reachy-cli 0.8.0

Agent and CLI for operating the Reachy Mini expressive robot — device setup, app management, and runtime ops.

reachy-mini-cli

Agent and CLI for operating the Reachy Mini expressive robot — device setup, app management, and runtime ops.

What you get

• An agent-first CLI cited from teken (afi-cli).
• A mesh identity — culture.yaml (suffix + backend) and the matching prompt file (CLAUDE.md for backend: claude).
• The canonical guildmaster skill kit (11 skills) under .claude/skills/, vendored cite-don't-import. See docs/skill-sources.md.
• A build + deploy baseline — pytest, lint, the agent-first rubric gate, and PyPI Trusted Publishing wired into GitHub Actions.

Quickstart

uv sync --extra daemon                # recommended — SDK + the reachy-mini-daemon binary
uv sync                               # bare — numpy only; HTTP remote profile (--transport http)
uv run pytest -n auto                 # run the test suite
uv run reachy whoami                  # identity from culture.yaml
uv run reachy learn                   # self-teaching prompt (add --json)
uv run teken cli doctor . --strict    # the agent-first rubric gate CI runs

CLI

Verb	What it does
whoami	Report this agent's nick, version, backend, and model from culture.yaml.
learn	Print a structured self-teaching prompt.
explain <path>	Markdown docs for any noun/verb path.
overview	Read-only descriptive snapshot of the agent.
doctor	Check the agent-identity invariants (prompt-file-present, backend-consistency).
cli overview	Describe the CLI surface itself.

Every command supports --json. Results go to stdout, errors/diagnostics to stderr (never mixed). Exit codes: 0 success, 1 user error, 2 environment error, 3+ reserved.

Robot operations

The daemon, device, app, and move noun groups operate the Reachy Mini.

Install profiles

listen is SDK-first — the sdk transport is its default, giving direct in-process access to the mic array (real DoA + RMS loudness via reachy_mini). numpy is a base dependency (the RMS detector; a pure wheel). reachy-mini itself stays an extra, not a base dep, because its transitive stack (pycairo / gstreamer / pyaudio) needs system libraries a bare box / CI lack — so the recommended install bundles it via an extra.

• Recommended — with the SDK + daemon: pip install 'reachy-cli[daemon]' (or [sdk]). Pulls reachy-mini, so the sdk transport listen defaults to works out of the box and reachy daemon start can bring the daemon up locally.
• Bare — HTTP remote profile: pip install reachy-cli (no extra). numpy-only; use --transport http (or REACHY_TRANSPORT=http) with --base-url / REACHY_BASE_URL to talk to a daemon running elsewhere via its REST API. Running the sdk transport here exits 2 with a hint to install the [sdk] extra.

Bring the daemon up

device/app/move are clients of a running daemon; daemon is the other half — it manages the local reachy-mini-daemon process.

Verb	What it does
daemon start	Spawn reachy-mini-daemon in the background, then poll its health route until ready. Idempotent.
daemon stop	Stop the daemon this CLI started (SIGTERM, then SIGKILL).
daemon status	Reconcile the tracked process (running/stopped/stale) with the HTTP health check.

reachy-mini-daemon defaults to --wake-up-on-start, so daemon start already wakes the robot. Forward daemon args after --, e.g. reachy daemon start -- --sim --no-wake-up-on-start. State (PID + log) lives under $XDG_STATE_HOME/reachy (~/.local/state/reachy).

Transports

The device, app, move, and listen verbs talk to the robot through a selectable transport flavor:

• http — the Reachy daemon's REST API. Uses only the Python standard library. Point it at a daemon with --base-url or REACHY_BASE_URL (default http://localhost:8000). This is the default for device, app, and move.
• sdk — the in-process reachy_mini client (included in the base install). Covers motion/state and live audio streaming. This is the default for listen: it streams mic audio directly in-process for real DoA + RMS loudness. Daemon and app verbs still require http.

Select per command with --transport {http,sdk} (or REACHY_TRANSPORT). Action verbs also accept --timeout. If no daemon is reachable, the command exits 2 with a clean error:/hint: pair — never a traceback.

Verb	What it does
device status	Daemon status: state, version, wireless/lite, simulation, IP.
device state	Live robot state: head pose, antenna positions, body yaw.
app list	Available apps (installed and installable).
app status	The currently running app, if any.
app start <name>	Start an installed app by name.
app stop	Stop the currently running app.
move goto	Move head/antennas (mm + degrees); see reachy explain move for flags.
move wake	Play the wake-up animation.
move sleep	Play the go-to-sleep animation.

