diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index dd8286ce8e..8123193b8e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -21,8 +21,7 @@ jobs:
 
       - name: Dependency Test
         run: mvn test -Dtest=org.myrobotlab.framework.DependencyTest -q
-
-      - name: Build and Test with Maven
+      - name: Build with Maven
         run: mvn --batch-mode -Dtest=!**/OpenCV* test -q
 
       - name: Get next version
diff --git a/make_web_dev.bat b/make_web_dev.bat
index 5c0b1c1ea9..9d3c5e8126 100644
--- a/make_web_dev.bat
+++ b/make_web_dev.bat
@@ -6,6 +6,6 @@ git clone https://github.com/MyRobotLab/myrobotlab.git
 cd myrobotlab
 git pull
 git status
-curl -LOJ http://build.myrobotlab.org:8080/job/myrobotlab/job/develop/lastSuccessfulBuild/artifact/target/myrobotlab.jar
+curl -LOJ https://github.com/MyRobotLab/myrobotlab/releases/latest/download/myrobotlab.jar
 java -jar myrobotlab.jar --install && java -jar myrobotlab.jar -s webgui WebGui python Python i01 InMoov2 intro Intro
 
diff --git a/pom.xml b/pom.xml
index 28f05b627c..7acbce2abb 100644
--- a/pom.xml
+++ b/pom.xml
@@ -13,6 +13,9 @@
     # fast build
     mvn -DskipTests package -o 
 
+    # execute
+    mvn exec:java -Dexec.mainClass=org.myrobotlab.service.Runtime -Dexec.args="-s webgui WebGui intro Intro python Python"
+
     # specific test
     mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
 
diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index 5e6ef5ef10..b3309bbcc3 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -101,11 +101,11 @@ public abstract class Service<T extends ServiceConfig> implements Runnable, Seri
   protected MetaData serviceType;
 
   /**
-   * Config member - configuration of type {ServiceType}Config
-   * Runtime applys either the default config or a saved config during service creation
+   * Config member - configuration of type {ServiceType}Config Runtime applys
+   * either the default config or a saved config during service creation
    */
   protected T config;
-  
+
   private static final long serialVersionUID = 1L;
 
   transient public final static Logger log = LoggerFactory.getLogger(Service.class);
@@ -190,8 +190,8 @@ public abstract class Service<T extends ServiceConfig> implements Runnable, Seri
 
   /**
    * This is the map of interfaces - its really "static" information, since its
-   * a definition. However, since serialization will not process statics - we are making
-   * it a member variable
+   * a definition. However, since serialization will not process statics - we
+   * are making it a member variable
    */
   // FIXME - this should be a map
   protected Map<String, String> interfaceSet;
@@ -279,11 +279,7 @@ public static Object copyShallowFrom(Object target, Object source) {
            * ){ log.info("here"); }
            */
 
-          if (Modifier.isPrivate(modifiers)
-                  || fname.equals("log")
-                  || Modifier.isTransient(modifiers)
-                  || Modifier.isStatic(modifiers)
-                  || Modifier.isFinal(modifiers)) {
+          if (Modifier.isPrivate(modifiers) || fname.equals("log") || Modifier.isTransient(modifiers) || Modifier.isStatic(modifiers) || Modifier.isFinal(modifiers)) {
             log.debug("skipping {}", field.getName());
             continue;
           } else {
@@ -472,18 +468,17 @@ static public String getResourceDir(Class<?> clazz, String additionalPath) {
    *          to glue together
    * @return the full resolved path
    * 
-   * FIXME - DO NOT USE STATIC !!!!
-   * all instances of services should be able to get the resource directory
-   * If its static and "configurable" then it needs an instance of Runtime
-   * which is not available.
+   *         FIXME - DO NOT USE STATIC !!!! all instances of services should be
+   *         able to get the resource directory If its static and "configurable"
+   *         then it needs an instance of Runtime which is not available.
    * 
    */
   @Deprecated /* this should not be static - remove it */
   static public String getResourceDir(String serviceType, String additionalPath) {
 
