Reachy Mini MCP

# Reachy Mini MCP MCP server for [Pollen Robotics Reachy Mini](https://www.pollen-robotics.com/reachy-mini/) robot control. **For AI systems** - Token-efficient reference for programmatic use. ## Quick Start ```bash # Install cd reachy-mini-mcp poetry install # Set API key (required for speak/listen) 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 ``` 7 tools following Miller's Law - fits in working memory. ## Tools | Tool | Args | Purpose | |------|------|---------| | `speak` | `text, listen_after=0` | Voice + gesture, optionally listen after | | `listen` | `duration=3` | STT via Deepgram Nova-2 | | `snap` | - | Camera capture (base64 JPEG) | | `show` | `emotion, move=""` | Express emotion or play recorded move | | `look` | `roll, pitch, yaw, z, duration` | Head positioning (degrees) | | `rest` | `mode="neutral"` | neutral / sleep / wake | | `discover` | `library="emotions"` | Find available recorded moves | ### speak() Supports embedded move markers for choreographed speech: ``` speak("[move:curious1] What's this? [move:surprised1] Oh wow!") ``` Moves fire right before their speech chunk. Use `listen_after=5` to hear response. ### show() Built-in emotions (fast, local): `neutral`, `curious`, `uncertain`, `recognition`, `joy`, `thinking`, `listening`, `agreeing`, `disagreeing`, `sleepy`, `surprised`, `focused` Recorded moves (81 from Pollen): ``` show(move="loving1") show(move="fear1") show(move="serenity1") ``` Use `discover()` to see all available moves. ## MCP Config ### Claude Desktop `~/Library/Application Support/Claude/claude_desktop_config.json`: ```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`: ```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" } } } } ``` ## Requirements - Python 3.10+ - [reachy-mini SDK](https://github.com/pollen-robotics/reachy_mini) (installed via poetry) - MuJoCo (for simulation) - Deepgram API key (for speak/listen) ## 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 8321 by default ## License MIT License - see [LICENSE](LICENSE) ## Acknowledgments This project uses the [Reachy Mini SDK](https://github.com/pollen-robotics/reachy_mini) by [Pollen Robotics](https://www.pollen-robotics.com/), licensed under Apache 2.0. ## Links - [Reachy Mini SDK](https://github.com/pollen-robotics/reachy_mini) (Apache 2.0) - [FastMCP](https://github.com/jlowin/fastmcp) - [MCP Protocol](https://modelcontextprotocol.io/) - [mVara](https://mvara.ai/)