reachy-mini（触手可及的迷你）

Reachy Mini Robot Control

Quick Start

Use the CLI script or curl to control the robot. The script lives at:

~/clawd/skills/reachy-mini/scripts/reachy.sh

Set the robot IP via REACHY_HOST env var or --host flag. Default: 192.168.8.17.

Common Commands

reachy.sh status                    # Daemon status, version, IP
reachy.sh state                     # Full robot state
reachy.sh wake-up                   # Wake the robot
reachy.sh sleep                     # Put to sleep
reachy.sh snap                      # Camera snapshot → /tmp/reachy_snap.jpg
reachy.sh snap /path/to/photo.jpg   # Snapshot to custom path
reachy.sh play-emotion cheerful1    # Play an emotion
reachy.sh play-dance groovy_sway_and_roll  # Play a dance
reachy.sh goto --head 0.2,0,0 --duration 1.5  # Nod down
reachy.sh volume-set 70             # Set speaker volume
reachy.sh emotions                  # List all emotions
reachy.sh dances                    # List all dances

Environment

Movement Guide

Head Control (6 DoF)

The head accepts pitch, yaw, roll in radians:

• Pitch (look up/down): -0.5 (up) to 0.5 (down)
• Yaw (look left/right): -0.8 (right) to 0.8 (left)
• Roll (tilt sideways): -0.5 to 0.5

# Look up
reachy.sh goto --head -0.3,0,0 --duration 1.0

# Look left
reachy.sh goto --head 0,0.4,0 --duration 1.0

# Tilt head right, look slightly up
reachy.sh goto --head -0.1,0,-0.3 --duration 1.5

# Return to neutral
reachy.sh goto --head 0,0,0 --duration 1.0

Body Rotation (360°)

Body yaw in radians. 0 = forward, positive = left, negative = right.

reachy.sh goto --body 1.57 --duration 2.0   # Turn 90° left
reachy.sh goto --body -1.57 --duration 2.0  # Turn 90° right
reachy.sh goto --body 0 --duration 2.0      # Face forward

Antennas

Two antennas [left, right] in radians. Range ~-0.5 to 0.5.

reachy.sh goto --antennas 0.4,0.4 --duration 0.5    # Both up
reachy.sh goto --antennas -0.3,-0.3 --duration 0.5   # Both down
reachy.sh goto --antennas 0.4,-0.4 --duration 0.5    # Asymmetric

Combined Movements

# Look left and turn body left with antennas up
reachy.sh goto --head 0,0.3,0 --body 0.5 --antennas 0.4,0.4 --duration 2.0

Interpolation Modes

Use --interp with goto:

• minjerk — Smooth, natural (default)
• linear — Constant speed
• ease — Ease in/out
• cartoon — Bouncy, exaggerated

Emotions & Dances

Playing Emotions

80+ pre-recorded expressive animations. Select contextually appropriate ones:

reachy.sh play-emotion curious1       # Curious look
reachy.sh play-emotion cheerful1      # Happy expression
reachy.sh play-emotion surprised1     # Surprise reaction
reachy.sh play-emotion thoughtful1    # Thinking pose
reachy.sh play-emotion welcoming1     # Greeting gesture
reachy.sh play-emotion yes1           # Nodding yes
reachy.sh play-emotion no1            # Shaking no

Playing Dances

19 dance moves, great for fun or celebration:

reachy.sh play-dance groovy_sway_and_roll
reachy.sh play-dance chicken_peck
reachy.sh play-dance dizzy_spin

Full Lists

Run reachy.sh emotions or reachy.sh dances to see all available moves.

Motor Modes

Before movement, motors must be enabled. Check with reachy.sh motors.

reachy.sh motors-enable     # Enable (needed for movement commands)
reachy.sh motors-disable    # Disable (robot goes limp)
reachy.sh motors-gravity    # Gravity compensation (manually pose the robot)

Volume Control

reachy.sh volume            # Current speaker volume
reachy.sh volume-set 50     # Set speaker to 50%
reachy.sh volume-test       # Play test sound
reachy.sh mic-volume        # Microphone level
reachy.sh mic-volume-set 80 # Set microphone to 80%

App Management

Reachy Mini runs HuggingFace Space apps. Manage them via:

reachy.sh apps              # List all available apps
reachy.sh apps-installed    # Installed apps only
reachy.sh app-status        # What's running now
reachy.sh app-start NAME    # Start an app
reachy.sh app-stop          # Stop current app

Important: Only one app runs at a time. Starting a new app stops the current one. Apps may take exclusive control of the robot — stop the running app before sending manual movement commands if the robot doesn't respond.