Each noun also exposes overview (e.g. reachy move overview).

uv run reachy daemon start            # bring the local daemon up (and wake the robot)
uv run reachy device status           # now answers instead of exit-2
uv run reachy app list --json
uv run reachy move goto --z 10 --pitch -5 --duration 2
uv run reachy move wake
uv run reachy daemon stop             # put it back down when you're done

Demo mode — make the robot feel alive

demo-mode runs a continuous loop that streams gentle idle motion to the robot — a slow breathing oscillation, the occasional glance to a new gaze target, and a little antenna sway — so an idle robot looks present rather than frozen. It drives the robot through the same transport, so it needs a running daemon. It is built to run always-on and improve over time, so it has three layers.

Process (tracked background loop; PID + log under $REACHY_STATE_DIR / $XDG_STATE_HOME/reachy):

Verb	What it does
demo-mode start	Spawn the feel-alive loop in the background (idempotent; preflights the daemon first).
demo-mode stop	Stop the loop this CLI started (SIGTERM eases the robot back to neutral, then SIGKILL).
demo-mode restart	Apply an update — restart the service if active, else relaunch the background loop.
demo-mode status	Loop process state + systemd unit state + whether the daemon answers.
demo-mode run	Run the loop in the foreground (what start/the service launch); Ctrl-C to stop.

Config — persisted tuning at $XDG_CONFIG_HOME/reachy/demo-mode.json, read by run/start (CLI flags override per-invocation):

uv run reachy demo-mode config                       # show resolved config
uv run reachy demo-mode config --init                # write defaults
uv run reachy demo-mode config --set energy=0.8 interval=3

Keys: transport, base_url, timeout, interval (tempo), energy (liveliness 0–n), interpolation, seed, wake, settle.

Service — run it always-on as a systemd --user unit (auto-restart on crash, start on boot):

uv run reachy demo-mode install      # write the reachy-demo-mode.service unit
uv run reachy demo-mode enable       # enable --now + linger (survives reboot)
uv run reachy demo-mode disable      # stop + disable
uv run reachy demo-mode uninstall    # remove the unit

The full flow:

uv run reachy daemon start                    # something for the loop to drive
uv run reachy demo-mode config --set energy=0.7
uv run reachy demo-mode start                 # robot starts feeling alive
uv run reachy demo-mode restart               # apply config/code updates
uv run reachy demo-mode stop                  # eases back to neutral

As you make the motion richer over time, edit reachy/alive.py (or the config) and demo-mode restart to apply it.

Behaviors — compose motion on a 50 Hz engine

behavior runs a 50 Hz engine that composes named behaviors on a per-channel contention model (head / antennas / body_yaw), with feel-alive as a passive base layer. Push behaviors onto the running engine from separate commands:

uv run reachy behavior engine start            # bring the 50 Hz loop up
uv run reachy behavior run speak --duration 8  # head bobs like speech
uv run reachy behavior status --json
uv run reachy behavior stop all                # keeps the feel-alive base layer

See reachy explain behavior for the full catalog, channels, and contention model.

Listen — two-tier sound orienting (SDK-first)

listen is SDK-first and two-tier: it streams live mic audio from the reachy_mini SDK in-process (the sdk transport is the default), giving it real Direction of Arrival and real RMS loudness without polling the daemon.

Tier 1 — antenna lean: On every tick, the antennas lean toward the live DoA (head holds). This gives the robot a subtle "perked ear" reaction to any live sound.

Tier 2 — head→body turn: On detected speech or a loud RMS "snap" transient (a sudden noise spike detected by SnapDetector), the robot executes a smooth head→body turn. The head turns first; if the source is beyond --head-only-band degrees from center, the body rotates to face it and the head re-centers. A latched-DoA guard prevents stale angles from firing a spurious turn at rest.

Both tiers drive the daemon's smooth minjerk goto planner through a serial motion queue, so turns are soft and never conflict. The HTTP transport is available via --transport http / REACHY_TRANSPORT=http for a control box connecting remotely.

uv run reachy daemon start                          # bring the daemon up
uv run reachy listen run                             # foreground, SDK transport (default)
uv run reachy listen run --transport http            # foreground, HTTP transport
uv run reachy listen start                           # background, tracked process
uv run reachy listen status --json
uv run reachy listen stop                            # eases back to center

Key tuning flags: --gain, --deadband, --hold, --speed, --recenter-after, --speech-only (Tier-2 speech only; Tier-1 still runs), --antenna-max, --body-yaw-max, --head-only-band, --snap-ratio, --snap-floor. See reachy explain listen for the full reference.

Make it your own

1. Rename the package reachy/ and the reachy-mini-cli CLI/dist name throughout pyproject.toml, the package, tests/, and sonar-project.properties.
2. Edit culture.yaml with your suffix and backend.
3. Rewrite CLAUDE.md for your agent and run /init.
4. Re-vendor only the skills you need from guildmaster (see docs/skill-sources.md).

See CLAUDE.md for the full conventions (version-bump-every-PR, the cicd PR lane, deploy setup).

License

MIT — see LICENSE.