Make sure you are using up-to-date software and that you have restarted both your robot and your computer.
To restart your robot, press OFF, wait 5 seconds, then press ON. This simple procedure fixes several common and well-known issues.

How to update the software:

• If you are using the dashboard in a web browser
  Open Settings, then click Check for updates.
  
• If you are using the new dashboard/app
  Since 0.8.5 of the app,
• If you are using a cloned repository
  Make sure you are either:
  • On the latest tagged release, or
  • Up to date with the develop branch (git pull).

Wireless Reachy Mini: run reachyminios_check to make sure everything is fine (see Get Started)

This concerns issues like:

• Motors blinking red or not responding/moving.
• Motors showing errors like “Overload Error”
• Missing motors: “No motor found on port”, “Missing motor”, etc.

If you have any of the following symptoms, please refer to the Motors diagnosis and troubleshooting guide for detailed steps to diagnose and fix motor-related issues.

Using the Reachy Mini Testbench app will help you identify and resolve these problems effectively.

An electrical shock error on Dynamixel motors means there is either an issue with the power supply, or a short circuit somewhere. Please check if any cable is damaged, from the foot PCB to the head. Especially the followings cables:

• Power Cable (black & red)
• 3-wires cables for motors (300mm, 200mm, 100mm and 40mm)

It can also be the same issue as “Motor blinking red or Overload Error” described above.

• Update your robot to version 1.2.3 or later

For more details, see the documentation:
Getting Started

• Update your robot to version 1.2.3 or later
• Reboot the robot

This is a manufacturing issue.

It is easy to fix by following this guide:
Antenna repositioning guide

This can happen if the motor’s PID values are not optimal. Often, motors 10 (foot), 17 and 18 (the antennas) can exhibit slight jitters when holding position. These are fine “adjustments” that the motor is making, which in this case is an overcorrection. The good news is that you can tune PID Control values to calm these jitters.

You can try first to reduce P to 180 on motors, 10, 17, and 18. If it doesn’t help, you can also try to increase D to 10 on the same motors.

➡️ Quick Fix: Adjust Exposure Time in Camera Settings

To fix a dark image, enable auto-exposure or manually increase the exposure time using a camera control application. These applications provide an intuitive interface for adjusting exposure and other camera parameters.

Recommended Applications:

• macOS: CameraController - Open-source GUI application for USB camera control
• Linux: qv4l2 - Qt-based GUI application for V4L2 camera control
  • Install: sudo apt install qv4l2
• Windows: Webcam Settings or ManyCam for advanced camera control

These applications allow you to adjust exposure time, brightness, and other camera parameters through an intuitive graphical interface.

➡️ Advanced: Using libuvc for In-Depth Camera Control

For advanced users who want precise control over camera parameters, you can use libuvc-based command-line utilities. These tools provide low-level access to all UVC camera controls.

To fix the darkness issue specifically, set auto-exposure-priority=1 using these command-line tools.

Command-Line Tools by Platform:

• macOS: uvc-util

• Linux: v4l2-ctl

  • Install: sudo apt install v4l-utils

• Windows: Windows does not have a direct equivalent.

Note: These command-line tools require technical knowledge and access to the camera parameters may vary depending on the selected tool. Use --help and list available controls before making any changes.

Be sure to unpack everything first. Some parts are pre-assembled (e.g the bottom head part is already placed in the back head part).

Then, check the assembly guide’s parts list to see if you really miss a part: If you are 100% sure you miss a part, please contact sales@pollen-robotics.com with a picture of all the parts you have and order number or invoice number.
You can also find stl files to print it by yourself in the meantime.

Wireless units do not expose the robot over USB the way the Lite version does, so plugging a USB-C cable into your laptop will not give you a working connection.
Instead:

• Join the robot to your Wi-Fi network and use the SDK client on your laptop to control it remotely.
• If you want to run code directly on the embedded Raspberry Pi, SSH in and execute your scripts there (this is what the Dashboard does after you publish/install an app).
• For a tethered link, use a USB-C-to-Ethernet adapter plus an Ethernet cable—this simply replaces Wi-Fi with wired Ethernet.

