0dfc707c49
Standalone robot toolkit providing AI agents with physical world interaction. Features: - 6 tools: drive, look, listen, speak, sense, emote - Multiple backends: ROS2, serial, GPIO, mock - Independent SafetyMonitor with E-stop, collision avoidance - Designed for Raspberry Pi 5 + Ollama offline operation - 55 unit/integration tests - Complete Pi 5 hardware setup guide
150 lines
4.5 KiB
TOML
150 lines
4.5 KiB
TOML
# ZeroClaw Robot Kit Configuration
|
||
# Copy to ~/.zeroclaw/robot.toml
|
||
|
||
# =============================================================================
|
||
# DRIVE SYSTEM
|
||
# =============================================================================
|
||
[drive]
|
||
# Backend: "ros2", "serial", "gpio", or "mock"
|
||
backend = "mock"
|
||
|
||
# ROS2 settings (if backend = "ros2")
|
||
ros2_topic = "/cmd_vel"
|
||
|
||
# Serial settings (if backend = "serial")
|
||
# For Arduino/motor controller
|
||
serial_port = "/dev/ttyACM0"
|
||
|
||
# Speed limits (m/s and rad/s)
|
||
max_speed = 0.5
|
||
max_rotation = 1.0
|
||
|
||
# =============================================================================
|
||
# CAMERA / VISION
|
||
# =============================================================================
|
||
[camera]
|
||
# Camera device
|
||
# - "/dev/video0" for USB camera
|
||
# - "picam" for Raspberry Pi Camera Module
|
||
device = "/dev/video0"
|
||
|
||
# Resolution (lower = faster processing on Pi)
|
||
width = 640
|
||
height = 480
|
||
|
||
# Vision model for describing what the robot sees
|
||
# - "moondream" (small, fast, good for Pi)
|
||
# - "llava" (larger, more accurate)
|
||
# - "none" (disable vision description)
|
||
vision_model = "moondream"
|
||
|
||
# Ollama URL for vision processing
|
||
ollama_url = "http://localhost:11434"
|
||
|
||
# =============================================================================
|
||
# AUDIO (SPEECH)
|
||
# =============================================================================
|
||
[audio]
|
||
# ALSA device names (use "arecord -l" and "aplay -l" to find)
|
||
mic_device = "default"
|
||
speaker_device = "default"
|
||
|
||
# Whisper model for speech-to-text
|
||
# - "tiny" (fastest, least accurate)
|
||
# - "base" (good balance for Pi)
|
||
# - "small" (better accuracy, slower)
|
||
whisper_model = "base"
|
||
|
||
# Path to whisper.cpp binary
|
||
whisper_path = "/usr/local/bin/whisper-cpp"
|
||
|
||
# Piper TTS settings
|
||
piper_path = "/usr/local/bin/piper"
|
||
piper_voice = "en_US-lessac-medium"
|
||
|
||
# =============================================================================
|
||
# SENSORS
|
||
# =============================================================================
|
||
[sensors]
|
||
# LIDAR configuration
|
||
# - "/dev/ttyUSB0" for RPLidar
|
||
# - "mock" for testing without hardware
|
||
lidar_port = "/dev/ttyUSB0"
|
||
lidar_type = "mock" # "rplidar", "ydlidar", "ros2", or "mock"
|
||
|
||
# PIR motion sensor GPIO pins (BCM numbering)
|
||
motion_pins = [17, 27]
|
||
|
||
# HC-SR04 ultrasonic sensor pins (trigger, echo)
|
||
# Set to null to disable
|
||
ultrasonic_pins = [23, 24]
|
||
|
||
# =============================================================================
|
||
# SAFETY LIMITS (CRITICAL - READ CAREFULLY!)
|
||
# =============================================================================
|
||
[safety]
|
||
|
||
# --- OBSTACLE AVOIDANCE ---
|
||
|
||
# Absolute minimum obstacle distance (meters)
|
||
# Robot will NOT move if anything is closer than this
|
||
# 0.3m (30cm) is good for indoor use
|
||
min_obstacle_distance = 0.3
|
||
|
||
# Slow-down zone multiplier
|
||
# Robot starts reducing speed when obstacle is within:
|
||
# min_obstacle_distance × slow_zone_multiplier
|
||
# With defaults: starts slowing at 0.3 × 3.0 = 0.9m (90cm)
|
||
slow_zone_multiplier = 3.0
|
||
|
||
# Maximum speed when approaching obstacles (0.0 - 1.0)
|
||
# In slow-down zone, speed is limited to this fraction
|
||
# 0.3 = 30% of max_speed when near walls/obstacles
|
||
approach_speed_limit = 0.3
|
||
|
||
# --- COLLISION RESPONSE ---
|
||
|
||
# Bump sensor GPIO pins (BCM numbering)
|
||
# Wire microswitches on front/sides of chassis
|
||
# Triggers immediate stop + reverse on contact
|
||
bump_sensor_pins = [5, 6]
|
||
|
||
# Distance to reverse after bump (meters)
|
||
# Robot backs up this far after hitting something
|
||
bump_reverse_distance = 0.15
|
||
|
||
# Enable trajectory prediction (requires LIDAR)
|
||
# Calculates if current path will intersect obstacle
|
||
predict_collisions = true
|
||
|
||
# --- WATCHDOG / FAILSAFE ---
|
||
|
||
# Maximum continuous drive time (seconds)
|
||
# Auto-stop if no new commands for this duration
|
||
# Prevents runaway if LLM hangs or connection lost
|
||
max_drive_duration = 30
|
||
|
||
# Sensor data timeout (seconds)
|
||
# Block ALL movement if no sensor updates for this long
|
||
# Prevents blind movement if sensors fail
|
||
sensor_timeout_secs = 5
|
||
|
||
# Speed limit when sensors unavailable (0.0 - 1.0)
|
||
# Extra caution when "flying blind"
|
||
blind_mode_speed_limit = 0.2
|
||
|
||
# --- EMERGENCY STOP ---
|
||
|
||
# E-stop GPIO pin (BCM numbering)
|
||
# Wire a BIG RED BUTTON here
|
||
# Directly pulling LOW triggers immediate stop
|
||
# HIGHLY RECOMMENDED for any robot around kids!
|
||
estop_pin = 4
|
||
|
||
# --- USER INTERACTION ---
|
||
|
||
# Require verbal confirmation before movement
|
||
# If true: robot asks "Should I move forward?" before each move
|
||
# Set true for extra safety with young kids
|
||
# Set false for responsive gameplay with older kids
|
||
confirm_movement = false
|