Bob

Install with one command:

# Bob — Raspberry Pi 4 + OAK-D camera, RCAN v1.6
# Contributed by: craigm26
# Hardware: Pi 4 8GB, OAK-D Lite depth camera
# Use case: General-purpose home robot assistant with vision
rcan_version: '1.6'

metadata:
  robot_name: Bob
  robot_uuid: 00000001-0000-4000-8000-000000000001
  description: Pi4 + OAK-D depth camera, home assistant
  author: craigm26
  rrn: RRN-000000000001
  rrn_uri: rrn://craigm26/robot/opencastor-pi4/bob-001

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

tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: google
  slow_model: gemini-2.5-flash
  planner_interval: 10

agent_roster:
  - id: nav_specialist
    provider: ollama
    model: gemma3:4b
    scope: nav

geofence:
  enabled: false

physics:
  type: differential
  dof: 2

drivers:
  - id: main_drive
    protocol: gpio

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-000000000005

transport:
  supported:
    - http
    - mqtt

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: 8001
  capabilities:
    - status
    - nav
    - teleop
    - vision
    - chat
  enable_mdns: true
  enable_jwt: false