reachy_mini
reachy_mini_python_app
Python 3.11+
WebSocket
PCM16 · 16 kHz
Captures raw audio from the Reachy Mini's 4-mic array via
sounddevice and streams PCM16 mono frames at 16 kHz
over a local WebSocket endpoint — feeding the orchestrator's VAD → STT pipeline.
Architecture
Reachy Pi
├── reachy_mini daemon :8000 ← motors, camera, built-in VAD/DOA
└── reachy_audio_pub :8765 ← raw PCM stream (this app)
Orchestrator (Mac Mini / server)
└── ReachyMicSource ← WS client pulls 100ms frames → VAD → STT → turn-taking
├── reachy_mini daemon :8000 ← motors, camera, built-in VAD/DOA
└── reachy_audio_pub :8765 ← raw PCM stream (this app)
Orchestrator (Mac Mini / server)
└── ReachyMicSource ← WS client pulls 100ms frames → VAD → STT → turn-taking
Required Secrets
Set these before installing via the Reachy dashboard:
| Secret | Required | Description |
|---|---|---|
| ORCH_URL | Recommended | WebSocket URL of your orchestrator, e.g. ws://10.0.0.100:9000/ws/audio.
Logged at startup. The orchestrator connects to this publisher (pull model). |
| AUTH_TOKEN | Optional | If set, connecting WS clients must send this token as their first message. Leave blank to disable authentication. |
Optional Env Overrides
| Variable | Default | Description |
|---|---|---|
| MIC_HOST | 0.0.0.0 | WS server bind address |
| MIC_PORT | 8765 | WS server bind port |
| SAMPLE_RATE | 16000 | Capture sample rate (Hz) |
| FRAME_MS | 100 | Frame duration (ms) — 100 ms = 1600 samples |
| MIC_DEVICE | system default | sounddevice device name or index |
How to Install
- Connect to your Reachy Mini using the dashboard.
- Navigate to Applications → Browse private apps.
- Enter the Space ID:
CjTruHeart/reachy-audio-pub. - Set
ORCH_URLand optionallyAUTH_TOKENunder Secrets. - Click Install — the daemon clones the Space and runs
pip install .. - Start the app. Your orchestrator can now connect to
ws://<pi-ip>:8765/ws/audio.
WS Protocol
Connect to ws://<pi-ip>:8765/ws/audio. The server sends binary frames
of raw int16 little-endian mono PCM at 16 kHz. Default frame size is
100 ms = 3200 bytes. Only one client is served at a time; a new connection drops the previous one.
If AUTH_TOKEN is set, send the token as a text message immediately after connecting.
The server will close the connection with code 1008 if the token is missing or wrong.