reachy-mini-mcp

Model Context Protocol (MCP) server for Reachy Mini — a thin REST wrapper around the Pollen daemon, exposed over MCP so any MCP-capable LLM frontend (Claude Desktop, Claude Code, Cursor) can read robot state and trigger motion without generating ad-hoc Python.

Distribution form: Docker container, stdio transport.

The canonical specification lives in the claude-reachy-mini plugin repo under spec/reachy-mini/mcp-server/de.md (German, canonical) and en.md (translation). The operational bootstrap counterpart is spec/claude/mcp-server-bootstrap/de.md.

Status

Initial skeleton. Tier-1 / Tier-2 / Tier-3 tools are not yet implemented — only a health_check tool that probes daemon reachability and local audit-log writability.

Build

docker build -t reachy-mini-mcp:dev .

Run (stdio transport)

docker run --rm -i \
  --network host \
  -v "$HOME/.cache/reachy-mini-mcp:/home/mcp/.cache/reachy-mini-mcp" \
  reachy-mini-mcp:dev

--network host is the simplest way to reach a Pollen daemon listening on 127.0.0.1:8000 of the host. On macOS or Windows, replace it with -e REACHY_MINI_DAEMON_URL=http://host.docker.internal:8000 and drop --network host.

MCP client configuration

Example for Claude Desktop (macOS path: ~/Library/Application Support/Claude/claude_desktop_config.json):

{
  "mcpServers": {
    "reachy-mini": {
      "command": "docker",
      "args": [
        "run", "--rm", "-i",
        "--network", "host",
        "-v", "/Users/you/.cache/reachy-mini-mcp:/home/mcp/.cache/reachy-mini-mcp",
        "reachy-mini-mcp:dev"
      ]
    }
  }
}

Environment variables

Variable	Default	Meaning
REACHY_MINI_DAEMON_URL	http://127.0.0.1:8000	Pollen-daemon base URL the server talks to. Per spec, the default must never point at a non-localhost address.
XDG_CACHE_HOME	/home/mcp/.cache (in the container)	Parent of the reachy-mini-mcp/ audit-log directory.

Local development without Docker

uv sync
uv run python -m reachy_mini_mcp