MCP Servers

Reachy Mini MCP

Controls Reachy Mini robot, enabling movement of head, body, and antennas, playing animations, capturing images, text-to-speech, and WebRTC streaming via natural language.

Category

README

Reachy Mini MCP Server

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+

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