Reachy Mini MCP Server

An MCP (Model Context Protocol) server for controlling Reachy Mini robots. This allows Claude Desktop and other MCP clients to interact with Reachy Mini robots through natural language.

Features

• Dance: Play choreographed dance moves
• Emotions: Express pre-recorded emotions
• Head Movement: Move head in different directions
• Camera: Capture images from the robot’s camera
• Head Tracking: Enable face tracking mode
• 🎤 Real-Time Local TTS: Text-to-speech runs entirely on-device with streaming audio - no cloud APIs, no latency, no API costs
• Motion Control: Stop motions and query robot status

Installation

# Clone the repository
cd reachy-mini-mcp

# Create virtual environment
uv venv --python 3.10
source .venv/bin/activate

# Install dependencies
uv pip install -e .

# Optional: Install camera support
uv pip install -e ".[camera]"

# Optional: Install speech support (text-to-speech)
uv pip install -e ".[speech]"

Configuration

Copy .env.example to .env and configure:

cp .env.example .env

Available environment variables:

Usage

Running the server directly

reachy-mini-mcp

Claude Code CLI

Add the MCP server using the claude mcp add command:

# Build from source (after cloning the repo)
claude mcp add --transport stdio reachy-mini -- bash -c "cd /path/to/reachy-mini-mcp && uv run reachy-mini-mcp"

# With camera support enabled
claude mcp add --transport stdio reachy-mini --env REACHY_MINI_ENABLE_CAMERA=true -- bash -c "cd /path/to/reachy-mini-mcp && uv run reachy-mini-mcp"

# With custom robot name
claude mcp add --transport stdio reachy-mini --env REACHY_MINI_ROBOT_NAME=my-robot -- bash -c "cd /path/to/reachy-mini-mcp && uv run reachy-mini-mcp"

Claude Desktop Integration

Add to your Claude Desktop configuration file:

macOS: ~/Library/Application Support/Claude/claude_desktop_config.json Windows: %APPDATA%\Claude\claude_desktop_config.json

{
  "mcpServers": {
    "reachy-mini": {
      "command": "reachy-mini-mcp",
      "env": {
        "REACHY_MINI_ENABLE_CAMERA": "true"
      }
    }
  }
}

If using a virtual environment:

{
  "mcpServers": {
    "reachy-mini": {
      "command": "/path/to/reachy-mini-mcp/.venv/bin/reachy-mini-mcp",
      "env": {
        "REACHY_MINI_ENABLE_CAMERA": "true"
      }
    }
  }
}

Available Tools

dance

Play a dance move on the robot.

Parameters:

• move (string, optional): Dance name or “random”. Default: “random”
• repeat (integer, optional): Number of times to repeat. Default: 1