How to setup your Reachy Mini Lite to use a PiZero for Freedom

reachy-zero.txt

w             w        8 8                        w 8888P                  
w 8d8b. d88b w8ww .d88 8 8    .d8b. 8d8b.    88b. w   dP  .d88b 8d8b .d8b. 
8 8P Y8 `Yb.  8   8  8 8 8    8' .8 8P Y8    8  8 8  dP   8.dP' 8P   8' .8 
8 8   8 Y88P  Y8P `Y88 8 8    `Y8P' 8   8    88P' 8 d8888 `Y88P 8    `Y8P' 
                                             8                             

1. Flash Trixie
   https://www.raspberrypi.com/products/raspberry-pi-zero-2-w/
   Use a decent sized SD - 23 or 64GB
   
2. Boot PiZeroW 2 (Zero)

3. Setup wifi, account, expand FS space

4. Stop any services you don't need
   - Bluetooth
   systemctl list-units --type=service --state=running

5. Fix /tmp

* /tmp on Zero is run dynamically and is about 200M. Pip installs below will fill this space
  and error. We need to just make /tmp a dir on the main SD card...

sudo systemctl disable tmp.mount
sudo systemctl edit tmp.mount

This opens an editor. Add:
```
[Mount]
Options=mode=1777,strictatime,nosuid,nodev,size=5G,nr_inodes=1m
```

Save and exit, then:

sudo systemctl daemon-reload
sudo systemctl restart tmp.mount

[reboot]

              8       
.d8b .d8b. .d88 .d88b 
8    8' .8 8  8 8.dP' 
`Y8P `Y8P' `Y88 `Y88P 
                      

* INSTALL Deps
$ sudo apt install git git-lfs libcairo2-dev pkg-config cmake libgl1 libportaudio2 -y

$ curl -LsSf https://astral.sh/uv/install.sh | sh
$ source $HOME/.local/bin/env

$ uv python install 3.12 --default

$ git lfs install

$ git clone https://github.com/pollen-robotics/reachy_mini.git

$ cd reachy_mini
$ uv sync

[connect usb to Reachy]

$ source .venv/bin/activate
$ uv run reachy-mini-daemon --no-localhost-only


>>> Back On Macintosh

$ brew install git-xet
$ git xet install
$ git clone https://huggingface.co/spaces/pollen-robotics/reachy_mini_conversation_app reachy_conversion_og

$ cd reachy_conversion_og
$ uv sync
$ source .venv/bin/activate
$ reachy-mini-conversation-app --gradio --debug --robot-host 192.168.1.246

That robot-host should be the ip address of your Zero.


--robot-host is NOT part of the default code, i hacked it on. I'm working on pushing the code up soon.


Open a browser on your Mac:
http://localhost:7860/

Talk to your Reachy. 


2025-12-24 16:20:13,644 INFO reachy_mini_conversation_app.utils:115 | Starting Reachy Mini Conversation App
2025-12-24 16:20:13,644 INFO reachy_mini_conversation_app.utils:131 | Connecting to remote robot at 192.168.1.246:7447
2025-12-24 16:20:16,400 INFO reachy_mini.media.media_manager:49 | No media backend selected.
new /
* Running on local URL:  http://127.0.0.1:7860
2025-12-24 16:20:17,659 INFO httpx:1025 | HTTP Request: GET http://127.0.0.1:7860/gradio_api/startup-events "HTTP/1.1 200 OK"
2025-12-24 16:20:17,669 INFO httpx:1025 | HTTP Request: HEAD http://127.0.0.1:7860/ "HTTP/1.1 200 OK"
* To create a public link, set `share=True` in `launch()`.
2025-12-24 16:20:17,741 INFO httpx:1025 | HTTP Request: GET https://api.gradio.app/pkg-version "HTTP/1.1 200 OK"