Reachy Mini

MCP (Model Context Protocol) server for controlling Reachy Mini robot from Claude.

Installation

uv sync

Usage

With Claude Code

Add to ~/.claude/claude_code_config.json:

{
  "mcpServers": {
    "reachy-mini": {
      "command": "uv",
      "args": ["run", "--directory", "/path/to/reachy-mini-mcp", "reachy-mini-mcp"],
      "env": {
        "REACHY_HOST": "localhost"
      }
    }
  }
}

Environment Variables

• REACHY_HOST - Daemon host (default: localhost)
• REACHY_PORT - Daemon port (default: 8000)
• REACHY_SSH_USER - SSH username for streaming commands (default: reachy)

Available Tools

Tool	Description
reachy_status	Get daemon health status
reachy_get_state	Get full robot state
reachy_move_head	Move head (pitch, roll, yaw)
reachy_look_at	Look at world coordinates
reachy_move_body	Rotate body yaw
reachy_play_animation	Play animation (wave, nod, dance)
reachy_antenna_happy	Happy antenna expression
reachy_antenna_sad	Sad antenna expression
reachy_antenna_wiggle	Wiggle antennas
reachy_enable_motors	Enable motors (stiff)
reachy_disable_motors	Disable motors (limp)
reachy_gravity_compensation	Enable soft mode
reachy_capture_image	Capture camera frame
reachy_say	Text-to-speech
reachy_play_sound	Play sound file
reachy_start_webrtc_stream	Start WebRTC video/audio streaming
reachy_stop_webrtc_stream	Stop WebRTC streaming
reachy_webrtc_stream_status	Check if stream is running

Requirements

• Reachy Mini daemon running on port 8000
• Python 3.10+