Alex

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Alex
  robot_uuid: 00000005-0000-4000-8000-000000000005
  description: Pi5 + SO-ARM101 leader arm + OAK-D, manipulation specialist
  author: craigm26
  rrn: RRN-000000000005
  rrn_uri: rrn://community/robot/opencastor/alex/alex-so-arm101
  license: Apache-2.0
agent:
  provider: google
  model: gemini-2.5-flash
  use_oauth: true
  vision_enabled: true
  safety_stop: true
  latency_budget_ms: 3000
  offline_provider: ollama
  confidence_gates:
  - scope: control
    min_confidence: 0.75
    on_fail: block
  - scope: safety
    min_confidence: 0.9
    on_fail: block
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: google
  slow_model: gemini-2.5-flash
  planner_interval: 10
agent_roster:
- id: arm_specialist
  provider: google
  model: gemini-2.5-flash
  scope: control
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
geofence:
  enabled: false
physics:
  type: ackermann
  dof: 2
drivers:
- id: main_drive
  protocol: gpio
- id: arm_controller
  protocol: feetech_sts3215
reactive:
  min_obstacle_m: 0.3
  fallback_provider: ollama
safety:
  local_safety_wins: true
  emergency_stop_distance: 0.4
  estop_bypass_rate_limit: true
  watchdog:
    timeout_s: 10
hardware_safety:
  physical_estop: false
  hardware_watchdog_mcu: false
p66:
  enabled: true
  loa_enforcement: true
  consent_required: true
  manifest:
    estop_qos_bypass: true
consent:
  required: true
  mode: explicit
  scope_threshold: control
security:
  replay_protection:
    enabled: true
    window_s: 30
  signing:
    enabled: false
    algorithm: Ed25519
loa:
  enforcement: true
  min_loa_for_control: 1
human_identity:
  loa_required: 1
federation:
  enabled: true
  consent_bridge: false
  peer_rrns:
  - RRN-000000000001
transport:
  supported:
  - http
  - mqtt
  constrained_enabled: false
multimodal:
  enabled: true
  max_chunk_bytes: 1048576
offline:
  enabled: true
  fallback_provider: ollama
cameras:
  oak_d:
    type: http
    url: http://127.0.0.1:8765/snapshot
r2ram:
  scopes:
  - discover
  - status
  - chat
  - control
  - safety
network:
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - nav
  - teleop
  - vision
  - chat
  - arm
  - gripper
  enable_mdns: true
  enable_jwt: false