pollen-robotics/reachy_mini_testbench

Reachy Mini Testbench

Web-based debugging and validation tool for Reachy Mini.

reachy-mini app run reachy_mini_testbench

Then open http://localhost:8042.

Modes

The app detects at startup whether the reachy_mini daemon is running and shows the appropriate interface.

If you start or stop the daemon, restart the testbench to switch mode.

Online (Daemon ON)

Full robot control through the SDK.

• —System monitoring — CPU, RAM, disk, control loop frequency, IP address
• —Robot status — Live head pose and all 9 motor positions
• —Movement — Head sliders (roll/pitch/yaw), antenna sliders, go to zero, wake up, sleep
• —Continuous movement — Automated sinusoidal motion for stress-testing
• —Camera — Live stream, capture and save frames
• —Audio — Record from mic, playback through speaker, download recordings
• —Rotation test — Automated head rotation accuracy validation using image comparison

Offline (Daemon OFF)

Direct hardware access for low-level diagnostics.

• —Camera check — Capture a frame to verify camera wiring
• —Microphone check — Record 1 second and display audio level
• —Motor scan — Detect which motors respond on the bus
• —Motor positions — Read current position of all motors (raw + degrees)
• —Sleep position validator — Compare current positions against expected sleep position (color-coded: green/yellow/red)
• —Configuration check — Verify all motor EEPROM settings match the hardware config
• —Baudrate scanner — Find motors stuck at the wrong baudrate
• —Motor reflash — Reconfigure a motor (ID, baudrate, offsets, limits) to a target preset

Compatibility