-    // setting resource directory    
+    // setting resource directory
     String resourceDir = null;
-    
+
     // stupid solution to get past static problem
     if (!"Runtime".equals(serviceType)) {
       resourceDir = Runtime.getInstance().getConfig().resource + fs + serviceType;
@@ -495,6 +490,7 @@ static public String getResourceDir(String serviceType, String additionalPath) {
     }
     return resourceDir;
   }
+
   /**
    * non static get resource path return the path to a resource - since the root
    * can change depending if in debug or runtime - it gets the appropriate root
@@ -997,47 +993,49 @@ public String[] getMethodNames() {
   public Method[] getMethods() {
     return this.getClass().getMethods();
   }
-  
+
   /**
-   * Returns a map containing all interface names from the class hierarchy and the interface hierarchy of the
-   * current class.
+   * Returns a map containing all interface names from the class hierarchy and
+   * the interface hierarchy of the current class.
    *
    * @return A map containing all interface names.
    */
   public Map<String, String> getInterfaceSet() {
-      Map<String, String> ret = new TreeMap<>();
-      Set<Class<?>> visitedClasses = new HashSet<>();
-      getAllInterfacesHelper(getClass(), ret, visitedClasses);
-      return ret;
+    Map<String, String> ret = new TreeMap<>();
+    Set<Class<?>> visitedClasses = new HashSet<>();
+    getAllInterfacesHelper(getClass(), ret, visitedClasses);
+    return ret;
   }
 
   /**
-   * Recursively traverses the class hierarchy and the interface hierarchy to add all interface names to the
-   * specified map.
+   * Recursively traverses the class hierarchy and the interface hierarchy to
+   * add all interface names to the specified map.
    *
-   * @param c              The class to start the traversal from.
-   * @param ret            The map to store the interface names.
-   * @param visitedClasses A set to keep track of visited classes to avoid infinite loops.
+   * @param c
+   *          The class to start the traversal from.
+   * @param ret
+   *          The map to store the interface names.
+   * @param visitedClasses
+   *          A set to keep track of visited classes to avoid infinite loops.
    */
   private void getAllInterfacesHelper(Class<?> c, Map<String, String> ret, Set<Class<?>> visitedClasses) {
-      if (c != null && !visitedClasses.contains(c)) {
-          // Add interfaces from the current class
-          Class<?>[] interfaces = c.getInterfaces();
-          for (Class<?> interfaze : interfaces) {
-              ret.put(interfaze.getName(), interfaze.getName());
-          }
-
-          // Add interfaces from interfaces implemented by the current class
-          for (Class<?> interfaze : interfaces) {
-              getAllInterfacesHelper(interfaze, ret, visitedClasses);
-          }
+    if (c != null && !visitedClasses.contains(c)) {
+      // Add interfaces from the current class
+      Class<?>[] interfaces = c.getInterfaces();
+      for (Class<?> interfaze : interfaces) {
+        ret.put(interfaze.getName(), interfaze.getName());
+      }
 
-          // Recursively traverse the superclass hierarchy
-          visitedClasses.add(c);
-          getAllInterfacesHelper(c.getSuperclass(), ret, visitedClasses);
+      // Add interfaces from interfaces implemented by the current class
+      for (Class<?> interfaze : interfaces) {
+        getAllInterfacesHelper(interfaze, ret, visitedClasses);
       }
+
+      // Recursively traverse the superclass hierarchy
+      visitedClasses.add(c);
+      getAllInterfacesHelper(c.getSuperclass(), ret, visitedClasses);
+    }
   }
-  
 
   public Message getMsg() throws InterruptedException {
     return inbox.getMsg();
@@ -1296,12 +1294,11 @@ final public Object invokeOn(boolean blockLocally, Object obj, String methodName
       if (blockLocally) {
         Outbox outbox = null;
         if (obj instanceof ServiceInterface) {
-          outbox = ((ServiceInterface)obj).getOutbox();
+          outbox = ((ServiceInterface) obj).getOutbox();
         } else {
           return retobj;
         }
-        
-        
+
         List<MRLListener> subList = outbox.notifyList.get(methodName);
         // correct? get local (default?) gateway
         Runtime runtime = Runtime.getInstance();
@@ -1381,27 +1378,88 @@ public boolean isRunning() {
 
