robot.yaml Reference
The robot configuration declares the robot's identity, capabilities, settings, and transport options for the agent.
!!! note "Config file format"
The agent is configured via TOML files today (agent.toml for the agent host and
robot.toml for the robot). This page documents robot configuration generally; field
names below are organized by purpose. Detailed field schemas are coming soon.
Configuration files
The agent reads several configuration files on the host. For the canonical list of files,
their locations, and the most useful fields, see the agent's
Configuration reference. In brief, robot.toml
holds per-robot identity, capabilities, settings, and transport, while agent.toml holds
host-level settings the agent loads at startup.
All agent config access goes through a central loader — do not parse config files elsewhere in your own tooling that runs on the host.
Robot configuration sections
| Section / concept | Purpose |
|---|---|
| Identity | The robot's assigned robot_id (set during enrollment) and related identity fields. |
| System type | A use_ros2 flag indicating whether the robot is a ROS 2 system. This is detection-only today — the agent always uses the local Zenoh Cap'n Proto path regardless. ROS 2 robots use the ROS 2 Bridge. |
| Capabilities | The services the robot advertises and any UI/settings metadata. See Capabilities. |
| Settings | Initial robot settings seeded at startup; later updatable from the cloud or robot software. See below. |
| Zenoh | A [zenoh] section used as a fallback for local Zenoh transport configuration. See Zenoh. |
Detailed field schemas (names, types, and required vs. optional for each section) are coming soon.
Settings
- Settings are seeded from the robot config's capabilities/settings at startup (insert-if-not-exists).
- They can later be updated from the cloud (fleet) or from the robot software, and are persisted by the agent so they survive restarts.
- Settings are queryable locally and remotely. See the Zenoh queryables.
Detailed settings key schemas and value types are coming soon.
Enrollment and identity
The robot obtains its robot_id and device identity during enrollment, after which the
agent connects to the cloud over mTLS. Enrollment writes identity into the robot config.