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hand_tracker_v2

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apirrone commited on 8 days ago

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30b3fa6

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.gitignore +2 -0
README.md +12 -0
hand_tracker_v2/__init__.py +0 -0
hand_tracker_v2/main.py +116 -0
hand_tracker_v2/static/index.html +27 -0
hand_tracker_v2/static/main.js +47 -0
hand_tracker_v2/static/style.css +25 -0
index.html +235 -0
pyproject.toml +29 -0
style.css +411 -0

.gitignore ADDED Viewed

	@@ -0,0 +1,2 @@


1	+ __pycache__/
2	+ *.egg-info/

README.md ADDED Viewed

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+---
+title: Hand Tracker V2
+emoji: 👋
+colorFrom: red
+colorTo: blue
+sdk: static
+pinned: false
+short_description: Write your description here
+tags:
+ - reachy_mini
+ - reachy_mini_python_app
+---

hand_tracker_v2/__init__.py ADDED Viewed

File without changes

hand_tracker_v2/main.py ADDED Viewed

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+import threading
+import time
+import cv2
+import numpy as np
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+from reachy_mini_toolbox.vision import HandTracker
+from scipy.spatial.transform import Rotation as R
+DEBUG = True
+class HandTrackerV2(ReachyMiniApp):
+    hand_pos = None
+    width, height = None, None
+    hand_tracker: HandTracker = None
+    def draw(self, im):
+        if self.hand_pos is None:
+            return
+        draw_palm = [
+            (-self.hand_pos[0] + 1) / 2,
+            (self.hand_pos[1] + 1) / 2,
+        ]  # [0, 1]
+        im = cv2.circle(
+            im,
+            (
+                int(self.width - draw_palm[0] * self.width),
+                int(draw_palm[1] * self.height),
+            ),
+            radius=5,
+            color=(0, 0, 255),
+            thickness=-1,
+        )
+        cv2.imshow("Hand Tracker V2", im)
+        cv2.waitKey(1)
+    def update_hand_pos(self, im):
+        if self.hand_tracker is None:
+            self.hand_tracker = HandTracker()
+        hands = self.hand_tracker.get_hands_positions(im)
+        if hands:
+            self.hand_pos = np.array(hands[0])
+        elif self.hand_pos is not None:
+            self.hand_pos *= 0.9  # Slowly go back to center
+    def track(self, reachy_mini: ReachyMini):
+        target = np.array([0, 0])
+        pitch_kp = 0.03
+        yaw_kp = 0.08
+        kz = 0.03
+        max_delta = 0.3
+        dt = 0.02
+        head_pose = np.eye(4)
+        euler_rot = np.array([0.0, 0.0, 0.0])
+        while True:
+            if self.hand_pos is None:
+                continue
+            error = target - self.hand_pos
+            error = np.clip(
+                error, -max_delta, max_delta
+            )  # Limit error to avoid extreme movements
+            euler_rot += np.array([0.0, -pitch_kp * error[1], yaw_kp * error[0]])
+            euler_rot = np.clip(
+                euler_rot,
+                [0.0, -np.deg2rad(30), -np.deg2rad(170)],
+                [0.0, np.deg2rad(20), np.deg2rad(170)],
+            )  # Limit rotation angles
+            head_pose[:3, :3] = R.from_euler(
+                "xyz", euler_rot, degrees=False
+            ).as_matrix()
+            head_pose[:3, 3][2] = (
+                error[1] * kz
+            )  # Adjust height based on vertical error
+            reachy_mini.set_target(head=head_pose)
+            time.sleep(dt)
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        reachy_mini.goto_target(np.eye(4), [0.0, 0.0], body_yaw=0.0, duration=1.0)
+        tracking_thread = threading.Thread(
+            target=self.track, args=(reachy_mini,), daemon=True
+        )
+        tracking_thread.start()
+        while not stop_event.is_set():
+            im = reachy_mini.media.get_frame()
+            if im is None:
+                continue
+            if self.width is None or self.height is None:
+                self.height, self.width = im.shape[:2]
+            self.update_hand_pos(im)
+            if DEBUG:
+                self.draw(im)
+            # time.sleep(0.02)
+        tracking_thread.join()
+if __name__ == "__main__":
+    app = HandTrackerV2()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        pass

hand_tracker_v2/static/index.html ADDED Viewed

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+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <title>Reachy Mini example app template</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <link rel="stylesheet" href="/static/style.css">
+</head>
+<body>
+    <h1>Reachy Mini – Control Panel</h1>
+    <div id="controls">
+        <label style="display:flex; align-items:center; gap:8px;">
+            <input type="checkbox" id="antenna-checkbox" checked>
+            Antennas
+        </label>
+        <button id="sound-btn">Play Sound</button>
+    </div>
+    <div id="status">Antennas status: running</div>
+    <script src="/static/main.js"></script>
+</body>
+</html>