   /**
    * getConfig returns current config of the service. This default super method
-   * will also filter webgui subscriptions out, in addition for any local subscriptions it
-   * will remove the instance "id" from any service.  The reason it removes the webgui
-   * subscriptions is to avoid overwelming the user when modifying config.  UI subscriptions
-   * tend to be very numerous and not very useful to the user.  The reason it removes the
-   * instance id from local subscriptions is to allow the config to be used with any instance.
-   * Unless the user is controlling instance id, its random every restart.
+   * will also filter webgui subscriptions out, in addition for any local
+   * subscriptions it will remove the instance "id" from any service. The reason
+   * it removes the webgui subscriptions is to avoid overwelming the user when
+   * modifying config. UI subscriptions tend to be very numerous and not very
+   * useful to the user. The reason it removes the instance id from local
+   * subscriptions is to allow the config to be used with any instance. Unless
+   * the user is controlling instance id, its random every restart.
    */
   public T getConfig() {
     return config;
   }
 
   /**
-   * Super class apply using template type. The default assigns config of the templated type, and also
-   * add listeners from subscriptions found on the base class ServiceConfig.listeners 
+   * Get a service's peer's configuration. This method is used to get the
+   * configuration of a peer service regarless if it is currently running or
+   * not. If the peer is running the configuration is pulled from the active
+   * peer service, if it is not currently running the configuration is read from
+   * the current config set's service configuration file, if that does not exist
+   * the default configuration for this peer is used.
+   * 
+   * @param peerKey
+   *          - key of the peer service. e.g. "opencv" in the case of
+   *          i01."opencv"
+   * @return
    */
-  public T apply(T c) {
-      config = c;
-      addConfigListeners(c);
-      return config;
+  public ServiceConfig getPeerConfig(String peerKey) {
+    String peerName = getPeerName(peerKey);
+    if (peerName == null) {
+      error("peer name not found for peer key %s", peerKey);
+      return null;
+    }
+
+    ServiceInterface si = Runtime.getService(peerName);
+    if (si != null) {
+      // peer is currently running - get its config
+      return si.getConfig();
+    }
+
+    // peer is not currently running attempt to read from config
+    Runtime runtime = Runtime.getInstance();
+    // read current service config for this peer service
+    ServiceConfig sc = runtime.readServiceConfig(peerName);
+    if (sc == null) {
+      error("peer service %s is defined, but %s.yml not available on filesystem", peerKey, peerName);
+      return null;
+    }
+    return sc;
   }
 
+  public void setPeerConfigValue(String peerKey, String fieldname, Object value) throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException {
+    ServiceConfig sc = getPeerConfig(peerKey);
+    if (sc == null) {
+      error("invalid config for peer key %s field name %s", peerKey, fieldname);
+      return;
+    }
+    Field field = sc.getClass().getDeclaredField(fieldname);
+    field.set(sc, value);
+    savePeerConfig(peerKey, sc);
+    String peerName = getPeerName(peerKey);
+    ConfigurableService cs = (ConfigurableService) Runtime.getService(peerName);
+    if (cs != null) {
+      cs.apply(sc); // TODO - look for applies if its read from the file system
+                    // it needs to update Runtime.plan
+    }
+
+    // broadcast change
+    invoke("getPeerConfig", peerKey);
+    Runtime.getPlan().put(peerName, sc);
+    Runtime runtime = Runtime.getInstance();
+    runtime.broadcastState();
+  }
+
+  /**
+   * Super class apply using template type. The default assigns config of the
+   * templated type, and also add listeners from subscriptions found on the base
+   * class ServiceConfig.listeners
+   */
+  public T apply(T c) {
+    config = c;
+    addConfigListeners(c);
+    return config;
+  }
 
