nestor-reachy

Reachy Mini as a satellite of Nestor: the assistant speaks and listens through it, and its head and antennas follow the conversation: listening, thinking, speaking, nodding on each word, laughing when the voice laughs. Built on nestor-satellite.

Status: the MuJoCo twin only. A physical robot is refused until its safety policy is validated on hardware; the robot's own microphone and speaker come later.

pip install "nestor-reachy[reachy,audio]"
nestor-reachy twin --headless &                               # the simulated robot
nestor-reachy run --room salon --pairing-uri "nestor+http://nestor.local:8471/?code=K7QF2M9X"

Pairing

Reachy has a speaker and no screen. The simplest is an enrollment code: add a satellite in the Nestor admin with the provisioning method (enrollment.provisioning), and give the robot the pairing URI it returns, by flag or in its environment:

NESTOR_PAIRING_URI="nestor+http://nestor.local:8471/?code=K7QF2M9X" nestor-reachy run --room salon
nestor-reachy run --core http://nestor.local:8471 --room salon --pairing-code K7QF-2M9X

Without one, it says a six-digit device code on its speaker, twice, digit by digit, with the SDK's recorded voice (device_code.speech, offline), and logs it: type it in the admin. The token is then kept in ~/.config/nestor-reachy/reachy-<room>.json and later runs reconnect with it (nestor-reachy run --core http://nestor.local:8471 --room salon). To tell robots apart, the admin can ask one to identify itself: it wiggles its antennas for two seconds, while it waits to be paired or once connected.

Safety lives on the device: every target is clamped to the motion limits, and the robot returns to rest when the link to the core drops or nothing is heard from it for two seconds.

Development

The tests use the Nestor server's conformance suite (nestor-home, a pinned dev dependency) and the SDK, both from PyPI. To test against local checkouts instead: uv run --with-editable ../nestor-satellite-python --with-editable ../nestor pytest.

uv sync
uv run pre-commit install
uv run ruff check && uv run ruff format --check && uv run ty check && uv run pytest
uv run --no-dev --group live --extra reachy pytest -m live   # with `nestor-reachy twin` running

License

MIT