Dynamixel_6DOF_Arm

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: Dynamixel_6DOF_Arm
  robot_uuid: e80a8dba-0c54-4fbf-a4bd-f743d295242a
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - arm
  - manipulator
  - dynamixel
  - 6dof
  description: RCAN v1.6 config for Dynamixel_6DOF_Arm
  rrn: RRN-193377097242
  rrn_uri: rrn://community/robot/opencastor/dynamixel-6dof-arm/dynamixel_arm
agent:
  provider: anthropic
  model: claude-opus-4-6
  vision_enabled: true
  latency_budget_ms: 300
  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: arm
  dof: 6
  kinematics:
  - id: link_1
    length_mm: 50
    mass_g: 200
    axis: z
    limits_deg:
    - -180
    - 180
  - id: link_2
    length_mm: 150
    mass_g: 300
    axis: y
    limits_deg:
    - -90
    - 90
  - id: link_3
    length_mm: 150
    mass_g: 250
    axis: y
    limits_deg:
    - -90
    - 90
  - id: link_4
    length_mm: 50
    mass_g: 150
    axis: z
    limits_deg:
    - -180
    - 180
  - id: link_5
    length_mm: 50
    mass_g: 100
    axis: y
    limits_deg:
    - -90
    - 90
  - id: link_6
    length_mm: 50
    mass_g: 80
    axis: z
    limits_deg:
    - -180
    - 180
drivers:
- link_id: link_1
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 1
  baud_rate: 57600
- link_id: link_2
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 2
  baud_rate: 57600
- link_id: link_3
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 3
  baud_rate: 57600
- link_id: link_4
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 4
  baud_rate: 57600
- link_id: link_5
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 5
  baud_rate: 57600
- link_id: link_6
  protocol: dynamixel_v2
  port: /dev/ttyUSB0
  hardware_id: 6
  baud_rate: 57600
network:
  telemetry_stream: true
  sim_to_real_sync: true
  allow_remote_override: false
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - arm
  - 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