hand_tracker_v2/static/main.js ADDED Viewed

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+let antennasEnabled = true;
+async function updateAntennasState(enabled) {
+    try {
+        const resp = await fetch("/antennas", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ enabled }),
+        });
+        const data = await resp.json();
+        antennasEnabled = data.antennas_enabled;
+        updateUI();
+    } catch (e) {
+        document.getElementById("status").textContent = "Backend error";
+    }
+}
+async function playSound() {
+    try {
+        await fetch("/play_sound", { method: "POST" });
+    } catch (e) {
+        console.error("Error triggering sound:", e);
+    }
+}
+function updateUI() {
+    const checkbox = document.getElementById("antenna-checkbox");
+    const status = document.getElementById("status");
+    checkbox.checked = antennasEnabled;
+    if (antennasEnabled) {
+        status.textContent = "Antennas status: running";
+    } else {
+        status.textContent = "Antennas status: stopped";
+    }
+}
+document.getElementById("antenna-checkbox").addEventListener("change", (e) => {
+    updateAntennasState(e.target.checked);
+});
+document.getElementById("sound-btn").addEventListener("click", () => {
+    playSound();
+});
+updateUI();

hand_tracker_v2/static/style.css ADDED Viewed

	@@ -0,0 +1,25 @@

+body {
+    font-family: sans-serif;
+    margin: 24px;
+}
+#sound-btn {
+    padding: 10px 20px;
+    border: none;
+    color: white;
+    cursor: pointer;
+    font-size: 16px;
+    border-radius: 6px;
+    background-color: #3498db;
+}
+#status {
+    margin-top: 16px;
+    font-weight: bold;
+}
+#controls {
+    display: flex;
+    align-items: center;
+    gap: 20px;
+}