Most testers report between 1.5 and 2 hours. It can take up to 4 hours depending on your experience level.

Not really, testers describe it as fun, simple, and satisfying. Basic tools and patience are enough. Cable routing and torqueing parts correctly are the trickiest elements. When you buy a Reachy Mini Lite or Wireless, it comes with a printed user guide, and you also have access to a video and the Digital guide. Video for Reachy Mini BETA, LITE, WIRELESS

Digital Assembly Guide for Reachy Mini BETA, LITE, WIRELESS

Yes, this is completely normal.
We intentionally include spare cables and screws in the kit in case some parts are damaged or lost during assembly.

You do not need to install them.

• Power Supply: Ensure the 7V-5A power supply is plugged in. The USB connection is not enough to power the motors.
• Cables: Check that all cables are fully inserted. Loose power cables are a common cause of “motor not responding” errors.
• Troubleshooting Section: See the Essential Troubleshooting section at the top of this page.

NO

• With Reachy Mini (Wireless), the daemon is already running on the embedded Raspberry Pi.
• With Reachy Mini Lite, you can use the desktop app.

See the Reachy Mini Wireless guide for detailed instructions on connecting to Wi-Fi.

If you need to reset the robot’s Wi-Fi hotspot (for example, if you can’t connect or want to change the network), follow the instructions in the Wi-Fi Reset Guide.

1. Check browser permissions: Ensure your browser can access local networks. On macOS, these permissions are found in System Settings → Privacy & Security → Local Network.

2. For Wireless Reachy Mini: Ensure both your computer and the robot are connected to the same network, then verify connectivity by running the following command in your terminal:

ping reachy-mini

3. For Lite Reachy Mini: Perform these checks.

• Virtual Environment: Ensure you are running inside your virtual environment (.venv, reachy_mini_env,…).
• SDK Update: Ensure you have the latest version.

With pip, run :

pip install -U reachy-mini

With uv, run :

uv pip install -U reachy-mini

• Daemon: Make sure the daemon reachy-mini-daemon is running in a terminal.

Yes. The daemon provides a REST API (FastAPI) and WebSocket support.

• Docs: http://localhost:8000/docs (available when daemon is running).
• Features: Get state, Move joints, Control daemon.

You can use the API to control the robot and get its state and even control the daemon itself. The API is implemented using FastAPI and pydantic models.

It should provide you all the necessary endpoints to interact with the robot, including:

• Getting the state of the robot (joints positions, motor status, etc.)
• Moving the robot’s joints or setting specific poses

The API is documented using OpenAPI, and you can access all available routes and test them at http://localhost:8000/docs when the daemon is running. You can also access the raw OpenAPI schema at http://localhost:8000/openapi.json.

This can be useful if you want to generate client code for your preferred programming language or framework, connect it to your AI application, or even to create your MCP server.

WebSocket support

The API also supports WebSocket connections for real-time updates. For instance, you can subscribe to joint state updates:

let ws = new WebSocket(`ws://127.0.0.1:8000/api/state/ws/full`);

ws.onmessage = (event) => {
    const data = JSON.parse(event.data);
    console.log(data);
};

Helps prevent package conflicts during SDK installation.

Refer to the Reachy Mini Hardware page for detailed information about the robot’s hardware components.

If you command a pose outside these limits, the robot will automatically clamp to the nearest safe pose.

• Body Yaw: [-180°, 180°].
• Head Pitch/Roll: [-40°, 40°].
• Head Yaw: [-180°, 180°].
• Combined Limit: The difference between body_yaw and head_yaw must be within [-65°, 65°].

• enable_motors(): Motors ON (Stiff). Robot holds position.
• disable_motors(): Motors OFF (Limp). You can move it by hand.
• make_motors_compliant(): Motors ON but Soft. Useful for teaching-by-demonstration.

