v0.1.0-alpha · RCAN Compliant

The Universal Runtime
for Embodied AI

Turn any robot into an intelligent agent. Swap AI brains — Gemini, GPT-4o, Claude — with one line of config. From unbox to agent in 5 minutes.

Get Started How It Works

pip install opencastor

Why OpenCastor

Stop writing firmware.
Start building agents.

OpenCastor decouples the brain from the body. Define your robot in YAML, pick your AI provider, and let the framework handle the rest.

🔌

Universal Adapter

Switch between Gemini, GPT-4o, and Claude with a single config change. No code rewrites. Ever.

🧩

Hardware Agnostic

Built-in drivers for PCA9685, Dynamixel, and serial devices. If it speaks I2C, CAN, or USB — Castor can drive it.

⚡

Zero Friction Setup

Interactive wizard with pre-built presets for popular Amazon robot kits. One command to install, one command to run.

🛡

Safety First

Hard-coded safety layers prevent LLM hallucinations from causing physical damage. Emergency stop built into every loop.

📋

RCAN Standard

Built on the open RCAN specification. Your configs are portable, validated, and ecosystem-ready.

📱

CastorDash UI

Touch-friendly web dashboard with voice input, chat interface, and live camera feed. Works on any HDMI screen or phone.

The Magic Switch

One config to
rule them all.

Your robot's entire personality — brain, body, and behavior — lives in a single YAML file. Swap providers, tune latency, enable safety features. No recompilation needed.

View RCAN Spec

                robot.rcan.yaml
            

# Change your robot's brain in 1 line
agent:
  provider: "google"
  model: "gemini-1.5-flash"
  vision_enabled: true
  safety_stop: true

# Define your hardware once
physics:
  type: "differential_drive"
  dof: 2

drivers:
  - protocol: "pca9685_i2c"
    address: "0x40"
            

AI Providers

Every major AI brain.
One interface.

OpenCastor normalizes every provider into a standard Thought object. Same input, same output. Your robot code never changes.

Google Gemini

gemini-1.5-pro / flash

Best for multimodal vision tasks and real-time video understanding.

OpenAI

gpt-4o / o1

Best for precise instruction following and structured JSON output.

Anthropic Claude

claude-3.5-sonnet / opus

Best for complex reasoning, safety-critical tasks, and long-context planning.

Local / Ollama

llava / llama

Best for offline operation, privacy, and edge deployment without internet.

Supported Hardware

From $50 toy to $50k arm.

Pre-built presets for popular Amazon kits. Or bring your own config for any hardware.

Manufacturer	Kit	Status	Driver
Waveshare	AlphaBot / JetBot	Supported	PCA9685
Adeept	RaspTank / DarkPaw	Supported	PCA9685
SunFounder	PiCar-X	Supported	PCA9685
Robotis	Dynamixel X-Series	Supported	Dynamixel v2
Custom	DIY / ESP32 / Arduino	Beta	Serial / GPIO

Architecture

Decoupled by design.

The brain never touches hardware. The hardware never calls an API. OpenCastor is the universal translator in between.

The Brain — Provider Layer

Gemini GPT-4o Claude Ollama

↓

The Spinal Cord — RCAN Config

robot.rcan.yaml

↓

The Nervous System — Drivers

PCA9685 Dynamixel Serial GPIO

↓

The Body — Your Robot

$50 Rover 6-DOF Arm Drone Custom

The Universal Runtime for Embodied AI

Stop writing firmware.Start building agents.