Requirements
- Target platform
- OpenClaw
- Install method
- Manual import
- Extraction
- Extract archive
- Prerequisites
- OpenClaw
- Primary doc
- SKILL.md
Tencent SkillHub · Developer Tools
Reachy Mini
Control a Reachy Mini robot (by Pollen Robotics / Hugging Face) via its REST API and SSH. Use for any request involving the Reachy Mini robot — moving the head, body, or antennas; playing emotions or dances; capturing camera snapshots; adjusting volume; managing apps; checking robot status; or any physical robot interaction. The robot has a 6-DoF head, 360° body rotation, two animated antennas, a wide-angle camera (with non-disruptive WebRTC snapshot), 4-mic array, and speaker.
skill openclawclawhub Free
Control a Reachy Mini robot (by Pollen Robotics / Hugging Face) via its REST API and SSH. Use for any request involving the Reachy Mini robot — moving the head, body, or antennas; playing emotions or dances; capturing camera snapshots; adjusting volume; managing apps; checking robot status; or any physical robot interaction. The robot has a 6-DoF head, 360° body rotation, two animated antennas, a wide-angle camera (with non-disruptive WebRTC snapshot), 4-mic array, and speaker.
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Install for OpenClaw
Quick setup
- Download the package from Yavira.
- Extract the archive and review SKILL.md first.
- Import or place the package into your OpenClaw setup.
Package facts
- Download mode
- Yavira redirect
- Package format
- ZIP package
- Source platform
- Tencent SkillHub
- What's included
- SKILL.md, scripts/reachy-gst-snap.py, scripts/reachy-react.sh, scripts/reachy.sh, references/api-reference.md
Validation
- Use the Yavira download entry.
- Review SKILL.md after the package is downloaded.
- Confirm the extracted package contains the expected setup assets.
Install with your agent
Agent handoff
Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually.
- Download the package from Yavira.
- Extract it into a folder your agent can access.
- Paste one of the prompts below and point your agent at the extracted folder.
New install
I downloaded a skill package from Yavira. Read SKILL.md from the extracted folder and install it by following the included instructions. Tell me what you changed and call out any manual steps you could not complete.
Upgrade existing
I downloaded an updated skill package from Yavira. Read SKILL.md from the extracted folder, compare it with my current installation, and upgrade it while preserving any custom configuration unless the package docs explicitly say otherwise. Summarize what changed and any follow-up checks I should run.
Trust & source
Release facts
- Source
- Tencent SkillHub
- Verification
- Indexed source record
- Version
- 1.1.0
Provenance
- Publisher
- afalk42
- Source page
- View original listing
- Canonical URL
- Open canonical page
Documentation
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
VariableDefaultDescriptionREACHY_HOST192.168.8.17Robot IP addressREACHY_PORT8000REST API portREACHY_SSH_USERpollenSSH username (for snap command)REACHY_SSH_PASSrootSSH password (for snap command, uses sshpass)
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
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
TriggerReactionNotesMorning briefing cron (6:30 AM)morningRobot wakes up and greetsGoodnight cron (10:00 PM)goodnightRobot plays sleepy emotion, goes to sleepHeartbeat (periodic)idleSubtle head tilt, antenna wave, or look-aroundHeartbeat (~1 in 4)doa-trackChecks for nearby speech, turns toward itHeartbeat (~1 in 6)patrolCamera snapshot for room awarenessImportant unread emailalertAntennas up + surprised emotionMeeting <2h awayremindWelcoming/curious emotionRequest from AlexanderackQuick head nodTask completedsuccessRandom cheerful/happy emotionGood news or celebrationcelebrateRandom dance move
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.
Category context
Code helpers, APIs, CLIs, browser automation, testing, and developer operations.
Source: Tencent SkillHub
Largest current source with strong distribution and engagement signals.
Package contents
Included in package
3 Scripts2 Docs
- SKILL.md
- references/api-reference.md
- scripts/reachy-gst-snap.py
- scripts/reachy-react.sh
- scripts/reachy.sh