opencastor-arm-demo

Install with one command:

rcan_version: '3.0'
metadata:
  robot_name: opencastor-arm-demo
  robot_uuid: 00000000-0000-4000-8000-000000000003
  author: OpenCastor Team
  license: Apache-2.0
  description: 'Minimal demo for the arm-manipulate builtin skill. Controls a robotic
    arm (SO-ARM101, Dynamixel, or SO-100 compatible) to perform pick-and-place, object
    handling, and manipulation tasks. The agent interprets high-level instructions
    and maps them to joint commands.

    '
  tags:
  - official
  - skill
  - arm
  - arm-manipulate
  - manipulation
  builtin_skills:
  - arm-manipulate
_note: 'Official demo for the arm-manipulate builtin skill. Compatible with SO-ARM101,
  Dynamixel, and SO-100 arms. Fork to configure your joint limits, serial port, and
  workspace boundaries.

  '
agent:
  provider: google
  model: gemini-2.5-flash
  safety_stop: true
  system_prompt: 'You are a manipulation-focused OpenCastor agent. Use the arm-manipulate
    skill to control the robotic arm. Always verify the workspace is clear before
    moving and respect joint limits.

    '
physics:
  type: arm
  dof: 6
drivers:
- id: arm_servo
  protocol: serial
network:
  allow_remote_override: false
rcan_protocol:
  enable_mdns: true
loa:
  min_loa_for_control: 1
safety:
  p66_enabled: true
  local_safety_wins: true
  emergency_stop_distance: 0.1
firmware_hash: null
attestation_ref: null
fria_ref: null