| --- |
| 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](https://github.com/pollen-robotics/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](https://huggingface.co/docs/reachy_mini/platforms/simulation/get_started) |
|
|
| ### Software (Both Options) |
| - Python 3.11+ |
| - OpenAI API key with Realtime API access |
| - OpenClaw gateway running on your network |
|
|
| ## Installation |
|
|
| ```bash |
| # Clone from GitHub |
| git clone https://github.com/tomrikert/clawbody |
| cd clawbody |
| pip install -e . |
| ``` |
|
|
| Or from HuggingFace: |
| ```bash |
| git clone https://huggingface.co/spaces/tomrikert/clawbody |
| ``` |
|
|
| ## Configuration |
|
|
| Create a `.env` file: |
|
|
| ```bash |
| 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) |
|
|
| ```bash |
| # Terminal 1: Start simulator |
| reachy-mini-daemon --sim |
| |
| # Terminal 2: Run ClawBody |
| clawbody --gradio |
| ``` |
|
|
| ### With Physical Robot |
|
|
| ```bash |
| # 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](https://github.com/tomrikert/clawbody) |
| - [HuggingFace Space](https://huggingface.co/spaces/tomrikert/clawbody) |
| - [Reachy Mini SDK](https://github.com/pollen-robotics/reachy_mini) |
| - [OpenClaw Documentation](https://docs.openclaw.ai) |
|
|
| ## Author |
|
|
| Tom (tomrikert) |
|
|
| ## License |
|
|
| Apache 2.0 |
|
|
