Merge branch 'phone_use_integration'

reachy_phone_home_app.py

@@ -299,9 +299,11 @@ def main() -> None:
                         if look_down_cycles >= 2 and time.time() - last_prompt >= 10.0:
                             logger.info("Can you please put the phone in front of me?")
                             last_prompt = time.time()
-                    if time.time() - mode_start >= args.look_down_window_sec:
-                        mode = "tracking_person"
-                        mode_start = time.time()
+                if time.time() - mode_start >= args.look_down_window_sec:
+                    mode = "tracking_person"
+                    mode_start = time.time()
+                    look_down_active = False
+                    reachy.goto_target(head=create_head_pose(), duration=args.neutral_duration)
 
             if phone_seen:
                 track_state = "tracking_phone"