opencastor-arm-demo

Install with one command:

rcan_version: "1.6"

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