No backend?
#6
by Domotick - opened
Backend is not working, some logs
reachy_mini.app - INFO - Daemon on localhost: True
__main__ - INFO - Starting Reachy Mini HA Voice App...
__main__ - WARNING - Zenoh service not available (port 7447)
__main__ - INFO - Running in standalone mode without robot control
__main__ - INFO - Starting Reachy Mini for Home Assistant...
reachy_mini_ha_voice.voice_assistant - INFO - Initializing voice assistant service...
reachy_mini_ha_voice.voice_assistant - WARNING - Missing wake word files: ['hey_jarvis.tflite', 'hey_jarvis.json']. These should be bundled with the package.
reachy_mini_ha_voice.motion - WARNING - Motion control not started: movement_manager is None
reachy_mini_ha_voice.voice_assistant - INFO - Starting audio processing...
reachy_mini_ha_voice.voice_assistant - INFO - Using system microphone (fallback)
httpx - INFO - HTTP Request: HEAD https://huggingface.co/AdamCodd/YOLOv11n-face-detection/resolve/main/model.pt "HTTP/1.1 302 Found"
reachy_mini_ha_voice.head_tracker - INFO - YOLO face detection model loaded
reachy_mini_ha_voice.camera_server - INFO - Face tracking enabled with YOLO head tracker
reachy_mini_ha_voice.gesture_detector - INFO - Loading gesture models...
reachy_mini_ha_voice.gesture_detector - INFO - Gesture detection ready
reachy_mini_ha_voice.camera_server - INFO - Gesture detection enabled (18 HaGRID classes)
reachy_mini_ha_voice.camera_server - INFO - Starting camera capture thread (face_tracking=True)
reachy_mini_ha_voice.camera_server - INFO - MJPEG Camera server started on http://0.0.0.0:8081
reachy_mini_ha_voice.camera_server - INFO - Stream URL: http://<ip>:8081/stream
reachy_mini_ha_voice.camera_server - INFO - Snapshot URL: http://<ip>:8081/snapshot
The only thing that works is emotions.
It seems that some components are not connected. Could you please restart your Reachy, wake up the robot, and check the logs to see whether the daemon has fully initialized, then start the app?
BTW:what is your reachy version lite or wifi, this app only tested on Wi-Fi version
Hello, thx for answer.
Yes, it's the lite version, USB-C cable.
I re-run and here is complete log.
I think emition is working because it's already supported by reachy-mini-daemon.
I'm gooing to test on Linux (MacOS here)
reachy_mini.daemon.backend.abstract - INFO - Using AnalyticalKinematics kinematics engine
reachy_mini.media.media_manager - INFO - Using default media backend (SoundDevice only).
reachy_mini.media.media_manager - INFO - Using SoundDevice audio backend.
reachy_mini_motor_controller.control_loop - INFO - Waiting for voltage to be stable at 5V...
reachy_mini_motor_controller.control_loop - INFO - Voltage is stable at ~5V: [75, 74, 75, 75, 75, 75, 75, 75, 75] (took 0ns)
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'body_rotation' (ID: 10): P=200, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_1' (ID: 11): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_2' (ID: 12): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_3' (ID: 13): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_4' (ID: 14): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_5' (ID: 15): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'stewart_6' (ID: 16): P=300, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'right_antenna' (ID: 17): P=200, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Setting PID gains for motor 'left_antenna' (ID: 18): P=200, I=0, D=0
reachy_mini.daemon.backend.robot.backend - INFO - Motor control mode: MotorControlMode.Disabled
reachy_mini.daemon.daemon - INFO - Waking up Reachy Mini...
reachy_mini.media.audio_base - INFO - SoundDevice audio output stream opened.
reachy_mini.media.audio_base - INFO - SoundDevice audio output stream closed.
reachy_mini.daemon.daemon - INFO - Daemon started successfully.
uvicorn.error - INFO - Application startup complete.
uvicorn.error - INFO - Uvicorn running on http://0.0.0.0:8000 (Press CTRL+C to quit)
uvicorn.access - INFO - 127.0.0.1:65114 - "GET / HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65115 - "GET /static/js/daemon.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65119 - "GET /static/js/notification.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65118 - "GET /static/js/move_player.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65116 - "GET /static/js/apps.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /static/css/app.css HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65117 - "GET /static/js/appstore.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65119 - "GET /static/js/health_check.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65115 - "GET /static/js/volume_control.js HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /static/fonts/Archivo-VariableFont_wdth%2Cwght.ttf HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /static/fonts/Asap-VariableFont_wdth%2Cwght.ttf HTTP/1.1" 304
uvicorn.error - INFO - 127.0.0.1:65120 - "WebSocket /api/move/ws/updates" [accepted]
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/move/recorded-move-datasets/list/pollen-robotics/reachy-mini-dances-library HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65118 - "GET /api/volume/current HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65116 - "GET /api/volume/microphone/current HTTP/1.1" 200
uvicorn.error - INFO - connection open
uvicorn.access - INFO - 127.0.0.1:65119 - "GET /api/apps/list-available/installed HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65117 - "GET /api/daemon/status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65117 - "GET /api/apps/current-app-status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65117 - "GET /static/assets/awake-cartoon-static.svg HTTP/1.1" 304
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/dashboard_selection HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/installed HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/daemon/status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/hf_space HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/installed HTTP/1.1" 200
reachy_mini.apps.manager.runner - INFO - Starting app reachy_mini_ha_voice
uvicorn.access - INFO - 127.0.0.1:65114 - "POST /api/apps/start-app/reachy_mini_ha_voice HTTP/1.1" 200
reachy_mini.apps.manager.runner - INFO - App reachy_mini_ha_voice is running
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - reachy_mini.app - INFO - Daemon on localhost: True
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - __main__ - INFO - Starting Reachy Mini HA Voice App...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - __main__ - WARNING - Zenoh service not available (port 7447)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - __main__ - INFO - Running in standalone mode without robot control
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - __main__ - INFO - Starting Reachy Mini for Home Assistant...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - reachy_mini_ha_voice.voice_assistant - INFO - Initializing voice assistant service...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,284 - reachy_mini_ha_voice.voice_assistant - WARNING - Missing wake word files: ['hey_jarvis.tflite', 'hey_jarvis.json']. These should be bundled with the package.
