一个用于使用FastMCP控制Reachy Mini机器人的模型上下文协议（MCP）服务器。

[!注] 在寻找完整的会话应用吗？ 该仓库还包含完整的“对话堆栈”（听觉 + 大型语言模型 + 会话逻辑），将 Reachy Mini 变成自主对话机器人。

Docker 设置专门用于运行这个完整的对话应用。

👉 阅读对话堆栈概览

👉 完整 Docker 安装指南

该MCP服务器提供了一套全面的工具，用于控制Reachy Mini的头部运动、天线、摄像头，并执行各种手势和情感表达。

路线图

MCP

• [ ] 语音：TTS，吹笛者
• [ ] 代理层
• [ ] 队列动作支持
• [ ] 中断支持
• [ ] 移动身体支持，reachy-mini python SDK

会话应用

• [ ] 听力：
• [ ] VAD，WebRTCVAD / SileroVAD
• [ ] STT，更快的耳语
• [ ] 愿景
• [ ] 记忆：
• [ ] 文件
• [ ] 向量数据库
• [ ] 向量图数据库
• [ ] 成长，每晚微调支持
• [ ] MQTT 支持
• [ ] 转向自主智能仓库

特色

移动与语音控制

Reachy Mini MCP Server

A Model Context Protocol (MCP) server for controlling the Reachy Mini robot using FastMCP.

[!NOTE] Looking for the full Conversation App? This repository also contains the full “Conversation Stack” (Hearing + LLM + Conversation Logic) which turns Reachy Mini into an autonomous conversational robot.

The Docker setup is specifically for running this full conversation application.

👉 Read the Conversation Stack Overview

👉 Full Docker Setup Guide

This MCP server provides a comprehensive set of tools to control Reachy Mini’s head movements, antennas, camera, and perform various gestures and emotional expressions.

Roadmap

MCP

• [ ] Speech: TTS, piper
• [ ] Agentic layer
• [ ] Queue actions support
• [ ] Interruption support
• [ ] Move body support, reachy-mini python SDK

Conversation app

• [ ] Hearing:
  • [ ] VAD, WebRTCVAD / SileroVAD
  • [ ] STT, faster-whisper
• [ ] Vision
• [ ] Memory:
  • [ ] File
  • [ ] Vector DB
  • [ ] Vector Graph DB
• [ ] Growth, nightly fine tunes support
• [ ] MQTT support
• [ ] Move to autonomous-intelligence repo

Features

Movement & Speech Control

• Head Control: Move the head in 3D space (x, y, z) with orientation (roll, pitch, yaw)
• Antenna Control: Control left and right antennas independently
• Speech (TTS): Make the robot speak while performing actions (via speech parameter)
• Gestures: Perform predefined gestures (greeting, yes, no, thinking, celebration)
• Emotions: Express emotions (happy, sad, curious, surprised, confused)
• Direction Looking: Make the robot look in specific directions (up, down, left, right)

Monitoring & Control

• State Monitoring: Get full robot state, head state, antenna state, camera state
• Power Management: Turn robot on/off
• Emergency Stop: Immediately halt all movements
• Health Status: Monitor robot health and system status

Advanced Features

• Command Sequences: Execute multiple robot operations in a single call (NEW!)
• Single Unified Interface: Access all functionality through one operate_robot tool
• Repository-Based Tools: Easily extensible tool system with JSON definitions

Prerequisites