index.html ADDED Viewed

	@@ -0,0 +1,235 @@

+<!doctype html>
+<html>
+<head>
+	<meta charset="utf-8" />
+	<meta name="viewport" content="width=device-width" />
+	<title> Hand Tracker V2 </title>
+	<link rel="stylesheet" href="style.css" />
+</head>
+<body>
+	<div class="hero">
+		<div class="hero-content">
+			<div class="app-icon">🤖⚡</div>
+			<h1> Hand Tracker V2 </h1>
+			<p class="tagline">Enter your tagline here</p>
+		</div>
+	</div>
+	<div class="container">
+		<div class="main-card">
+			<div class="app-preview">
+				<div class="preview-image">
+					<div class="camera-feed">🛠️</div>
+				</div>
+			</div>
+		</div>
+	</div>
+	<div class="download-section">
+		<div class="download-card">
+			<h2>Install This App</h2>
+			<div class="dashboard-config">
+				<label for="dashboardUrl">Your Reachy Dashboard URL:</label>
+				<input type="url" id="dashboardUrl" value="http://localhost:8000"
+					placeholder="http://your-reachy-ip:8000" />
+			</div>
+			<button id="installBtn" class="install-btn primary">
+				<span class="btn-icon">📥</span>
+				Install Hand Tracker V2 to Reachy Mini
+			</button>
+			<div id="installStatus" class="install-status"></div>
+		</div>
+	</div>
+	<div class="footer">
+		<p>
+			🤖 Hand Tracker V2 •
+			<a href="https://github.com/pollen-robotics" target="_blank">Pollen Robotics</a> •
+			<a href="https://huggingface.co/spaces/pollen-robotics/Reachy_Mini_Apps" target="_blank">Browse More
+				Apps</a>
+		</p>
+	</div>
+	</div>
+	<script>
+		// Get the current Hugging Face Space URL as the repository URL
+		function getCurrentSpaceUrl() {
+			// Get current page URL and convert to repository format
+			const currentUrl = window.location.href;
+			// Remove any trailing slashes and query parameters
+			const cleanUrl = currentUrl.split('?')[0].replace(/\/$/, '');
+			return cleanUrl;
+		}
+		// Parse TOML content to extract project name
+		function parseTomlProjectName(tomlContent) {
+			try {
+				const lines = tomlContent.split('\n');
+				let inProjectSection = false;
+				for (const line of lines) {
+					const trimmedLine = line.trim();
+					// Check if we're entering the [project] section
+					if (trimmedLine === '[project]') {
+						inProjectSection = true;
+						continue;
+					}
+					// Check if we're entering a different section
+					if (trimmedLine.startsWith('[') && trimmedLine !== '[project]') {
+						inProjectSection = false;
+						continue;
+					}
+					// If we're in the project section, look for the name field
+					if (inProjectSection && trimmedLine.startsWith('name')) {
+						const match = trimmedLine.match(/name\s*=\s*["']([^"']+)["']/);
+						if (match) {
+							// Convert to lowercase and replace invalid characters for app naming
+							return match[1].toLowerCase().replace(/[^a-z0-9-_]/g, '-');
+						}
+					}
+				}
+				throw new Error('Project name not found in pyproject.toml');
+			} catch (error) {
+				console.error('Error parsing pyproject.toml:', error);
+				return 'unknown-app';
+			}
+		}
+		// Fetch and parse pyproject.toml from the current space
+		async function getAppNameFromCurrentSpace() {
+			try {
+				// Fetch pyproject.toml from the current space
+				const response = await fetch('./pyproject.toml');
+				if (!response.ok) {
+					throw new Error(`Failed to fetch pyproject.toml: ${response.status}`);
+				}
+				const tomlContent = await response.text();
+				return parseTomlProjectName(tomlContent);
+			} catch (error) {
+				console.error('Error fetching app name from current space:', error);
+				// Fallback to extracting from URL if pyproject.toml is not accessible
+				const url = getCurrentSpaceUrl();
+				const parts = url.split('/');
+				const spaceName = parts[parts.length - 1];
+				return spaceName.toLowerCase().replace(/[^a-z0-9-_]/g, '-');
+			}
+		}
+		async function installToReachy() {
+			const dashboardUrl = document.getElementById('dashboardUrl').value.trim();
+			const statusDiv = document.getElementById('installStatus');
+			const installBtn = document.getElementById('installBtn');
+			if (!dashboardUrl) {
+				showStatus('error', 'Please enter your Reachy dashboard URL');
+				return;
+			}
+			try {
+				installBtn.disabled = true;
+				installBtn.innerHTML = '<span class="btn-icon">⏳</span>Installing...';
+				showStatus('loading', 'Connecting to your Reachy dashboard...');
+				// Test connection
+				const testResponse = await fetch(`${dashboardUrl}/api/status`, {
+					method: 'GET',
+					mode: 'cors',
+				});
+				if (!testResponse.ok) {
+					throw new Error('Cannot connect to dashboard. Make sure the URL is correct and the dashboard is running.');
+				}
+				showStatus('loading', 'Reading app configuration...');
+				// Get app name from pyproject.toml in current space
+				const appName = await getAppNameFromCurrentSpace();
+				// Get current space URL as repository URL
+				const repoUrl = getCurrentSpaceUrl();
+				showStatus('loading', `Starting installation of "${appName}"...`);
+				// Start installation
+				const installResponse = await fetch(`${dashboardUrl}/api/install`, {
+					method: 'POST',
+					mode: 'cors',
+					headers: {
+						'Content-Type': 'application/json',
+					},
+					body: JSON.stringify({
+						url: repoUrl,
+						name: appName
+					})
+				});
+				const result = await installResponse.json();
+				if (installResponse.ok) {
+					showStatus('success', `✅ Installation started for "${appName}"! Check your dashboard for progress.`);
+					setTimeout(() => {
+						showStatus('info', `Open your dashboard at ${dashboardUrl} to see the installed app.`);
+					}, 3000);
+				} else {
+					throw new Error(result.detail || 'Installation failed');
+				}
+			} catch (error) {
+				console.error('Installation error:', error);
+				showStatus('error', `❌ ${error.message}`);
+			} finally {
+				installBtn.disabled = false;
+				installBtn.innerHTML = '<span class="btn-icon">📥</span>Install App to Reachy';
+			}
+		}
+		function showStatus(type, message) {
+			const statusDiv = document.getElementById('installStatus');
+			statusDiv.className = `install-status ${type}`;
+			statusDiv.textContent = message;
+			statusDiv.style.display = 'block';
+		}
+		function copyToClipboard() {
+			const repoUrl = document.getElementById('repoUrl').textContent;
+			navigator.clipboard.writeText(repoUrl).then(() => {
+				showStatus('success', '📋 Repository URL copied to clipboard!');
+			}).catch(() => {
+				showStatus('error', 'Failed to copy URL. Please copy manually.');
+			});
+		}
+		// Update the displayed repository URL on page load
+		document.addEventListener('DOMContentLoaded', () => {
+			// Auto-detect local dashboard
+			const isLocalhost = window.location.hostname === 'localhost' || window.location.hostname === '127.0.0.1';
+			if (isLocalhost) {
+				document.getElementById('dashboardUrl').value = 'http://localhost:8000';
+			}
+			// Update the repository URL display if element exists
+			const repoUrlElement = document.getElementById('repoUrl');
+			if (repoUrlElement) {
+				repoUrlElement.textContent = getCurrentSpaceUrl();
+			}
+		});
+		// Event listeners
+		document.getElementById('installBtn').addEventListener('click', installToReachy);
+	</script>
+</body>
+</html>

