Which integrations are available for this server?

Provides text-to-speech capabilities through [Deepgram](/mcp/servers/integrations/deepgram)'s API, enabling the Reachy Mini robot to speak using the `speak` tool.

Reachy Mini MCP

MCP server for Pollen Robotics Reachy Mini robot control.

For AI systems - Token-efficient reference for programmatic use.

Quick Start

# Install cd reachy-mini-mcp poetry install # Set TTS key (optional, for speak()) export DEEPGRAM_API_KEY=your_key_here # Start simulator daemon mjpython -m reachy_mini.daemon.app.main --sim --scene minimal # Run MCP server poetry run python src/server.py

Architecture

MCP Tool → SDK Call → Daemon → Robot/Simulator

High-level express() abstracts motor control into semantic actions. Low-level tools available for precise control when needed.

Tools

Expression (Preferred)

Tool	Args	Purpose
`express`	`emotion: str`	Execute emotion choreography
`nod`	`times: int = 2`	Agreement gesture
`shake`	`times: int = 2`	Disagreement gesture
`rest`	-	Return to neutral pose

Emotions: neutral, curious, uncertain, recognition, joy, thinking, listening, agreeing, disagreeing, sleepy, surprised, focused

Motor Control

Tool	Args	Purpose
`look_at`	`roll, pitch, yaw, z, duration`	Head positioning (degrees)
`antenna`	`left, right, duration`	Antenna angles (degrees)
`rotate`	`direction, degrees`	Body rotation

I/O

Tool	Args	Purpose
`speak`	`text: str`	TTS output (requires DEEPGRAM_API_KEY)
`listen`	`duration: float = 3.0`	Audio capture (base64)
`see`	-	Camera capture (base64 JPEG)

Lifecycle

Tool	Purpose
`wake_up`	Initialize robot motors
`sleep`	Power down motors

Expression Vocabulary

Each emotion maps to choreography:

Head pose: roll, pitch, yaw (degrees)
Antennas: left, right angles (degrees)
Duration: movement time (seconds)
Interpolation: linear, minjerk, ease_in_out, cartoon

Example: curious → head forward (pitch +10, yaw +8), antennas up (+20, +20), 1.2s, ease_in_out

MCP Config

Claude Desktop

~/Library/Application Support/Claude/claude_desktop_config.json:

{ "mcpServers": { "reachy-mini": { "command": "poetry", "args": ["-C", "/path/to/reachy-mini-mcp", "run", "python", "src/server.py"], "env": { "DEEPGRAM_API_KEY": "your_key_here" } } } }

Claude Code

~/.claude.json:

{ "mcpServers": { "reachy-mini": { "command": "poetry", "args": ["run", "python", "src/server.py"], "cwd": "/path/to/reachy-mini-mcp" } } }

Requirements

Python 3.10+
reachy-mini SDK (installed via poetry)
MuJoCo (for simulation)
Deepgram API key (for TTS, optional)

Hardware Notes

Simulator: mjpython required on macOS for MuJoCo visualization
Real hardware: Same MCP server, daemon auto-connects
Port conflicts: Zenoh uses 7447, daemon uses 8765 by default

License

MIT License - see LICENSE

Acknowledgments

This project uses the Reachy Mini SDK by Pollen Robotics, licensed under Apache 2.0.

Links

This server cannot be installed

-

security - not tested

A

license - permissive license

-

quality - not tested

How are these scores calculated?

Resources

GitHub Repository

Need Help?

Report Issue

Related Servers

Reachy Mini MCP

Reachy Mini MCP

Quick Start

Architecture

Tools

Expression (Preferred)

Motor Control

I/O

Lifecycle

Expression Vocabulary

MCP Config

Claude Desktop

Claude Code

Requirements

Hardware Notes

License

Acknowledgments

Links

Resources

New MCP Servers

Latest Blog Posts

MCP directory API