This paper explores the potential of the Reachy robot to make human-like actions using advanced kinematic models, focusing specifically on the application of ROS2 (Robot Operating System 2) multiprocessing. Human-like action recognition and execution are crucial for effective human-robot interaction (HRI), enabling robots to integrate seamlessly into the environment. The Reachy robot, known for its flexible and biomimetic design, is an ideal testbed for developing and evaluating its 21 Degree of Freedom (DoF) kinematic approaches for making action for social interaction in various domains. The series of experiments in this paper presents the Proof-of-Concept (PoC) to test Reachy’s kinematics capabilities to scale up for various real-world applications, which delves into the real-time action execution such as waving hand, joining hand, HiFi, etc., which shows the social interactions as we have also presented them as use cases. Key areas discussed include the integration of inverse kinematics for precise motion control and optimising ROS2 nodes for parallel processing for replicating complex human actions with Google text-to-speech. By combining theoretical analysis with practical implementations of the Reachy robot, this paper provides insights into the future of robots capable of human-like actions, highlighting advancements that make them more effective partners in diverse environments ranging from healthcare to industrial automation also a reference guide for the researchers exploring the Reachy kinematics for social applications.