pyproject.toml ADDED Viewed

	@@ -0,0 +1,29 @@

+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+[project]
+name = "hand_tracker_v2"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini",
+    "reachy-mini-toolbox[vision]>=1.1.1"
+]
+keywords = ["reachy-mini-app"]
+[project.entry-points."reachy_mini_apps"]
+hand_tracker_v2 = "hand_tracker_v2.main:HandTrackerV2"
+[tool.setuptools]
+package-dir = { "" = "." }
+include-package-data = true
+[tool.setuptools.packages.find]
+where = ["."]
+[tool.setuptools.package-data]
+hand_tracker_v2 = ["**/*"] # Also include all non-.py files

style.css ADDED Viewed

	@@ -0,0 +1,411 @@

+* {
+	margin: 0;
+	padding: 0;
+	box-sizing: border-box;
+}
+body {
+	font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+	line-height: 1.6;
+	color: #333;
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	min-height: 100vh;
+}
+.hero {
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	color: white;
+	padding: 4rem 2rem;
+	text-align: center;
+}
+.hero-content {
+	max-width: 800px;
+	margin: 0 auto;
+}
+.app-icon {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	display: inline-block;
+}
+.hero h1 {
+	font-size: 3rem;
+	font-weight: 700;
+	margin-bottom: 1rem;
+	background: linear-gradient(45deg, #fff, #f0f9ff);
+	background-clip: text;
+	-webkit-background-clip: text;
+	-webkit-text-fill-color: transparent;
+}
+.tagline {
+	font-size: 1.25rem;
+	opacity: 0.9;
+	max-width: 600px;
+	margin: 0 auto;
+}
+.container {
+	max-width: 1200px;
+	margin: 0 auto;
+	padding: 0 2rem;
+	position: relative;
+	z-index: 2;
+}
+.main-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	margin-top: -2rem;
+	overflow: hidden;
+	margin-bottom: 3rem;
+}
+.app-preview {
+	background: linear-gradient(135deg, #1e3a8a, #3b82f6);
+	padding: 3rem;
+	color: white;
+	text-align: center;
+	position: relative;
+}
+.preview-image {
+	background: #000;
+	border-radius: 15px;
+	padding: 2rem;
+	max-width: 500px;
+	margin: 0 auto;
+	position: relative;
+	overflow: hidden;
+}
+.camera-feed {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	opacity: 0.7;
+}
+.detection-overlay {
+	position: absolute;
+	top: 50%;
+	left: 50%;
+	transform: translate(-50%, -50%);
+	width: 100%;
+}
+.bbox {
+	background: rgba(34, 197, 94, 0.9);
+	color: white;
+	padding: 0.5rem 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	font-weight: 600;
+	margin: 0.5rem;
+	display: inline-block;
+	border: 2px solid #22c55e;
+}
+.app-details {
+	padding: 3rem;
+}
+.app-details h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 2rem;
+	text-align: center;
+}
+.template-info {
+	display: grid;
+	grid-template-columns: repeat(auto-fit, minmax(300px, 1fr));
+	gap: 2rem;
+	margin-bottom: 3rem;
+}
+.info-box {
+	background: #f0f9ff;
+	border: 2px solid #e0f2fe;
+	border-radius: 12px;
+	padding: 2rem;
+}
+.info-box h3 {
+	color: #0c4a6e;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+.info-box p {
+	color: #0369a1;
+	line-height: 1.6;
+}
+.how-to-use {
+	background: #fefce8;
+	border: 2px solid #fde047;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 3rem;
+}
+.how-to-use h3 {
+	color: #a16207;
+	margin-bottom: 1.5rem;
+	font-size: 1.3rem;
+	text-align: center;
+}
+.steps {
+	display: flex;
+	flex-direction: column;
+	gap: 1.5rem;
+}
+.step {
+	display: flex;
+	align-items: flex-start;
+	gap: 1rem;
+}
+.step-number {
+	background: #eab308;
+	color: white;
+	width: 2rem;
+	height: 2rem;
+	border-radius: 50%;
+	display: flex;
+	align-items: center;
+	justify-content: center;