Camera Snapshots

Capture JPEG photos from the robot's camera (IMX708 wide-angle) via WebRTC — non-disruptive to the running daemon.

reachy.sh snap                        # Save to /tmp/reachy_snap.jpg
reachy.sh snap /path/to/output.jpg    # Custom output path

Requirements: SSH access to the robot (uses sshpass + REACHY_SSH_PASS env var, default: root).

How it works: Connects to the daemon's WebRTC signalling server (port 8443) using GStreamer's webrtcsrc plugin on the robot, captures one H264-decoded frame, and saves as JPEG. No daemon restart, no motor disruption.

Note: The robot must be awake (head up) for a useful image. If asleep, the camera faces into the body. Run reachy.sh wake-up first.

Audio Sensing

reachy.sh doa               # Direction of Arrival from mic array

Returns angle in radians (0=left, π/2=front, π=right) and speech detection boolean.

Contextual Reactions (Clawdbot Integration)

Use reachy-react.sh to trigger contextual robot behaviors from heartbeats, cron jobs, or session responses.

~/clawd/skills/reachy-mini/scripts/reachy-react.sh

Reactions

reachy-react.sh ack           # Nod acknowledgment (received a request)
reachy-react.sh success       # Cheerful emotion (task done)
reachy-react.sh alert         # Surprised + antennas up (urgent email, alert)
reachy-react.sh remind        # Welcoming/curious (meeting reminder, to-do)
reachy-react.sh idle          # Subtle animation (heartbeat presence)
reachy-react.sh morning       # Wake up + greeting (morning briefing)
reachy-react.sh goodnight     # Sleepy emotion + sleep (night mode)
reachy-react.sh patrol        # Camera snapshot, prints image path
reachy-react.sh doa-track     # Turn head toward detected sound source
reachy-react.sh celebrate     # Random dance (fun moments)

Pass --bg to run in background (non-blocking).

Built-in Behaviors

• Quiet hours (22:00–06:29 ET): All reactions except morning, goodnight, and patrol are silently skipped.
• Auto-wake: Reactions ensure the robot is awake before acting (starts daemon + wakes if needed).
• Fault-tolerant: If robot is unreachable, reactions exit cleanly without errors.

Integration Points

DOA (Direction of Arrival) Tracking

The doa-track reaction uses the robot's 4-mic array to detect speech direction and turn the head toward the speaker. The DOA angle (0=left, π/2=front, π=right) is mapped to head yaw. Only triggers when speech is actively detected.

Camera Patrol

The patrol reaction captures a snapshot and prints the image path. Use this during heartbeats to check the room periodically. Combine with image analysis to detect activity or changes.

Direct API Access

For anything not covered by the CLI, use curl or the raw command:

# Via raw command
reachy.sh raw GET /api/state/full
reachy.sh raw POST /api/move/goto '{"duration":1.0,"head_pose":{"pitch":0.2,"yaw":0,"roll":0}}'

# Via curl directly
curl -s http://192.168.8.17:8000/api/state/full | jq
curl -s -X POST -H "Content-Type: application/json" \
  -d '{"duration":1.5,"head_pose":{"pitch":0,"yaw":0.3,"roll":0}}' \
  http://192.168.8.17:8000/api/move/goto

Reference

For the complete API endpoint list, schemas (GotoModelRequest, FullBodyTarget, XYZRPYPose), and full emotion/dance catalogs, see references/api-reference.md.

Troubleshooting

• Robot doesn't move: Check reachy.sh motors — must be enabled. Run reachy.sh motors-enable.
• No response: Check reachy.sh status. State should be running. If not, run reachy.sh reboot-daemon.
• Movements ignored: An app may have exclusive control. Run reachy.sh app-stop first.
• Network unreachable: Verify the robot IP with ping $REACHY_HOST. Check reachy.sh wifi-status.
• Snap shows black image: Robot is likely asleep (head down). Run reachy.sh wake-up first.
• Snap fails with SSH error: Ensure sshpass is installed and REACHY_SSH_PASS is set correctly.