troubleshooting·

⏱ 60s

can't connect to the daemon·

reachy_* failed: connection refused on :8000

The daemon isn't up or you're pointed at the wrong host.

Lite: daemon runs on your laptop → REACHY_CONNECTION_MODE=auto (localhost:8000)
Wireless: daemon runs on the CM4 → REACHY_HOST=reachy-mini.local (or its IP), REACHY_CONNECTION_MODE=network
No robot: make sim (REACHY_USE_SIM=1) spawns its own daemon

Verify the daemon directly:

curl http://$REACHY_HOST:8000/            # should return the daemon API

motors won't move·

Check torque mode — motors may be disabled or in gravity-comp:

> check state          # reachy_get_state → look at motor mode
> enable your motors   # reachy_motors('enabled')

`reachy_express` hangs on first call·

The emotion library (pollen-robotics/reachy-mini-emotions-library) is downloaded live the first time. Give it a moment; subsequent calls are cached. reachy_list_emotions warms it too.

camera returns nothing·

The daemon owns the camera. If frame grabs conflict:

REACHY_MEDIA_BACKEND=no_media    # let reachy_camera grab transiently
REACHY_CAMERA_BACKEND=local      # backend used for transient grabs

voice persona is silent·

make voice-status    # is it muted?
make unmute

Also confirm OPENAI_API_KEY (or your chosen VOICE_PROVIDER) is set in .env.

everything imports but nothing runs·

Run the smoke test — it isolates import/registration problems from hardware:

make test-tools

If that passes, the issue is connectivity or credentials, not code.

it fell over / weird pose·

> go home        # reachy_home — back to neutral
> go to sleep    # reachy_wake(sleep=True) — settle safely