
+# Check if model path is provided
+if [[ -z "$1" ]]; then
+    echo "❌ Error: Model path is required"
+    echo "Usage: ./light_build.sh MODEL_PATH"
+    echo "Example: ./light_build.sh /home/cdussieux/dev/reachy_mini/reachy_mini/src/reachy_mini/descriptions/reachy_mini/mjcf"
+    exit 1
+fi
+
+MODEL_PATH="$1"
+
+# Validate model path exists
+if [[ ! -d "$MODEL_PATH" ]]; then
+    echo "❌ Error: Model path does not exist: $MODEL_PATH"
+    exit 1
+fi
+
+echo "📁 Using model path: $MODEL_PATH"
+
+# Check if MuJoCo WASM files exist and restore them if needed
+print_step "Checking for MuJoCo WASM files..."
+
+# Check if backup files exist (from full build)
+if [[ -f "mujoco_web/wasm_backup/mujoco_wasm.wasm" ]] && [[ -f "mujoco_web/wasm_backup/mujoco_wasm.js" ]]; then
+    print_step "Restoring WASM files from backup..."
+
+    # Restore original WASM files from backup
+    mkdir -p mujoco_web/src/wasm
+    cp mujoco_web/wasm_backup/mujoco_wasm.wasm mujoco_web/src/wasm/
+    cp mujoco_web/wasm_backup/mujoco_wasm.js mujoco_web/src/wasm/
+
+    print_success "WASM files restored from backup"
+# Check if files already exist in source directory
+elif [[ -f "mujoco_web/src/wasm/mujoco_wasm.wasm" ]] && [[ -f "mujoco_web/src/wasm/mujoco_wasm.js" ]]; then
+    print_success "WASM files found in source directory"
+else
+    print_error "MuJoCo WASM files not found! Please run full build first: ./build.sh"
+    print_error "Checked locations:"
+    echo "  - mujoco_web/wasm_backup/"
+    echo "  - mujoco_web/src/wasm/"
+    exit 1
+fi
+
+# Check for pnpm
+if ! command -v pnpm >/dev/null 2>&1; then
+    print_step "Installing pnpm..."
+    npm install -g pnpm
+    print_success "pnpm installed"
+fi
+
+# Work in the mujoco_web directory
+cd mujoco_web
+
+print_step "Updating model files in public directory..."
+
+# Ensure public directory exists
+mkdir -p public/models/reachy
+
+# Copy model files to public directory
+cp -r "$MODEL_PATH"/* public/models/reachy/
+print_success "Model files updated in public directory"
+
+# Copy WASM files to public directory (in case they're missing)
+print_step "Ensuring WASM files are in public directory..."
+mkdir -p public
+cp src/wasm/mujoco_wasm.wasm public/mujoco.wasm
+cp src/wasm/mujoco_wasm.js public/mujoco.js
+print_success "WASM files ready"
+
+# Install dependencies if node_modules doesn't exist
+if [[ ! -d "node_modules" ]]; then
+    print_step "Installing React dependencies..."
+    pnpm install
+    print_success "Dependencies installed"
+else
+    print_step "Dependencies already installed, skipping..."
+fi
+
+print_step "Patching mujoco_wasm.js for Vite..."
+sed -i 's/, {/, \/* @vite-ignore *\/ {/' src/wasm/mujoco_wasm.js
+
+print_step "Building React application..."
+pnpm run build
+print_success "React build completed"
+
+# Go back to original directory
+cd ../..
+
+# Set up production files
+print_step "Setting up production files..."
+rm -rf dist
+mkdir -p dist
+
+# Copy built React app
+cp -r mujoco_web/dist/* dist/
+
+# Copy model scenes to the correct location
+print_step "Copying model scenes to dist..."
+mkdir -p dist/examples/scenes/reachy
+cp -r "$MODEL_PATH"/* dist/examples/scenes/reachy/
+print_success "Production files ready"
+
+# Create or update package.json for production server
+print_step "Creating production package.json..."
