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quickstart·

⏱ 3 min to first wobble · commands verified 2026-09-17

1 · clone & run·

git clone https://github.com/cagataycali/tiny-the-reachy.git
cd tiny-the-reachy
cp .env.example .env && $EDITOR .env   # fill in your keys (below)
make venv                              # .venv + deps
make run                               # REPL against the Reachy daemon

No hardware handy? Run against the MuJoCo simulator instead:

make sim        # REACHY_USE_SIM=1 — spawns a headless daemon, no robot

2 · pick a model·

TINY runs on a Bedrock model by default. Provide Bedrock credentials before make run:

export AWS_BEARER_TOKEN_BEDROCK=...                    # Bedrock bearer token (preferred)
export AWS_DEFAULT_REGION=us-west-2
export TINY_MODEL_ID=global.anthropic.claude-opus-4-8  # override the default

Voice uses OpenAI Realtime by default — set OPENAI_API_KEY for the voice persona (or switch VOICE_PROVIDER to nova_sonic / gemini).

3 · connect to the robot·

The Reachy Mini daemon owns the hardware and exposes an HTTP/WS API on :8000. TINY is a pure client of it.

REACHY_CONNECTION_MODE=auto     # daemon on localhost:8000

REACHY_HOST=reachy-mini.local   # or the robot's IP, e.g. 192.168.1.5
REACHY_CONNECTION_MODE=network
REACHY_PORT=8000

REACHY_USE_SIM=1                # MuJoCo, spawns its own daemon

4 · talk to it·

> check state

reachy_state → head pitch/roll/yaw 0/0/0 · antennas 0/0 · body_yaw 0 · imu ok

> show me you're happy to meet me

reachy_express("cheerful1") · reachy_antennas(wiggle) — there is no "happy" in the library; TINY picks the closest of 81

The REPL is a Strands agent with the same tools as the personas — all 26, with signatures. reachy_list_emotions prints the recorded-move names the daemon actually has.

safe first commands·

Green zone — all self-bounded, all clamped

check state · wake up · look at me · wiggle your antennas · nod · shake your head · spin around · show me happy · what emotions do you know? · go home

Expression is the whole point

Reachy Mini has no arms or legs. Its personality is head + body + antennas + the recorded-emotion library. Ask it to feel something, not just do something — be curious, look excited, act shy.

one-shot mode·

make ask Q="say hi and wobble your antennas"

on the real robot·

The Wireless Reachy Mini runs all of this on its own CM4 as systemd units — voice, Telegram, the thinker, the cockpit and the tunnel — so nothing on your laptop needs to stay up.

How TINY boots (systemd) → Deploying to the robot → Meet the four personas →