   /**
    * The basic ServiceConfig has a list of listeners. These are definitions of
@@ -1418,7 +1476,8 @@ public ServiceConfig addConfigListeners(ServiceConfig config) {
   }
 
   /**
-   * Default filtered config, used when saving, can be overriden by concrete class
+   * Default filtered config, used when saving, can be overriden by concrete
+   * class
    */
   @Override
   public ServiceConfig getFilteredConfig() {
@@ -1449,7 +1508,6 @@ public ServiceConfig getFilteredConfig() {
     return sc;
   }
 
-
   @Override
   public void setConfigValue(String fieldname, Object value) throws IllegalArgumentException, IllegalAccessException, NoSuchFieldException, SecurityException {
     log.info("setting field name fieldname {} to {}", fieldname, value);
@@ -1457,6 +1515,7 @@ public void setConfigValue(String fieldname, Object value) throws IllegalArgumen
     Field field = getConfig().getClass().getDeclaredField(fieldname);
     // field.setAccessible(true); should not need this - it "should" be public
     field.set(getConfig(), value);
+    save();
   }
 
   @Override
@@ -1561,11 +1620,12 @@ public void removeListener(String outMethod, String serviceName, String inMethod
           return true;
         }
 
-        // Previously we were not checking inMethod, which meant if a service had multiple
-        // subscriptions to the same topic (one to many mapping), the first in the list would be removed
+        // Previously we were not checking inMethod, which meant if a service
+        // had multiple
+        // subscriptions to the same topic (one to many mapping), the first in
+        // the list would be removed
         // instead of the requested one.
-        if (listener.callbackMethod.equals(inMethod)
-                && CodecUtils.checkServiceNameEquality(listener.callbackName, fullName)) {
+        if (listener.callbackMethod.equals(inMethod) && CodecUtils.checkServiceNameEquality(listener.callbackName, fullName)) {
           log.info("removeListener requested {}.{} to be removed", fullName, outMethod);
           return true;
         }
@@ -1641,6 +1701,24 @@ public boolean save() {
     return runtime.saveService(runtime.getConfigName(), getName(), null);
   }
 
+  /**
+   * Save a service's peer's config to current config set
+   * 
+   * @param peerKey
+   */
+  public void savePeerConfig(String peerKey, ServiceConfig config) {
+    try {
+      Runtime runtime = Runtime.getInstance();
+      String peerName = getPeerName(peerKey);
+      String data = CodecUtils.toYaml(config);
+      String ymlFileName = runtime.getConfigPath() + fs + CodecUtils.getShortName(peerName) + ".yml";
+      FileIO.toFile(ymlFileName, data.getBytes());
+      info("saved %s", ymlFileName);
+    } catch (Exception e) {
+      error(e);
+    }
+  }
+
   public ServiceInterface getPeer(String peerKey) {
     String actualName = getPeerName(peerKey);
     return Runtime.getService(actualName);
@@ -1991,7 +2069,7 @@ public void subscribe(String topicName, String topicMethod) {
     String callbackMethod = CodecUtils.getCallbackTopicName(topicMethod);
     subscribe(topicName, topicMethod, getFullName(), callbackMethod);
   }
-  
+
   @Override
   public void subscribe(String service, String method, String callback) {
     subscribe(service, method, getFullName(), callback);
@@ -2050,7 +2128,7 @@ public void unsubscribe(String topicName, String topicMethod) {
     String callbackMethod = CodecUtils.getCallbackTopicName(topicMethod);
     unsubscribe(topicName, topicMethod, getFullName(), callbackMethod);
   }
-  
+
   @Override
   public void unsubscribe(String topicName, String topicMethod, String callback) {
     unsubscribe(topicName, topicMethod, getFullName(), callback);
@@ -2078,10 +2156,13 @@ public Status error(Exception e) {
   
