Reachy Baby Yoda

👶 Reachy Baby Yoda

Autonomous Offline Face Tracking Expressive

Turn your Reachy Mini into Baby Yoda / Grogu — curious, joyful, and endearing. Wear it in a baby carrier at conferences and watch it attract attention, lock its gaze on passersby, react to waves, and dance when bored.

How it works

Idle & Alive

Gentle micro-movements, scanning sweeps, antenna wiggles, and occasional emotions keep the robot looking curious and alive.

Face Tracking

Lightweight OpenCV face detection locks gaze on the nearest person with smooth proportional head tracking.

Wave Reaction

Detects waving gestures using frame differencing and responds with antenna wiggles and Baby Yoda coo sounds.

Boredom Dance

After 25 seconds without seeing anyone, triggers an attention-attracting dance from the dances library.

Features

100% offline — no internet, no cloud APIs, runs entirely on the Pi
Lightweight CV — Haar cascade or YuNet ONNX face detector
State machine — organic transitions between idle, tracking, reacting, and dancing
IMU-aware — reduces head motion when carrier is walking
Configurable — all thresholds and timings in one config file
Sim & debug — works in MuJoCo with webcam and OpenCV debug overlay