Reachy Mini¶

A Reachy Mini over its daemon: four axes, the envelope that refuses the rest, the reachy_* agent verbs.

At the end of this page a Pollen Robotics Reachy Mini (Lite or Wireless) answers Robot("reachy_mini", mode="real") over its daemon, you know the four axes it accepts and the envelope that refuses the rest, and an agent has the reachy_* verbs to look, express and listen.

This needs the Mini's daemon reachable (the robot's hostname, REST on :8000) and pip install websockets for the real-time link.

from strands_robots import Robot

mini = Robot("reachy_mini", mode="real", port="reachy-a.local:8000")
print(mini.connect_eagerly())                   # None; get_status() then names the variant (Lite / Wireless)
mini.send_action({"head_yaw": 20.0, "head_pitch": -10.0})     # degrees; unnamed head axes go to zero
mini.send_action({"antenna_right": 30.0, "antenna_left": 30.0})

Two protocols, one driver¶

link	carries	how
REST `:8000`	`/api/daemon/status` (reachability, variant), recorded moves, motion stop	`connect_eagerly` probes it first
real-time	six Stewart leg positions, head IMU, battery	a WebSocket to the daemon (daemon 1.10.0, Lite and Wireless), or an explicitly supplied Zenoh bridge (`zenoh_prefix=`, `transport=`) on Wireless

Both come from strands_robots.drivers.reachy_transport; the driver runs them on one background asyncio loop and caches what arrives. _imu is the head IMU verbatim, _pose is the head orientation from that IMU (the IMU is in the head), _battery when the status payload carries one. No lidar and no platform kinematics: the legs are cached as legs (_joints) and the head orientation comes from the sensor.

The envelope¶

send_action refuses, naming the limit, before anything reaches the daemon:

axis	limit
`head_pitch`	40 degrees
`head_roll`	40 degrees
`head_yaw`	180 degrees
`body_yaw`	160 degrees
`head_yaw - body_yaw`	65 degrees (`HEAD_BODY_YAW_DELTA_LIMIT_DEG`)

The head command is a whole pose: {"head_yaw": 20} means "look 20 degrees left with pitch and roll zero", not "keep pitch and roll". A body_yaw alone is checked against the last commanded head yaw so the coupling limit holds. Antennas travel as a pair: an action with one antenna key and not the other is refused.

Agent verbs¶

from strands import Agent
from strands_robots.tools.reachy import reachy_look, reachy_look_at, reachy_express, reachy_get_state, reachy_camera

agent = Agent(tools=[mini, reachy_look, reachy_look_at, reachy_express, reachy_get_state, reachy_camera])
agent("Look at whoever is speaking and act curious.")

verb	does
`reachy_get_state`, `reachy_list_emotions`	read the caches; list the recorded-emotion library
`reachy_look`, `reachy_look_at`, `reachy_body_turn`, `reachy_antennas`, `reachy_home`	motion inside the envelope
`reachy_express`, `reachy_play_sound`, `reachy_volume`	recorded emotions, sound, speaker level
`reachy_camera`	one frame from the head camera, saved under `save_path`
`reachy_wake`, `reachy_motors`, `reachy_stop`	wake or sleep, torque mode, stop motion
`sensors`, `status`, `sleep`, `list_moves`, `say`, `set_volume`, `track_face`, `tracking_status`, `record_audio`, `turn_to_sound`, `turn_to_sound_status`	the rest of the driver's `action` enum, sent through the `mini` tool itself: raw caches and daemon status, the go-to-sleep move, the move library, speech (needs a TTS sidecar), speaker level (the daemon plays a short test sound on change), daemon face tracking and its status, a bounded microphone WAV (GStreamer), and turning toward a voice with its status

Each verb takes the live driver as its first argument and refuses anything else with one sentence, so an agent handed a disconnected handle learns that, not a traceback. The Mini's verbs are not in the motion gate table on the agents page: a desk robot's head is not a payload-bearing actuator, and its own envelope is the safety rail.

Simulation¶

Robot("reachy_mini") builds the MuJoCo twin with the same axis names, so the look-at maths and the envelope checks can be exercised without the robot.

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