Configuration

LiveKit

livekit_url: "wss://your-livekit-server.com"
livekit_auth_token: "eyJ..."  # JWT token (see generate_token.py)
livekit_room: "robot-room"
livekit_identity: "asimov-robot"  # Optional, auto-generated from hostname
livekit_name: "Asimov Robot"      # Optional, auto-generated from hostname

Field	Required	Description
livekit_url	Yes	LiveKit server WebSocket URL
livekit_auth_token	Yes	Pre-generated JWT token
livekit_room	Yes	Room name to join
livekit_identity	No	Participant ID (default: asimov-{hostname})
livekit_name	No	Display name (default: Asimov {hostname})

Cameras

camera_count: 1  # Number of cameras (1-3)

camera_0_device: "/dev/video0"
camera_0_name: "head"
camera_0_width: 1920
camera_0_height: 1200
camera_0_fps: 50

Field	Description
camera_count	Number of cameras to use (max 3)
camera_N_device	V4L2 device path
camera_N_name	Track name in LiveKit
camera_N_width	Capture width
camera_N_height	Capture height
camera_N_fps	Capture frame rate

Arducam AR0234 supported resolutions:

Resolution	FPS (USB 3.0)
1920x1200	50
960x600	80

Audio

mic_device: "hw:0,0"
speaker_device: "plughw:0,0"

Use arecord -l and aplay -l to find device names.

Process Loop

process_interval_us: 10000  # 100 Hz main loop

Telemetry

prometheus_port: 8080

Prometheus metrics available at http://localhost:8080/metrics.