reachy-control

name	reachy-control
description	Inspect and control the physically secured Reachy Mini at Crosstown through ClawBody. Use for requests to check Reachy, look around, express an emotion, play any official emotion or dance preset, speak proactively, mute or unmute its microphone, stop movement, or describe what its camera sees.
allowed-tools	Bash(reachyctl:*)
metadata	{"openclaw":{"emoji":"🤖","requires":{"bins":["reachyctl"]}}}

Reachy control

Control the Crosstown Reachy Mini through ClawBody's owner-only local socket. Commands from the Mac mini relay through the always-on Crosstown MBP; commands on the MBP connect directly with its dedicated Reachy SSH identity.

Commands

Check availability before an action if the robot's current state is unknown:

reachyctl status

Move or express:

reachyctl look left|right|up|down|front
reachyctl presets
reachyctl emotion <preset>
reachyctl dance <preset>
reachyctl speak "Text to say aloud"
reachyctl mute
reachyctl unmute
reachyctl stop
reachyctl idle

Use the camera:

reachyctl see

mute sets Reachy's daemon-managed microphone volume to zero. unmute restores the last nonzero volume remembered by the running ClawBody process, defaulting to 100 after a restart. Mute also holds a bowed quiet pose with folded antennas and pauses face tracking. Once that pose settles, Reachy relaxes only the antenna motors: deliberately move both antennas by about 14 degrees for roughly 300 ms to unmute it physically. Unmute returns Reachy to neutral and restores subtle face tracking. Use reachyctl status rather than the dashboard slider as the authoritative combined state; reachyctl unmute from another trusted OpenClaw channel remains the remote recovery path.

Treat JSON with "status":"success" as confirmation. Report an error verbatim and do not claim the robot moved or saw something when the command failed.

Read references/presets.md when choosing a movement. emotion plays the official recorded motion and its bundled vocalization when present. dance dance1|dance2|dance3 selects the three vocalized dance presets from the emotion library. The official dance-library presets are motion-only; the six legacy built-ins are also available. Use reachyctl presets if the live catalog may be newer than the reference.

Face tracking is automatic: it strengthens while the in-person user is actively speaking, then returns to its subtle idle blend as soon as speech stops. Do not toggle tracking manually.

In the direct Reachy voice session (agent:main:reachy), do not call reachyctl speak; ClawBody automatically vocalizes OpenClaw's final response. Use speak for proactive announcements initiated by other OpenClaw sessions, cron jobs, or explicit remote requests.

Every command automatically acquires ClawBody's exclusive OpenClaw control lease. The direct Realtime voice pauses while the command runs, so it is safe to combine camera, movement, emotion, dance, microphone, and proactive speech commands without competing with an ordinary voice turn.

Safety

• Follow OpenClaw's channel trust and action-authorization rules for remote callers; the robot's physical security does not authorize an untrusted sender.
• Execute a single clearly requested movement without extra confirmation. Ask before repeated movements, sustained routines, or scheduled physical actions.
• Use see only when the user asks what Reachy sees or when visual context is necessary for their request. Do not retain or forward camera descriptions beyond that task.
• Use only the enumerated command arguments. Do not SSH to Reachy directly or bypass reachyctl for robot control.

Architecture

OpenClaw -> reachyctl (Mac mini) -> dedicated SSH -> clawbody-control
         -> owner-only Unix socket -> ClawBody local tools -> Reachy

If reachyctl status reports that control is unavailable, verify ClawBody is running and the persistent Reachy gateway tunnel is healthy. Do not reboot the robot automatically.