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| <title>Reachy Mini for Home Assistant</title> |
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| <div class="hero"> |
| <div class="hero-content"> |
| <div class="app-icon">🤖⚡</div> |
| <h1>Reachy Mini for Home Assistant</h1> |
| <p class="tagline">Control your Home Assistant with voice using Reachy Mini robot</p> |
| </div> |
| </div> |
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| <div class="container"> |
| <div class="main-card"> |
| <div class="app-details"> |
| <h2>What is this?</h2> |
| <p style="text-align: center; color: #475569; line-height: 1.8; margin-bottom: 2rem;"> |
| This app integrates your <strong>Reachy Mini robot</strong> with <strong>Home Assistant</strong>. |
| Speak to Reachy Mini, and it will control your smart home devices through Home Assistant's voice commands. |
| Reachy Mini provides visual feedback with head movements and antenna animations while listening and responding. |
| </p> |
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| <h2>Installation</h2> |
| <div class="how-to-use"> |
| <h3>Install from Reachy Mini Dashboard:</h3> |
| <div class="steps"> |
| <div class="step"> |
| <div class="step-number">1</div> |
| <div> |
| <h4>Open Reachy Mini Dashboard</h4> |
| <p>Navigate to the Applications section in your browser</p> |
| </div> |
| </div> |
| <div class="step"> |
| <div class="step-number">2</div> |
| <div> |
| <h4>Show Community Apps</h4> |
| <p>Check the "Show community apps" checkbox to see third-party applications</p> |
| </div> |
| </div> |
| <div class="step"> |
| <div class="step-number">3</div> |
| <div> |
| <h4>Find and Install</h4> |
| <p>Search for "Reachy Mini for Home Assistant" and click Install</p> |
| </div> |
| </div> |
| <div class="step"> |
| <div class="step-number">4</div> |
| <div> |
| <h4>Connect to Home Assistant</h4> |
| <p>The app will be automatically discovered by Home Assistant via mDNS</p> |
| </div> |
| </div> |
| </div> |
| </div> |
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| <h2>Features</h2> |
| <div class="template-info"> |
| <div class="info-box"> |
| <h3>🎤 Voice & Tap Wake</h3> |
| <p>Say "Okay Nabu" or tap Reachy Mini's head to activate. Multiple wake options for convenience.</p> |
| </div> |
| <div class="info-box"> |
| <h3>🏠 Smart Home Control</h3> |
| <p>Home Assistant processes your voice commands and controls your smart home devices automatically.</p> |
| </div> |
| <div class="info-box"> |
| <h3>👀 Face Tracking</h3> |
| <p>YOLO-based face detection enables Reachy Mini to look at you during conversations for natural interaction.</p> |
| </div> |
| <div class="info-box"> |
| <h3>😊 Facial Expressions</h3> |
| <p>Automatic emotional feedback with head movements and antenna animations while listening and responding.</p> |
| </div> |
| <div class="info-box"> |
| <h3>📹 Camera Streaming</h3> |
| <p>MJPEG video stream available in Home Assistant as a Generic Camera for real-time monitoring.</p> |
| </div> |
| <div class="info-box"> |
| <h3>🔊 Sendspin Audio</h3> |
| <p>Multi-room audio support via Sendspin protocol. Sync playback with other speakers in your home.</p> |
| </div> |
| <div class="info-box"> |
| <h3>🎛️ 30+ Control Entities</h3> |
| <p>Complete robot control via Home Assistant: motors, head position, LEDs, emotions, tap sensitivity, and more.</p> |
| </div> |
| </div> |
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|
| <h2>Changelog</h2> |
| <div class="how-to-use changelog-container"> |
| <div class="changelog-scroll"> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.11</span> |
| <span class="date">2026-01-10</span> |
| <ul> |
| <li>Fix: Reset feature extractors when switching wake words to prevent false triggers</li> |
| <li>Fix: Add refractory period after wake word switch</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.10</span> |
| <span class="date">2026-01-10</span> |
| <ul> |
| <li>Fix: Wake word models now have 'id' attribute set correctly</li> |
| <li>Fix: Wake word switching from Home Assistant now actually works</li> |
| <li>Fix: _update_wake_words_list properly filters by active_wake_words</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.9</span> |
| <span class="date">2026-01-10</span> |
| <ul> |
| <li>New: Default wake word changed to "Hey Reachy"</li> |