1. You can refer scanning the motors using the scan_motors.py script.

• If your robot is Lite, you can run the script directly on your computer. Go to the “tools” folder, where the script is located, and run the same command as below but without the scp and ssh part.
• If your robot is Wireless, you need to copy the scanning script on the raspberry. Go to the “tools” folder, where the script is located,and run:

sudo scp scan_motors.py pollen@reachy-minilocal:~/
# password: ---your sudo password---
# RPI password: root

• Then ssh into the robot:

ssh pollen@reachy-mini.local

• Activate the venv:

source /venvs/mini_daemon/bin/activate

• And run the script: (Motors must be poweredonfor this!)

python scan_motors.py

• It should print the list of detected motors. You should have all motors on baudrate 1000000, with the following IDs: 10,11, 12, 13, 14, 15,17, 18. If some are missing, check the cables again. If there is a motor with a different ID or baudrate, please contact support.

Example of the right output:

Trying baudrate: 9600
No motors found at baudrate 9600
Trying baudrate: 57600
No motors found at baudrate 57600
Trying baudrate: 115200
No motors found at baudrate 115200
Trying baudrate: 1000000
Found motors at baudrate 1000000: [10, 11,12,13, 14, 15, 16, 17, 18]

2. Lite: You can also use the Dynamixel Wizard to read motors parameters. Follow the guide here.

• Check the power supply connection.
• Motors might have entered thermal protection mode (overheating). Turn off and on again.
• Updating the SDK (pip install -U reachy-mini) has solved this for some users.
• If the motor’s led blinks red, see the “Motor blinking red or Overload Error” section in the Essential Troubleshooting above.

We only have the led indication for “low battery” when it’s time to charge it. (green -> orange -> red)

• Check that the green led is not on first.
• Remove the 3x screws at the bottom and take out the foot a little bit.
• Unplug the indicated connector (red arrow) to be able to remove the battery. There should be some double-sided tape that maintain the battery in place, so it can be a bit hard to remove.
• When you’ll re-assemble it, do these step again in reverse order. Just be careful not to pinch any cable.

This behavior is expected and not a hardware or software bug.
However, since it can be confusing, we will update those motions to avoid this contact.

• CAD: Not currently public.
• Skins: Yes, the community has created custom builds (e.g., Star Wars droids).

Use the ReachyMini class.

from reachy_mini import ReachyMini

with ReachyMini() as mini:
    # Your code here
    print(mini.state)

1. Use the generator: reachy-mini-make-app my_app_name.
2. Edit main.py in the generated folder.
3. Run it: python my_app_name/main.py.

Check the Hugging Face Tutorial for details.

Sure! You can install apps directly from your Dashboard if they’re native, or add them to your favourites if they’re web-based.

It might be related to unsufficient rights to create symlinks in Windows. You can set the environment variable HF_HUB_DISABLE_SYMLINKS_WARNING to 1 to remove the warnings that cause the failure.

In a terminal, run :

set HF_HUB_DISABLE_SYMLINKS_WARNING=1

Update your SDK. Early versions had a bug with Space installation.

pip install -U reachy-mini

Yes, via MuJoCo. It is still a work in progress, but you can run code with the --sim flag or ReachyMini(media_backend="no_media") if just testing logic without physics.

SSH into the embedded computer, clone (or copy) your app, and run it manually. This reproduces what the dashboard does when launching your app.

ssh pollen@reachy-mini.local
# password: root
cd your_app_name
python your_app_name/main.py

Your GUI will open at the usual address (for example, http://reachy-mini.local:8042).

Use goto_target with create_head_pose:

from reachy_mini.utils import create_head_pose

# ... inside with ReachyMini() as mini:
mini.goto_target(head=create_head_pose(yaw=-10, pitch=20))

• goto_target: Smooth. Interpolates motion over time (default 0.5s). Best for gestures.
• set_target: Instant. Sets the target immediately. Best for high-frequency control (teleoperation, mathematical trajectories).

