Castor_Rover_One

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Castor_Rover_One
  robot_uuid: 3c4620e4-9771-473a-92f0-94dd55f3d497
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - mobile
  - rover
  - amazon_kit
  - 4wd
  description: RCAN v1.6 config for Castor_Rover_One
  rrn: RRN-591815277611
  rrn_uri: rrn://community/robot/opencastor/castor-rover-one/amazon_kit_generic
agent:
  provider: anthropic
  model: claude-opus-4-6
  vision_enabled: true
  latency_budget_ms: 200
  safety_stop: true
  offline_provider: ollama
  confidence_gates:
  - scope: control
    min_confidence: 0.75
    on_fail: block
  - scope: safety
    min_confidence: 0.9
    on_fail: block
physics:
  type: differential
  dof: 2
  chassis:
    wheel_base_mm: 150
    wheel_radius_mm: 32
drivers:
- id: motor_driver
  protocol: pca9685_i2c
  port: /dev/i2c-1
  address: '0x40'
  frequency: 50
  channels:
    left_front: 0
    left_rear: 1
    right_front: 2
    right_rear: 3
network:
  telemetry_stream: true
  sim_to_real_sync: false
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - nav
  - teleop
  - chat
  enable_mdns: false
  enable_jwt: false
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: anthropic
  slow_model: claude-opus-4-6
  planner_interval: 10
agent_roster:
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
- id: chat_specialist
  provider: anthropic
  model: claude-opus-4-6
  scope: chat
geofence:
  enabled: false
  boundary:
    type: none
reactive:
  min_obstacle_m: 0.3
  fallback_provider: ollama
cameras:
  main:
    type: http
    url: http://127.0.0.1:8765/snapshot
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
transport:
  supported:
  - http
  - mqtt
  constrained_enabled: false
multimodal:
  enabled: true
  max_chunk_bytes: 1048576
offline:
  enabled: true
  fallback_provider: ollama
r2ram:
  scopes:
  - discover
  - status
  - chat
  - control
  - safety
federation:
  enabled: true
  consent_bridge: false