| <li>Fix: Wake word switching from Home Assistant now works correctly</li> |
| <li>Fix: All selected wake words are loaded (was only loading first one)</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.8</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Tap detection now waits for emotion playback to complete (polls daemon API)</li> |
| <li>Fix: Prevents false tap triggers during long emotion animations</li> |
| <li>New: DOA turn-to-sound at wakeup (robot turns toward speaker)</li> |
| <li>New: DOA angle and speech_detected entities in Home Assistant</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.7</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: DOA direction inversion corrected (left/right now correct)</li> |
| <li>Fix: Home Assistant shows raw DOA angle (0-180°)</li> |
| <li>Fix: EntityRegistry 'state' attribute error in tap_sensitivity</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.6</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Better pipeline state tracking to prevent duplicate audio playback</li> |
| <li>Fix: Ignore duplicate RUN_END events during network lag</li> |
| <li>Fix: Stop previous TTS if new pipeline starts unexpectedly</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.5</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Prevent concurrent pipelines (only one conversation at a time)</li> |
| <li>New: Play prompt sound when ready for next input in continuous conversation</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.4</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Wait for RUN_END event before starting new conversation</li> |
| <li>Fix: Prevents APIConnectionError during continuous conversation</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.3</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Continuous conversation now uses conversation_id for context tracking</li> |
| <li>Fix: Conversation state properly cleared when conversation ends</li> |
| <li>Improve: conversation_id reused within 5-minute timeout (same as ESPHome)</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.2</span> |
| <span class="date">2026-01-09</span> |
| <ul> |
| <li>Fix: Home Assistant pose control restored (head, antennas, body yaw)</li> |
| <li>Fix: Continuous conversation (tap-to-wake) now properly continues after TTS</li> |
| <li>Fix: Emotion mapping updated to use available robot emotions</li> |
| <li>New: 50+ emotions available in Home Assistant emotion selector</li> |
| <li>Rename: Project renamed to "Reachy Mini for Home Assistant"</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.1</span> |
| <span class="date">2026-01-08</span> |
| <ul> |
| <li>Fix: Sendspin now connects to music_player (fixes music not resuming after voice conversation)</li> |
| <li>Fix: tap_sensitivity persistence - saved to preferences.json and restored on startup</li> |
| <li>Fix: Audio conflict prevention - Sendspin pauses during voice assistant wakeup</li> |
| <li>Fix: AttributeError for _camera_server in satellite.py</li> |
| <li>Fix: tap_sensitivity default changed from 2.0g to 0.5g</li> |
| <li>Optimize: ReSpeaker 16kHz prioritized in Sendspin supported formats</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.5.0</span> |
| <span class="date">2026-01-07</span> |
| <ul> |
| <li>Face tracking offset compensation (pitch +9°, yaw -7°)</li> |
| <li>Adaptive face tracking: high freq (15fps) during conversation, low freq (3fps) when idle</li> |
| <li>Auto switch to low-power mode after 10s without face detection</li> |
| <li>Optimized shutdown mechanism (reduced timeout from ~7s to ~2s)</li> |
| <li>Sendspin multi-room audio integration (PLAYER role)</li> |
| <li>Audio resampling for Sendspin (44.1/48kHz → 16kHz)</li> |
| <li>Pose composition using SDK's compose_world_offset</li> |
| <li>Noise suppression default reduced to 15%</li> |
| <li>Fix: Replace non-existent clear_output_buffer with stop_playing</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.4.0</span> |
| <span class="date">2026-01-07</span> |
| <ul> |
| <li>Daemon stability fixes and microphone optimization</li> |
| <li>Face tracking enabled by default</li> |
| <li>Tap detection logging improvements</li> |
| <li>SDK compose_world_offset for proper pose composition</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.3.0</span> |
