Reachy Mini × dimOS Mobile Robot
Our modified Reachy Mini on a DIY mecanum base, building a persistent 3D map with object memory in Dimensional's dimOS — open hardware, open code.
Reachy Mini has one mono RGB camera in its head and no way to move, so we built it a DIY mecanum base (ESP32, 2× L298N, four TT motors, a small HTTP API and a hardware deadman) and added an Intel RealSense L515 LiDAR depth camera served by a Raspberry Pi 3B+. A station — an Apple-silicon Mac or our NVIDIA DGX Spark — estimates metric depth from the head camera (DepthPro / Depth-Anything-3) and streams RGB-D and head pose into Dimensional's dimOS, through our fork that extends its ObjectDB, to build a persistent 3D map with object memory, visualized in Rerun. On our modified Reachy Mini, the robot moves by following a person (a detector, a tracker and a control law steering head gaze and wheels) and by voice command; dimOS A* path planning runs in dry-run. We've also bridged VITURE AR glasses into the same room map our dimOS pipeline builds, so a wearer can point and direct the robot's gaze. The full BOM, assembly guide, firmware and code are open source (MIT). By Alireza Bahremand and Don Balanzat.