   @Override
   public Status error(String format, Object... args) {
-   String msg =  String.format(
-        Objects.requireNonNullElse(format, ""),
-        args);    
-    return error(msg);
+    Status ret;
+    ret = Status.error(String.format(Objects.requireNonNullElse(format, ""), args));
+    ret.name = getName();
+    log.error(ret.toString());
+    lastError = ret;
+    invoke("publishStatus", ret);
+    return ret;
   }
 
   public Status error(String msg) {
@@ -2577,7 +2658,10 @@ public String localize(String key, Object... args) {
   }
 
   @Override
-  @Deprecated /* this system should be removed in favor of a ProgramAB instance with ability to translate */
+  @Deprecated /*
+               * this system should be removed in favor of a ProgramAB instance
+               * with ability to translate
+               */
   public void loadLocalizations() {
 
     if (defaultLocalization == null) {
@@ -2749,16 +2833,36 @@ public void apply() {
     Runtime runtime = Runtime.getInstance();
     String configName = runtime.getConfigName();
     ServiceConfig sc = runtime.readServiceConfig(configName, name);
-    
+
     if (sc == null) {
       error("config file %s not found", Runtime.getConfigRoot() + fs + configName + fs + name + ".yml");
       return;
     }
-    
-    // updating plan
+
+    // updating plan - FIXME remove plan
     Runtime.getPlan().put(getName(), sc);
+
     // applying config to self
-    apply((T)sc);
+    apply((T) sc);
+  }
+
+  /**
+   * Apply the config to a peer, regardless if the peer is currently running or
+   * not
+   * 
+   * @param peerKey
+   * @param config
+   */
+  public void applyPeerConfig(String peerKey, ServiceConfig config) {
+    String peerName = getPeerName(peerKey);
+
+    Runtime.getPlan().put(peerName, config);
+
+    // meh - templating is not very helpful here
+    ConfigurableService si = (ConfigurableService) Runtime.getService(peerName);
+    if (si != null) {
+      si.apply(config);
+    }
   }
 
   /**
@@ -2779,11 +2883,11 @@ public void setPeerName(String key, String fullName) {
     // should we also make or update a config file - if the config path is set?
     info("updated %s name to %s", oldName, peer.name);
   }
-  
+
   /**
    * get all the subscriptions to this service
    */
-  public Map<String, List<MRLListener>>  getNotifyList(){
+  public Map<String, List<MRLListener>> getNotifyList() {
     return getOutbox().getNotifyList();
   }
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 9e851a80ea..92e060dee2 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -189,7 +189,6 @@ public static void main(String[] args) {
 
   protected String voiceSelected;
 
-
   public InMoov2(String n, String id) {
     super(n, id);
 
@@ -227,6 +226,7 @@ public InMoov2(String n, String id) {
 
   }
 
+  // should be removed in favor of general listeners
   public void addTextListener(TextListener service) {
     // CORRECT WAY ! - no direct reference - just use the name in a subscription
     addListener("publishText", service.getName());
@@ -1868,7 +1868,7 @@ public void setTorsoSpeed(Integer topStom, Integer midStom, Integer lowStom) {
     setTorsoSpeed((double) topStom, (double) midStom, (double) lowStom);
   }
 
-  @Deprecated
+  @Deprecated /* use setTorsoSpeed */
   public void setTorsoVelocity(Double topStom, Double midStom, Double lowStom) {
     setTorsoSpeed(topStom, midStom, lowStom);
   }
@@ -2364,4 +2364,5 @@ public void wake() {
     }
   }
 
+
 }
diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
index ba1edc8f93..88deb97360 100644
--- a/src/main/java/org/myrobotlab/service/OpenCV.java
+++ b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -2012,6 +2012,19 @@ public void enableFilter(String name) {
     }
   }
 