| <span class="date">2026-01-06</span> |
| <ul> |
| <li>Tap sensitivity slider entity for Home Assistant</li> |
| <li>Face tracking optimization</li> |
| <li>Music Assistant compatibility fixes</li> |
| <li>Reduced noise suppression for better mic sensitivity</li> |
| <li>Tap-to-wake blocking fixes</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.2.x</span> |
| <span class="date">2026-01-05 ~ 2026-01-06</span> |
| <ul> |
| <li>v0.2.21: Fix daemon crash - reduce control loop to 2Hz</li> |
| <li>v0.2.18: Fix audio playback - restore wakeup sound</li> |
| <li>v0.2.17: Remove head_joints/passive_joints, move error_message to diagnostic</li> |
| <li>v0.2.16: Fix TTS playback - pause recording during playback</li> |
| <li>v0.2.12: Disable breathing animation to prevent serial port overflow</li> |
| <li>v0.2.9: Remove DOA/speech detection - replaced by face tracking</li> |
| <li>v0.2.8: Replace DOA with YOLO face tracking</li> |
| <li>v0.2.6: Thread-safe ReSpeaker USB access</li> |
| <li>v0.2.4: Fix microphone volume control via daemon HTTP API</li> |
| <li>v0.2.3: Fix daemon crash from conflicting pose commands</li> |
| <li>v0.2.2: Fix second conversation motion failure</li> |
| <li>v0.2.1: Fix daemon crash and optimize code</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.2.0</span> |
| <span class="date">2026-01-05</span> |
| <ul> |
| <li>Automatic facial expressions during conversation</li> |
| <li>Emotion playback integration with MovementManager</li> |
| <li>Event loop blocking fixes</li> |
| <li>SDK compliance refactoring</li> |
| <li>Improved shutdown and connection error handling</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.1.x</span> |
| <span class="date">2026-01-04</span> |
| <ul> |
| <li>v0.1.5: Code optimization and crash fixes</li> |
| <li>Reachy Mini 3D visualization card for Home Assistant</li> |
| <li>Home Assistant Material Design styling</li> |
| <li>Initial release with voice assistant functionality</li> |
| </ul> |
| </div> |
| <div class="changelog-entry"> |
| <span class="version">v0.0.0</span> |
| <span class="date">2026-01-01</span> |
| <ul> |
| <li>Initial project setup</li> |
| <li>Basic Home Assistant voice satellite integration</li> |
| <li>Reachy Mini SDK integration</li> |
| <li>Wake word detection ("Okay Nabu")</li> |
| <li>MJPEG camera streaming</li> |
| <li>30+ Home Assistant control entities</li> |
| </ul> |
| </div> |
| </div> |
| </div> |
|
|
| <h2>Usage</h2> |
| <div class="how-to-use"> |
| <h3>After Installation:</h3> |
| <div class="steps"> |
| <div class="step"> |
| <div class="step-number">1</div> |
| <div> |
| <h4>Automatic Discovery (Recommended)</h4> |
| <p>Home Assistant will automatically discover your Reachy Mini via mDNS. A notification will appear - just click to add.</p> |
| </div> |
| </div> |
| <div class="step"> |
| <div class="step-number">2</div> |
| <div> |
| <h4>Manual Setup (if needed)</h4> |
| <p>Settings → Devices & Services → Add Integration → ESPHome → Enter Reachy Mini IP:6053</p> |
| </div> |
| </div> |
| <div class="step"> |
| <div class="step-number">3</div> |
| <div> |
| <h4>Start Using</h4> |
| <p>Say "Okay Nabu" or tap Reachy Mini's head, then speak your command (e.g., "turn on the lights")</p> |
| </div> |
| </div> |
| </div> |
| </div> |
|
|
| <h2>Links</h2> |
| <div class="template-info"> |
| <div class="info-box"> |
| <h3>📦 Source Code</h3> |
| <p><a href="https://huggingface.co/spaces/djhui5710/reachy_mini_ha_voice/tree/main" target="_blank">View on HuggingFace</a></p> |
| </div> |
| <div class="info-box"> |
| <h3>🔧 Original Project</h3> |
| <p><a href="https://github.com/OHF-Voice/linux-voice-assistant" target="_blank">OHF-Voice/linux-voice-assistant</a></p> |
| </div> |
| <div class="info-box"> |
| <h3>🤖 Pollen Robotics</h3> |
| <p><a href="https://www.pollen-robotics.com/" target="_blank">Visit Website</a></p> |
| </div> |
| </div> |
| </div> |
| </div> |
| </div> |
|
|
| <div class="footer"> |
| <p> |
| 🤖 Reachy Mini HA Voice • |
| <a href="https://github.com/pollen-robotics" target="_blank">Pollen Robotics</a> • |
| <a href="https://huggingface.co/spaces/pollen-robotics/reachy-mini-landing-page#apps" target="_blank">Browse More Apps</a> |
| </p> |
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