Configuration¶

OpenCastor is configured via config/arm.rcan.yaml (or the path set by CASTOR_CONFIG).

Minimal config¶

robot:
  name: "Bob"
  hardware_tier: pi5-hailo   # pi5-hailo | pi5 | pi4 | jetson-orin | server | generic

agent:
  model: anthropic/claude-sonnet-4-6
  harness:
    max_iterations: 8
    thinking_budget: 2048
    context_budget: 16384
    cost_gate_usd: 0.05
    retry_on_error: true
    drift_detection: true
    p66_consent_threshold: physical   # physical | digital | none

  contribute:
    enabled: false
    idle_after_minutes: 15
    projects:
      - harness_research

Key tunables¶

Key	Default	Description
`max_iterations`	`8`	Max agent loop iterations per task
`thinking_budget`	`2048`	Token budget for model thinking/CoT
`context_budget`	`16384`	Max context window tokens
`cost_gate_usd`	`0.05`	Abort task if estimated cost exceeds this
`retry_on_error`	`true`	Auto-retry on transient errors
`drift_detection`	`true`	Detect and abort drifting tasks
`p66_consent_threshold`	`physical`	Minimum consent level for physical actions

Environment variables¶

Variable	Description
`CASTOR_CONFIG`	Path to config file
`CASTOR_RRN`	Robot Resource Name override
`ANTHROPIC_API_KEY`	API key for Claude models
`OLLAMA_URL`	Ollama endpoint (default: `http://localhost:11434`)
`OHB_MODEL`	Model for OHB-1 benchmark (default: `gemma3:1b`)

Champion configs¶

When the research pipeline finds a better harness config, it's stored as a pending update in Firestore — never applied automatically. You choose when to apply it:

castor harness apply-champion        # apply to this robot
castor harness apply-champion --fleet # apply to all robots

Or use the client app to review and apply with one tap.