# Send Reachy Mini to your agent Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually. ## Fast path - 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. ## Suggested prompts ### New install ```text 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 ```text 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. ``` ## Machine-readable fields ```json { "schemaVersion": "1.0", "item": { "slug": "reachy-mini", "name": "Reachy Mini", "source": "tencent", "type": "skill", "category": "开发工具", "sourceUrl": "https://clawhub.ai/afalk42/reachy-mini", "canonicalUrl": "https://clawhub.ai/afalk42/reachy-mini", "targetPlatform": "OpenClaw" }, "install": { "downloadUrl": "/downloads/reachy-mini", "sourceDownloadUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=reachy-mini", "sourcePlatform": "tencent", "targetPlatform": "OpenClaw", "packageFormat": "ZIP package", "primaryDoc": "SKILL.md", "includedAssets": [ "SKILL.md", "scripts/reachy-gst-snap.py", "scripts/reachy-react.sh", "scripts/reachy.sh", "references/api-reference.md" ], "downloadMode": "redirect", "sourceHealth": { "source": "tencent", "slug": "reachy-mini", "status": "healthy", "reason": "direct_download_ok", "recommendedAction": "download", "checkedAt": "2026-05-07T21:59:45.582Z", "expiresAt": "2026-05-14T21:59:45.582Z", "httpStatus": 200, "finalUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=reachy-mini", "contentType": "application/zip", "probeMethod": "head", "details": { "probeUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=reachy-mini", "contentDisposition": "attachment; filename=\"reachy-mini-1.1.0.zip\"", "redirectLocation": null, "bodySnippet": null, "slug": "reachy-mini" }, "scope": "item", "summary": "Item download looks usable.", "detail": "Yavira can redirect you to the upstream package for this item.", "primaryActionLabel": "Download for OpenClaw", "primaryActionHref": "/downloads/reachy-mini" }, "validation": { "installChecklist": [ "Use the Yavira download entry.", "Review SKILL.md after the package is downloaded.", "Confirm the extracted package contains the expected setup assets." ], "postInstallChecks": [ "Confirm the extracted package includes the expected docs or setup files.", "Validate the skill or prompts are available in your target agent workspace.", "Capture any manual follow-up steps the agent could not complete." ] } }, "links": { "detailUrl": "https://openagent3.xyz/skills/reachy-mini", "downloadUrl": "https://openagent3.xyz/downloads/reachy-mini", "agentUrl": "https://openagent3.xyz/skills/reachy-mini/agent", "manifestUrl": "https://openagent3.xyz/skills/reachy-mini/agent.json", "briefUrl": "https://openagent3.xyz/skills/reachy-mini/agent.md" } } ``` ## 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. ## Trust - Source: tencent - Verification: Indexed source record - Publisher: afalk42 - Version: 1.1.0 ## Source health - Status: healthy - Item download looks usable. - Yavira can redirect you to the upstream package for this item. - Health scope: item - Reason: direct_download_ok - Checked at: 2026-05-07T21:59:45.582Z - Expires at: 2026-05-14T21:59:45.582Z - Recommended action: Download for OpenClaw ## Links - [Detail page](https://openagent3.xyz/skills/reachy-mini) - [Send to Agent page](https://openagent3.xyz/skills/reachy-mini/agent) - [JSON manifest](https://openagent3.xyz/skills/reachy-mini/agent.json) - [Markdown brief](https://openagent3.xyz/skills/reachy-mini/agent.md) - [Download page](https://openagent3.xyz/downloads/reachy-mini)