+  /**
+   * flip the video display vertically
+   * @param toFlip
+   */
+  public void flip(boolean toFlip) {
+    config.flip = toFlip;
+    if (config.flip) {      
+      addFilter("Flip");
+    } else {
+      removeFilter("Flip");
+    }
+  }
+
   @Override
   public void disableFilter(String name) {
     OpenCVFilter f = filters.get(name);
@@ -2107,6 +2120,8 @@ public OpenCVConfig apply(OpenCVConfig c) {
         // TODO: better configuration of the filter when it's added.
       }
     }
+    
+    flip(c.flip);
 
     if (c.capturing) {
       capture();
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index c1f845abee..d8abae8ed5 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -139,7 +139,7 @@ public class Runtime extends Service<RuntimeConfig> implements MessageListener,
    * all these requests.
    */
   @Deprecated /* use the filesystem only no memory plan */
-  transient Plan masterPlan = new Plan("runtime");
+  protected final Plan masterPlan = new Plan("runtime");
 
   /**
    * thread for non-blocking install of services
@@ -2627,6 +2627,7 @@ synchronized static public ServiceInterface start(String name, String type) {
       }
 
       Runtime.load(name, type);
+      Runtime.savePlan(null);
       // FIXME - does some order need to be maintained
       Map<String, ServiceInterface> services = createServicesFromPlan(Runtime.getPlan(), null, name);
 
@@ -4759,6 +4760,16 @@ synchronized private Plan loadService(Plan plan, String name, String type, boole
 
     return plan;
   }
+  
+  /**
+   * read a service's configuration, in the context
+   * of current config set name or default
+   * @param name
+   * @return
+   */
+  public ServiceConfig readServiceConfig(String name) {
+    return readServiceConfig(null, name);
+  }
 
   /**
    *
@@ -4799,19 +4810,6 @@ public String publishConfigLoaded(String name) {
     return name;
   }
 
-  // @Override
-  // public ServiceConfig getConfig() {
-  // RuntimeConfig config = (RuntimeConfig)super.getConfig();
-  // List<org.myrobotlab.service.config.ServiceConfig.Listener> listeners = new
-  // ArrayList
-  // for (org.myrobotlab.service.config.ServiceConfig.Listener listener:
-  // config.listeners) {
-  // if (listener.equals("stopped") || listener.equals("created")||
-  // listener.equals("registered")|| listener.equals("released")) {
-  //
-  // }
-  // }
-  // }
 
   public String setAllIds(String id) {
     Platform.getLocalInstance().setId(id);
@@ -5108,6 +5106,10 @@ private void savePlanInternal(String configName) {
 
     for (String s : masterPlan.keySet()) {
       String filename = CONFIG_ROOT + fs + configName + fs + s + ".yml";
+      File check = new File(filename);
+      if (check.exists()) {
+        continue;
+      }
       String data = CodecUtils.toYaml(masterPlan.get(s));
       try {
         FileIO.toFile(filename, data.getBytes());
@@ -5289,7 +5291,6 @@ public RuntimeConfig getConfig() {
     config = super.getConfig();
     config.locale = getLocaleTag();
     config.virtual = isVirtual;
-    config.id = getId();
     return config;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
index d48554891b..6625e37096 100644
--- a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -85,11 +85,9 @@ public class InMoov2Config extends ServiceConfig {
   public boolean neoPixelErrorRed = true;
 
   public boolean neoPixelFlashWhenSpeaking = true;
-
-  public boolean openCVFaceRecognizerActivated = true;
-
-  public boolean openCVFlipPicture = false;
-
+  
+  public boolean openCVFaceRecognizerActivated=true;
+    
   public boolean pirEnableTracking = false;
 
   public boolean pirOnFlash = true;
diff --git a/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java b/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java
index 2c786aa648..2087539836 100644
--- a/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/OpenCVConfig.java
@@ -15,5 +15,9 @@ public class OpenCVConfig extends ServiceConfig {
   public boolean webViewer = false;
   public boolean capturing = false;
   public Map<String, OpenCVFilter> filters = new LinkedHashMap<>();
+  /**
+   * flip the video vertically
+   */
+  public boolean flip = false;
 
