opencastor-default

Install with one command:

rcan_version: "2.2"

metadata:
  robot_name: opencastor-default
  robot_uuid: "00000000-0000-4000-8000-000000000000"
  author: OpenCastor Team
  license: Apache-2.0
  description: >
    The default OpenCastor agent harness. Shows the full Tiered Brain
    (fast local + slow cloud), 5 harness skill layers, memory
    consolidation, and RCAN v2.2 safety invariants. Includes ML-DSA-65
    PQ signing, EU AI Act compliance, and dual-brain architecture.
    Fork this as your starting point. The code-reviewer skill is registered
    via the skill registry, not as a harness layer.
  tags:
    - official
    - harness
    - starter
    - two-tier-brain
  builtin_skills:
    - navigate-to
    - camera-describe
    - arm-manipulate
    - web-lookup
    - peer-coordinate
    - code-reviewer
  public_profile: true

agent:
  provider: google
  model: gemini-2.5-flash
  temperature: 0.7
  system_prompt: >
    You are an OpenCastor robot agent. You are helpful, safety-conscious,
    and follow RCAN protocol scope constraints. Use your skills when
    relevant. Always respect the P66 safety invariants.
  vision_enabled: true
  safety_stop: true

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

cloud:
  skills_enabled: true
  memory:
    enabled: true
    consolidation:
      enabled: true
      interval_hours: 24

physics:
  type: differential
  dof: 2

drivers:
  - id: main_drive
    protocol: gpio

network:
  allow_remote_override: false

rcan_protocol:
  enable_mdns: true

loa:
  enforcement: true
  min_loa_for_control: 1

federation:
  enabled: false
  require_federation_trust: false

safety:
  p66_enabled: true
  local_safety_wins: true
  emergency_stop_distance: 0.4

p66:
  enabled: true
  loa_enforcement: true
  consent_required: true