Quickstart Guide

Follow this guide to get your Reachy Mini up and running, either on real hardware or in simulation.

1. Prerequisites

Make sure you have installed Reachy Mini on your computer following our installation guide.

💡 Important: Ensure you have created and activated your Python virtual environment. Remember to activate it every time you open a new terminal!

🔧 Run SDK directly on Wireless Reachy Mini (Optional)

If you want to run the SDK directly on your wireless Reachy Mini instead of remotely on your computer, you can connect via SSH into it.

Step 1: SSH Connection

Open a terminal and run:

ssh pollen@reachy-mini

When prompted, use these default credentials:

Username: pollen
Password: root

Step 2: Activate the Python virtual environment

After connecting, activate the virtual environment:

source /venvs/apps_venv/bin/activate

Step 3: Run scripts locally

When running scripts on Reachy Mini itself, use the standard ReachyMini() constructor. Auto mode will keep the connection on localhost unless you explicitly override it:

from reachy_mini import ReachyMini

with ReachyMini() as mini:
    # Your code here

💡 Benefits of running locally: Lower latency, no network dependency, and direct access to all robot resources.

⚠️ Drawbacks: Lower CPU power, and no GUI available.

2. Ensure the Robot Server is running (Daemon)

The Daemon is a background service that handles the low-level communication with motors and sensors. It must be running for your code to work.

On Reachy Mini (Wireless): The daemon is running when the robot is powered on. Ensure your computer and Reachy Mini are on the same network.
On Reachy Mini Lite (USB) - You have two options :
- Start the desktop application
- Open a terminal and run :
```
uv run reachy-mini-daemon
```
For Simulation (No robot needed) - You have two options :
- Start the desktop application
- Open a terminal and run:
  - Linux/Windows:
```
uv run reachy-mini-daemon --sim
```
  - macOS:
```
mjpython -m reachy_mini.daemon.app.main --sim
```
    ⚠️ macOS Users: uv may have compatibility issues with MuJoCo on macOS. If you encounter installation or runtime problems, it’s recommended to use pip directly instead of uv for MuJoCo-related packages.

✅ Verification: Open http://localhost:8000 in your browser. If you see the Reachy Dashboard, you are ready!

3. Your First Script

⚠️ Important: Keep the daemon terminal open and running! The daemon must stay active for your robot to work.

Create your Python script

Step 1: Open a new terminal window

Step 2: Create a new file called hello.py and copy-paste the following code into it:

Tip: The constructor now auto-detects Lite vs Wireless and switches between localhost and network automatically. Only override it for advanced cases, e.g. ReachyMini(connection_mode="network").
from reachy_mini import ReachyMini

Connect to the running daemon

with ReachyMini() as mini: print(“Connected to Reachy Mini! “)

Wiggle antennas

print(“Wiggling antennas…”) mini.goto_target(antennas=[0.5, -0.5], duration=0.5) mini.goto_target(antennas=[-0.5, 0.5], duration=0.5) mini.goto_target(antennas=[0, 0], duration=0.5)

print(“Done!“)


**Step 3:** Save the file and run your script:

In your new terminal, run:
```bash
python hello.py

🎉 If everything went well, your robot should now wiggle its antennas!

❓ Troubleshooting

Encountering an issue? 👉 Check the Troubleshooting & FAQ Guide

Next Steps

Python SDK: Learn to move, see, speak, and hear.
Browse the Examples Folder
AI Integrations: Connect LLMs, build Apps, and publish to Hugging Face.
Core Concepts: Architecture, coordinate systems, and safety limits.

Update on GitHub