 }
diff --git a/src/main/resources/resource/WebGui/app/peer.js b/src/main/resources/resource/WebGui/app/peer.js
index 78c15f5da3..e033693b52 100644
--- a/src/main/resources/resource/WebGui/app/peer.js
+++ b/src/main/resources/resource/WebGui/app/peer.js
@@ -4,7 +4,7 @@
 
 console.info('peer')
 
-angular.module('peer', []).service('peer', function( mrl /*$rootScope, $log*/
+angular.module('peer', []).service('peer', function( mrl
 ) {
     service = {};
 
@@ -40,6 +40,20 @@ angular.module('peer', []).service('peer', function( mrl /*$rootScope, $log*/
         return null
     }
 
+    service.getPeerConfig = function(service, key) {
+        try {
+        if (service && service.config && service.config.peers && service.config.peers[key]){
+                return mrl.getService('runtime').masterPlan['config'][service.config.peers[key].name]
+                // return mrl.getService(service.config.peers[key].name).config
+            } else {
+                // if peer is not started - return the filesystem config
+            }            
+        } catch (error) {
+            console.error(error);
+        }
+        return null
+    }    
+
     service.changePeerTab = function(service, key) {
         try {
 
diff --git a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js
index e54e06e36b..143f739d3f 100644
--- a/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/RuntimeGui.js
@@ -132,6 +132,10 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$
             _self.updateState(data)
             $scope.$apply()
             break
+        case 'onPlan':
+            $scope.plan = data
+            $scope.$apply()
+            break
         case 'onLocalServices':
             $scope.registry = data
             //  $scope.$apply()
@@ -410,6 +414,7 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$
     msg.subscribe("publishStatus")
     msg.subscribe('publishConfigList')
     msg.subscribe('publishInterfaceToNames')
+    // msg.subscribe("getPlan")
 
     //msg.send("getLocalServices")
     msg.send("getStartYml")
@@ -419,6 +424,7 @@ angular.module('mrlapp.service.RuntimeGui', []).controller('RuntimeGuiCtrl', ['$
     msg.send("getLocales")
     msg.send("publishInterfaceToNames")
     msg.send("getConfigName")
+    // msg.send("getPlan")
 
     // msg.send("getHosts")
     msg.subscribe(this)
diff --git a/src/main/resources/resource/framework/pom.xml.template b/src/main/resources/resource/framework/pom.xml.template
index ce45f6285a..f0ae2b4183 100644
--- a/src/main/resources/resource/framework/pom.xml.template
+++ b/src/main/resources/resource/framework/pom.xml.template
@@ -13,6 +13,9 @@
     # fast build
     mvn -DskipTests package -o 
 
+    # execute
+    mvn exec:java -Dexec.mainClass=org.myrobotlab.service.Runtime -Dexec.args="-s webgui WebGui intro Intro python Python"
+
     # specific test
     mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
 
diff --git a/src/test/java/org/myrobotlab/service/InMoov2Test.java b/src/test/java/org/myrobotlab/service/InMoov2Test.java
new file mode 100644
index 0000000000..9be0e28537
--- /dev/null
+++ b/src/test/java/org/myrobotlab/service/InMoov2Test.java
@@ -0,0 +1,28 @@
+package org.myrobotlab.service;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import org.junit.Test;
+import org.myrobotlab.service.config.OpenCVConfig;
+
+public class InMoov2Test {
+
+  @Test
+  public void testCvFilters() throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException {
+
+    InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2");
+      
+      // flip
+      i01.setPeerConfigValue("opencv", "flip", true);
+      OpenCVConfig cvconfig = (OpenCVConfig)i01.getPeerConfig("opencv");
+      assertTrue(cvconfig.flip);
+
+      i01.setPeerConfigValue("opencv", "flip", false);
+      cvconfig = (OpenCVConfig)i01.getPeerConfig("opencv");
+      assertFalse(cvconfig.flip);
+      
+  }
+
+  
+}
+