Reachy Mini agent

reachy-mini controls a Reachy Mini from Wactorz. Use it for wake/sleep, head pose, antennas, gaze, speech, expressive gestures, and optional Home Assistant actions.

Hardware setup

Reachy Mini Wireless:

  1. Power on the robot.
  2. Put the robot and the Wactorz host on the same WiFi network.
  3. Make sure the network does not block local device discovery.
  4. Stop any Hugging Face app running on the robot before Wactorz connects.

Reachy Mini Lite:

  1. Connect the robot over USB.
  2. Start the local daemon before spawning the agent:
reachy-mini-daemon -p <serial_port>

Install dependencies

The catalogue installer can install recipe dependencies on first spawn. To install them manually:

pip install reachy-mini numpy edge-tts

Spawn

@catalog spawn reachy-mini

Confirm it is running:

/agents

If the robot was disconnected and reconnected:

/agents restart reachy-mini

Pin a Wireless host

The Reachy SDK usually auto-detects the robot. If discovery is unreliable, publish the host once and restart the agent:

topic: custom/reachy/config
payload: {"robot_host": "192.168.1.42"}

Use the robot's IP address or hostname. The current host is reported in custom/reachy/state as robot_host.

Use it

Plain English works for normal use:

wake up
do a happy gesture
wiggle your antennas
look left
say hello
turn on the light and nod

Other agents can send the same requests directly:

await agent.send_to("reachy-mini", "do a happy gesture")
await agent.send_to("reachy-mini", "say hello")

Structured commands

For direct control, send a dict with cmd:

Command Purpose
wake, sleep, stop Basic robot state
pose Head yaw, pitch, roll, x/y/z
antennas Left and right antenna angles
look_at, look_pixel Gaze target
emotion, list_emotions Recorded gesture clips
say, volume Speech and speaker volume
ha Home Assistant request
bind, unbind Persistent reaction to an MQTT/HA event

Examples:

{"cmd": "wake"}

{"cmd": "pose", "yaw": 30, "duration": 0.6, "method": "minjerk"}

{"cmd": "antennas", "left": 45, "right": -45, "duration": 0.3}

Troubleshooting