Pollen_Microduck

Install with one command:

rcan_version: '3.0'
metadata:
  robot_name: Pollen_Microduck
  robot_uuid: 73d3b905-d73a-4e4f-9fde-d6c6268a3dcb
  manufacturer: Pollen Robotics
  model: Microduck
  author: OpenCastor Default
  license: Apache-2.0
  tags:
  - biped
  - legged
  - rl-policy
  - tabletop
  - camera
  - depth
  description: 'Pollen Robotics Microduck — a 25 cm, ~800 g biped with 15 servos, a
    camera, a ToF depth sensor, two IMUs and an articulated beak. Onboard compute is
    a Rockchip RK3566 (1 GB RAM, 32 GB storage) running Armbian; motion comes from RL
    policies (PPO in MuJoCo, exported to ONNX) executed by the `robotd` daemon at 50 Hz.
    OpenCastor drives it as an intent client over robotd''s JSON-RPC 2.0 NDJSON socket,
    the same contract used by robotctl, the gamepad daemon and the phone app.

    '
  rrn_uri: rrn://community/robot/opencastor/pollen-microduck/microduck
agent:
  provider: anthropic
  model: claude-sonnet-4-5
  vision_enabled: true
  latency_budget_ms: 150
  safety_stop: true
  offline_provider: ollama
  # On, and load-bearing. `duck_vocabulary` and `duck_perform` are only handed
  # to a model through the agent harness (castor/api.py), so with this off the
  # brain can talk about the duck and cannot sequence it — which is the exact
  # gap docs/hardware/microduck.md used to claim did not exist. A duck's whole
  # value to an LLM is composing its atomic skills, so this profile opts in.
  harness:
    enabled: true
physics:
  type: legged
  dof: 14
drivers:
- id: duck
  protocol: microduck
  # `unix` when OpenCastor runs on the duck itself (needs the `robot` group);
  # `ssh` — recommended — when it runs off-board and forwards to /run/robotd.sock.
  transport: ssh
  socket: /run/robotd.sock
  ssh_host: 192.168.1.42
  ssh_user: pierre
  local_port: 7788
  # Velocity envelope at full stick deflection. robotd clamps on top of this and
  # reports the binding limit in robot.state as `limited_by`.
  max_vx: 0.2
  max_vy: 0.1
  max_vyaw: 1.0
  intent_hz: 20
  command_ttl_s: 1.5
  auto_init: false
connection:
  type: wifi
  host: 192.168.1.42
  reconnect_interval_ms: 1000
  watchdog_timeout_ms: 500
rcan_protocol:
  port: 8000
  capabilities:
  - status
  - teleop
  - chat
  - vision
  enable_mdns: false
safety:
  estop_on_startup: true
  max_linear_speed_mps: 0.2
  max_angular_speed_radps: 1.0
  voltage_monitoring: true
  local_safety_wins: true
  watchdog:
    timeout_s: 2
notes:
  setup: 'Off-board (recommended): the duck has 1 GB of RAM and a 50 Hz control loop
    to protect, so run OpenCastor on another machine and let the driver open an
    `ssh -L 7788:/run/robotd.sock` forward. Find the duck''s address with `duckctl ip`
    over Bluetooth or your router''s DHCP table — mDNS on the stock image is unreliable.
    Add your key with `ssh-copy-id`, and put the login user in the `robot` group
    (`sudo usermod -aG robot "$USER"`) so it can open the robotd socket.

    On-board: set `transport: unix`. Expect contention with robotd, mediad and the
    RL policy on four Cortex-A55 cores.

    Bring-up: `robot.init` torques the servos on and ramps to standing over ~2 s. The
    driver does not call it automatically (`auto_init: false`) — the duck deliberately
    does not move on process start. `stop()` holds it standing; `relax()` cuts torque
    and it will drop, so seat it first.

    '
  hardware:
    compute: Rockchip RK3566 (quad Cortex-A55, 1 GB RAM, 32 GB storage, NPU)
    os: Armbian (Radxa Zero 3 profile)
    servos: 15 x Dynamixel-protocol on /dev/ttyS2 @ 1 Mbps
    sensors: camera, ToF depth, 2 x IMU
    battery: NP-F550 removable (approx 1 h), empty floor 6.6 V
  warning: 'robotd owns the motor bus exclusively and enforces its own limits, fall
    detection and battery cutoff. OpenCastor sends intents, never raw motor writes —
    do not bypass the driver to write the servo bus while robotd is running.

    '