+cat > package.json << EOF
+{
+  "name": "mujoco_web_server",
+  "version": "1.0.0",
+  "main": "server.js",
+  "scripts": {
+    "start": "node server.js",
+    "build": "./build.sh",
+    "light-build": "./light_build.sh"
+  },
+  "dependencies": {
+    "express": "^4.18.2"
+  }
+}
+EOF
+
+# Install production dependencies if needed
+if [[ ! -d "node_modules" ]]; then
+    print_step "Installing production dependencies..."
+    npm install --production
+    print_success "Production dependencies installed"
+fi
+
+# Create bin directory with essential files for FastAPI app
+print_step "Creating bin directory with essential app files..."
+rm -rf bin
+mkdir -p bin/assets
+
+# Copy essential files for FastAPI integration
+cp dist/vite.svg bin/
+cp dist/mujoco.js bin/
+cp dist/mujoco.wasm bin/
+
+# Create index.html with generic asset references
+sed 's|/assets/index-[^.]*\.js|/assets/index.js|g; s|/assets/index-[^.]*\.css|/assets/index.css|g' dist/index.html > bin/index.html
+print_success "Created index.html with generic asset references"
+
+# Copy React app assets with generic names
+INDEX_JS=$(ls dist/assets/index-*.js 2>/dev/null | head -1)
+INDEX_CSS=$(ls dist/assets/index-*.css 2>/dev/null | head -1)
+
+if [[ -n "$INDEX_JS" ]]; then
+    cp "$INDEX_JS" bin/assets/index.js
+    print_success "Copied $(basename "$INDEX_JS") as index.js"
+fi
+
+if [[ -n "$INDEX_CSS" ]]; then
+    cp "$INDEX_CSS" bin/assets/index.css
+    print_success "Copied $(basename "$INDEX_CSS") as index.css"
+fi
+
+# Copy MuJoCo WASM assets with generic names
+MUJOCO_WASM=$(ls dist/assets/mujoco_wasm-*.wasm 2>/dev/null | head -1)
+MUJOCO_JS=$(ls dist/assets/mujoco_wasm-*.js 2>/dev/null | head -1)
+
+if [[ -n "$MUJOCO_WASM" ]]; then
+    cp "$MUJOCO_WASM" bin/assets/mujoco_wasm.wasm
+    print_success "Copied $(basename "$MUJOCO_WASM") as mujoco_wasm.wasm"
+fi
+
+if [[ -n "$MUJOCO_JS" ]]; then
+    cp "$MUJOCO_JS" bin/assets/mujoco_wasm.js
+    print_success "Copied $(basename "$MUJOCO_JS") as mujoco_wasm.js"
+fi
+
+print_success "Essential app files copied to bin directory with generic names"
+
+print_success "🎉 Light build completed successfully!"
+echo ""
+echo -e "${GREEN}📁 Built files are in: ./dist${NC}"
+echo -e "${GREEN}🚀 To start the server: npm start${NC}"
+echo -e "${GREEN}🌐 Server will run on: http://localhost:7860${NC}"
+echo ""
+echo -e "${YELLOW}💡 Note: This was a light build (React only)${NC}"
+echo -e "${YELLOW}💡 If you need to rebuild MuJoCo WASM, use: ./build.sh${NC}"
\ No newline at end of file
diff --git a/src/reachy_mini/daemon/app/wasm/server.js b/src/reachy_mini/daemon/app/wasm/server.js
new file mode 100644
index 00000000..85eafedf
--- /dev/null
+++ b/src/reachy_mini/daemon/app/wasm/server.js
@@ -0,0 +1,26 @@
+// server.js
+const express = require('express');
+const path = require('path');
+
+const app = express();
+
+// Inject COOP/COEP headers
+app.use((req, res, next) => {
+    res.setHeader('Cross-Origin-Opener-Policy', 'same-origin');
+    res.setHeader('Cross-Origin-Embedder-Policy', 'require-corp');
+    res.setHeader('Cross-Origin-Resource-Policy', 'cross-origin');
+
+    next();
+});
+
+// Static serve
+app.use(express.static(path.join(process.cwd(), 'dist')));
+
+// SPA fallback
+app.get('*', (req, res) => {
+    res.sendFile(path.join(process.cwd(), 'dist', 'index.html'));
+});
+
+const port = process.env.PORT || 7860;
+console.log(`Listening on port ${port}`);
+app.listen(port);