clawbody

name	clawbody
description	Give your OpenClaw AI agent a physical robot body with Reachy Mini. Works with physical robot OR simulator! Voice conversation via OpenAI Realtime API, vision, and expressive movements.

ClawBody - Robot Body for OpenClaw

Give your OpenClaw agent (Clawson) a physical robot body with Reachy Mini.

Overview

ClawBody embodies your OpenClaw AI assistant in a Reachy Mini robot, enabling it to:

• Hear: Listen to voice commands via the robot's microphone
• See: View the world through the robot's camera
• Speak: Respond with natural voice through the robot's speaker
• Move: Express emotions through expressive head movements and dances

Using a hybrid architecture with OpenAI Realtime API for voice I/O and OpenClaw for intelligence, the robot responds with sub-second latency for natural conversation.

Architecture

You speak → Reachy Mini 🎤
                ↓
       OpenAI Realtime API
    (speech recognition + TTS)
                ↓
        OpenClaw Gateway
      (Clawson's brain 🦞)
                ↓
   Robot speaks & moves 🤖💃

Requirements

Option A: Physical Robot

• Reachy Mini robot (Wireless or Lite)

Option B: Simulator (No Hardware Required!)

• Any computer with Python 3.11+
• Install: pip install "reachy-mini[mujoco]"
• Simulator Setup Guide

Software (Both Options)

• Python 3.11+
• OpenAI API key with Realtime API access
• OpenClaw gateway running on your network

Installation

# Clone from GitHub
git clone https://github.com/tomrikert/clawbody
cd clawbody
pip install -e .

Or from HuggingFace:

git clone https://huggingface.co/spaces/tomrikert/clawbody

Configuration

Create a .env file:

OPENAI_API_KEY=sk-your-key-here
OPENCLAW_GATEWAY_URL=http://your-host-ip:18789
OPENCLAW_TOKEN=your-gateway-token

Usage

With Simulator (No Robot Required)

# Terminal 1: Start simulator
reachy-mini-daemon --sim

# Terminal 2: Run ClawBody
clawbody --gradio

With Physical Robot

# Run ClawBody
clawbody

# With debug logging
clawbody --debug

# With Gradio web UI
clawbody --gradio

Features

Real-time Voice Conversation

Ultra-low latency voice interaction using OpenAI's Realtime API for speech recognition and text-to-speech.

OpenClaw Intelligence

Full Clawson capabilities - tools, memory, personality - through the OpenClaw gateway HTTP API.

Expressive Movements

• Audio-driven head wobble while speaking
• Emotion expressions (happy, curious, thinking, excited)
• Dance animations
• Natural head tracking

Vision

Ask Clawson to describe what it sees through the robot's camera.

Links

• GitHub Repository
• HuggingFace Space
• Reachy Mini SDK
• OpenClaw Documentation

Author

Tom (tomrikert)

License

Apache 2.0