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,312 - reachy_mini_ha_voice.motion - WARNING - Motion control not started: movement_manager is None
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,312 - reachy_mini_ha_voice.voice_assistant - INFO - Starting audio processing...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:01,312 - reachy_mini_ha_voice.voice_assistant - INFO - Using system microphone (fallback)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,779 - httpx - INFO - HTTP Request: HEAD https://huggingface.co/AdamCodd/YOLOv11n-face-detection/resolve/main/model.pt "HTTP/1.1 302 Found"
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,832 - reachy_mini_ha_voice.head_tracker - INFO - YOLO face detection model loaded
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,832 - reachy_mini_ha_voice.camera_server - INFO - Face tracking enabled with YOLO head tracker
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,853 - reachy_mini_ha_voice.gesture_detector - INFO - Loading gesture models...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,899 - reachy_mini_ha_voice.gesture_detector - INFO - Gesture detection ready
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,899 - reachy_mini_ha_voice.camera_server - INFO - Gesture detection enabled (18 HaGRID classes)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,899 - reachy_mini_ha_voice.camera_server - INFO - Starting camera capture thread (face_tracking=True)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,901 - reachy_mini_ha_voice.camera_server - INFO - MJPEG Camera server started on http://0.0.0.0:8081
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,901 - reachy_mini_ha_voice.camera_server - INFO - Stream URL: http://<ip>:8081/stream
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:04,901 - reachy_mini_ha_voice.camera_server - INFO - Snapshot URL: http://<ip>:8081/snapshot
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,152 - reachy_mini_ha_voice.audio_player - INFO - Starting Sendspin server discovery...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,152 - reachy_mini_ha_voice.zeroconf - INFO - Starting Sendspin server discovery...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,152 - reachy_mini_ha_voice.voice_assistant - INFO - Voice assistant service started on 0.0.0.0:6053
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,162 - reachy_mini_ha_voice.zeroconf - INFO - Sendspin discovery started, waiting for servers...
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - ==================================================
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - Reachy Mini for Home Assistant Started!
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - ==================================================
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - ESPHome Server: 0.0.0.0:6053
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - Camera Server: 0.0.0.0:8081
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - Wake word: Okay Nabu
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,163 - __main__ - INFO - Motion control: disabled (no robot)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - Camera: test pattern (no robot)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - ==================================================
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - To connect from Home Assistant:
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - Settings -> Devices & Services -> Add Integration
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - -> ESPHome -> Enter this device's IP:6053
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - -> Generic Camera -> http://<ip>:8081/stream
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:06,164 - __main__ - INFO - ==================================================
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:16,846 - reachy_mini_ha_voice.entity_registry - INFO - All entities registered: 45 total
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:16,846 - reachy_mini_ha_voice.satellite - INFO - Entities initialized: 45 total
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:16,859 - reachy_mini_ha_voice.satellite - INFO - Disconnected from Home Assistant
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:16,988 - reachy_mini_ha_voice.voice_assistant - INFO - Active wake words updated: ['hey_reachy'] (features reset)
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:16,988 - reachy_mini_ha_voice.voice_assistant - WARNING - Audio buffer overflow
reachy_mini.apps.manager.runner - WARNING - 2026-01-17 20:38:17,131 - reachy_mini_ha_voice.voice_assistant - WARNING - Audio buffer overflow
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /logs HTTP/1.1" 404
uvicorn.access - INFO - 127.0.0.1:65209 - "GET /favicon.ico HTTP/1.1" 404
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /log HTTP/1.1" 404
uvicorn.access - INFO - 127.0.0.1:65209 - "GET /favicon.ico HTTP/1.1" 404
uvicorn.access - INFO - 127.0.0.1:65114 - "GET / HTTP/1.1" 200
uvicorn.error - INFO - 127.0.0.1:65211 - "WebSocket /api/move/ws/updates" [accepted]
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/move/recorded-move-datasets/list/pollen-robotics/reachy-mini-dances-library HTTP/1.1" 200
uvicorn.error - INFO - connection open
uvicorn.access - INFO - 127.0.0.1:65212 - "GET /api/volume/current HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65213 - "GET /api/volume/microphone/current HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65214 - "GET /api/daemon/status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65215 - "GET /api/apps/list-available/installed HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65214 - "GET /api/apps/current-app-status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/dashboard_selection HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/daemon/status HTTP/1.1" 200
uvicorn.access - INFO - 127.0.0.1:65114 - "GET /api/apps/list-available/installed HTTP/1.1" 200
Thank you for the detailed logs. I suspect the issue is related to the Lite version. All my testing has been done on the Wi-Fi version, and to be honest, I’m not sure how to make the app compatible with the Lite version or with systems other than Reachy Mini OS at this point.
Maybe you could try simulated mode to see what's wrong with USB version?
I will look further when I get free time :).
Awesome project anyway! Can't wait to test. I open an other ticket about vocal AI used.
Maybe you could try simulated mode to see what's wrong with USB version?
I will look further when I get free time :).
Awesome project anyway! Can't wait to test. I open an other ticket about vocal AI used.
Thank you for your suggestion. I believe both Reachy Mini versions should be supported in the future. For now, my priority is to finish the core functionality, fix bugs, and focus on optimization.