LEGO_SPIKE_Prime

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: LEGO_SPIKE_Prime
  robot_uuid: bda496ee-2845-4432-a353-ccecba3240ca
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - mobile
  - educational
  - lego
  - spike
  - micropython
  - ble
  - stem
  - second-hand
  description: 'LEGO SPIKE Prime — the modern classroom successor to Mindstorms EV3.
    Increasingly common in school donations and STEM lab surplus (~$320 new). Hub
    connects via USB or BLE; runs MicroPython. Angular/medium motors on ports A-F;
    force, color, distance sensors on same ports.

    '
  rrn: RRN-782008841781
  rrn_uri: rrn://community/robot/opencastor/lego-spike-prime/lego_spike_prime
agent:
  provider: anthropic
  model: claude-sonnet-4-5
  vision_enabled: false
  latency_budget_ms: 400
  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: 140
    wheel_radius_mm: 32
drivers:
- id: left_motor
  protocol: spike_hub_serial
  port: A
  device: motor
  direction: 1
- id: right_motor
  protocol: spike_hub_serial
  port: B
  device: motor
  direction: -1
- id: arm_motor
  protocol: spike_hub_serial
  port: C
  device: motor
  direction: 1
- id: force_sensor
  protocol: spike_hub_serial
  port: D
  device: force_sensor
- id: color_sensor
  protocol: spike_hub_serial
  port: E
  device: color_sensor
- id: distance_sensor
  protocol: spike_hub_serial
  port: F
  device: distance_sensor
- id: imu
  protocol: spike_hub_internal
  device: imu
connection:
  type: serial
  port: /dev/ttyACM0
  baud: 115200
  ble_alternative:
    enabled: false
    adapter: hci0
    device_name: LEGO Hub
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
notes:
  setup: '1. Connect SPIKE Prime hub via USB-C cable. 2. Put hub in REPL/shell mode
    via LEGO Education SPIKE app → advanced → REPL. 3. Or use the spike-prime-tools
    Python package: pip install spike-prime 4. castor run --config config/presets/lego_spike_prime.rcan.yaml

    '
  second_hand_tips: 'Often found in school auction lots or STEM program surplus. Check
    hub battery health (charge fully before testing). All 6 ports are multi-function
    — same cable works for motors and sensors.

    '
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: anthropic
  slow_model: claude-sonnet-4-5
  planner_interval: 10
agent_roster:
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
- id: chat_specialist
  provider: anthropic
  model: claude-sonnet-4-5
  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