+	font-weight: bold;
+	flex-shrink: 0;
+}
+.step h4 {
+	color: #a16207;
+	margin-bottom: 0.5rem;
+	font-size: 1.1rem;
+}
+.step p {
+	color: #ca8a04;
+}
+.download-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	padding: 3rem;
+	text-align: center;
+}
+.download-card h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 1rem;
+}
+.download-card>p {
+	color: #64748b;
+	font-size: 1.1rem;
+	margin-bottom: 2rem;
+}
+.dashboard-config {
+	margin-bottom: 2rem;
+	text-align: left;
+	max-width: 400px;
+	margin-left: auto;
+	margin-right: auto;
+}
+.dashboard-config label {
+	display: block;
+	color: #374151;
+	font-weight: 600;
+	margin-bottom: 0.5rem;
+}
+.dashboard-config input {
+	width: 100%;
+	padding: 0.75rem 1rem;
+	border: 2px solid #e5e7eb;
+	border-radius: 8px;
+	font-size: 0.95rem;
+	transition: border-color 0.2s;
+}
+.dashboard-config input:focus {
+	outline: none;
+	border-color: #667eea;
+}
+.install-btn {
+	background: linear-gradient(135deg, #667eea, #764ba2);
+	color: white;
+	border: none;
+	padding: 1.25rem 3rem;
+	border-radius: 16px;
+	font-size: 1.2rem;
+	font-weight: 700;
+	cursor: pointer;
+	transition: all 0.3s ease;
+	display: inline-flex;
+	align-items: center;
+	gap: 0.75rem;
+	margin-bottom: 2rem;
+	box-shadow: 0 8px 25px rgba(102, 126, 234, 0.3);
+}
+.install-btn:hover:not(:disabled) {
+	transform: translateY(-3px);
+	box-shadow: 0 15px 35px rgba(102, 126, 234, 0.4);
+}
+.install-btn:disabled {
+	opacity: 0.7;
+	cursor: not-allowed;
+	transform: none;
+}
+.manual-option {
+	background: #f8fafc;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 2rem;
+}
+.manual-option h3 {
+	color: #1e293b;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+.manual-option>p {
+	color: #64748b;
+	margin-bottom: 1rem;
+}
+.btn-icon {
+	font-size: 1.1rem;
+}
+.install-status {
+	padding: 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	text-align: center;
+	display: none;
+	margin-top: 1rem;
+}
+.install-status.success {
+	background: #dcfce7;
+	color: #166534;
+	border: 1px solid #bbf7d0;
+}
+.install-status.error {
+	background: #fef2f2;
+	color: #dc2626;
+	border: 1px solid #fecaca;
+}
+.install-status.loading {
+	background: #dbeafe;
+	color: #1d4ed8;
+	border: 1px solid #bfdbfe;
+}
+.install-status.info {
+	background: #e0f2fe;
+	color: #0369a1;
+	border: 1px solid #7dd3fc;
+}
+.manual-install {
+	background: #1f2937;
+	border-radius: 8px;
+	padding: 1rem;
+	margin-bottom: 1rem;
+	display: flex;
+	align-items: center;
+	gap: 1rem;
+}
+.manual-install code {
+	color: #10b981;
+	font-family: 'SF Mono', 'Monaco', 'Inconsolata', 'Roboto Mono', monospace;
+	font-size: 0.85rem;
+	flex: 1;
+	overflow-x: auto;
+}
+.copy-btn {
+	background: #374151;
+	color: white;
+	border: none;
+	padding: 0.5rem 1rem;
+	border-radius: 6px;
+	font-size: 0.8rem;
+	cursor: pointer;
+	transition: background-color 0.2s;
+}
+.copy-btn:hover {
+	background: #4b5563;
+}
+.manual-steps {
+	color: #6b7280;
+	font-size: 0.9rem;
+	line-height: 1.8;
+}
+.footer {
+	text-align: center;
+	padding: 2rem;
+	color: white;
+	opacity: 0.8;
+}
+.footer a {
+	color: white;
+	text-decoration: none;
+	font-weight: 600;
+}
+.footer a:hover {
+	text-decoration: underline;
+}
+/* Responsive Design */
+@media (max-width: 768px) {
+	.hero {
+		padding: 2rem 1rem;
+	}
+	.hero h1 {
+		font-size: 2rem;
+	}
+	.container {
+		padding: 0 1rem;
+	}
+	.app-details,
+	.download-card {
+		padding: 2rem;
+	}
+	.features-grid {
+		grid-template-columns: 1fr;
+	}
+	.download-options {
+		grid-template-columns: 1fr;
+	}
+}