Recording: Call start_recording() and stop_recording() around your control loop.

mini.start_recording()
# ... move robot ...
move = mini.stop_recording()

Replaying: Use the RecordedMoves class to load moves from the Hugging Face library.

mini.play_move(recorded_moves.get("dance_1"))

You can check that the motor control loop runs correctly by checking the daemon status:

• via the SDK

mini = ReachyMini()
print(mini.client.get_status())

• via the dashboard API at http://localhost:8000/docs on a lite and http://reachy-mini.local:8000/docs for the wireless (look for /api/daemon/status endpoint)

You should see values around 50Hz (~20ms period):

{
  ...
"motor_controller": "ControlLoopStats(period=~19.99ms, read_dt=~1.94 ms, write_dt=~0.19 ms)"
  ...
}

If the period is much higher than 20ms, it means the control loop is not running fast enough. This can be due to:

• Heavy CPU load on the computer (eg. other apps using too much CPU).
• (only for lite) high USB latency (try configuring your serial port).

1. Run alsamixer.
2. Set PCM1 to 100%.
3. Use PCM,0 to adjust the global volume.

To make it permanent:

CARD=$(aplay -l | grep -i "reSpeaker" | head -n1 | sed -n 's/^card \([0-9]*\):.*/\1/p')
amixer -c "$CARD" set PCM,1 100%
sudo alsactl store "$CARD"

This is a known issue of the XVF3800 based sound card.

Use the media object.

with ReachyMini() as mini:
    frame = mini.media.get_frame()
    # Returns an OpenCV-compatible numpy array

• 2D (Image): mini.look_at_image(x, y) - (0,0 is top-left).
• 3D (World): mini.look_at_world(x, y, z) - Coordinates in robot frame.

Performance relies heavily on lighting conditions. Ensure the face is well-lit. Using the GStreamer backend can also improve latency compared to the default OpenCV backend.

Reachy Mini Lite Version

The easiest way to test the Lite version is to directly use the Pollen Robotics Reachy Mini Audio device from your computer to verify proper functionality.

Reachy Mini Wireless Version

For the Wireless version, you can use the following GStreamer commands to test audio recording and playback:

In the case of the wireless version, you may use the following commands:

# record a sound
gst-launch-1.0 -e alsasrc device="reachymini_audio_src" ! audioconvert ! audioresample ! wavenc ! filesink location="test.wav"
# playback the recording
gst-launch-1.0 filesrc location=test.wav ! wavparse ! audioconvert ! alsasink device=reachymini_audio_sink
#playback a test sound (pink noise)
gst-launch-1.0 audiotestsrc wave="pink-noise" ! audioconvert ! audioresample ! alsasink device="reachymini_audio_sink"

Advanced Testing: You can play back a sound while recording simultaneously to test the echo cancellation performance. This helps verify that the microphone array is properly processing audio and canceling echo from the speakers.

Troubleshooting Tips:

• Ensure the .asoundrc file exists in the home directory
• Check that the microphone is detected: arecord -l
• Check that the speaker is detected: aplay -l

You are missing a system dependency. Run:

sudo apt-get install libportaudio2

Then restart the daemon.

This appears if you connect to the robot but don’t consume the video frames, causing the buffer to fill up.

• Fix: If you don’t need video, initialize with ReachyMini(media_backend="no_media").

• No Input: Requires firmware 2.1.3. Run the update script.
• No Direction: Requires firmware 2.1.0+.
• Check that the flat flexible cable is intalled the right way (Slides 45-47 of assembly guide).

Contact Pollen Robotics team immediately. You can send us an email to sales@pollen-robotics.com with photos of the package, receipt number or invoice number and your full name. We will then check with the transport company and keep you updated.

• Before shipping: Contact sales@pollen-robotics.com for a 100% refund.
• After shipping: You have 30 days to return your package. Contact sales (sales@pollen-robotics.com) with proof of delivery and invoice or receipt number. If you have comments / feedback, please let us know, our focus is building a robot the open-source community enjoys building.

If a part is broken/malfunctioning, Pollen’s after-sales team will determine if it is a hardware defect covered by warranty. Then, our manufacturer will provide repair or replacement parts. You can send us an email to sales@pollen-robotics.com with photos of the issue, receipt number or invoice number and your full name.