Robots & controller

Base can host the two nodes of a solarian system that do not have to be on the robot: the server, as a managed relay, and the controller, as a session you drive from the browser. The robot dials out to Base, so nothing has to be reachable at its end.

Register a robot

From the CLI: solarian base deploy. A project with a conf/robot.yaml registers its robot when a deployment becomes current: named after the project, at the conf's fps. Later deployments keep that robot, and its keys, and only update its control rate.

From the web app: Robots → Register Robot, with its Project, Name and Control rate, for a project you do not deploy. A deployment keeps a robot registered this way instead of adding another.

Registering provisions the robot's relay: a block of five ports and a pair of encryption keys. It does not let anyone command the robot yet.

Connect it

On the robot's page, under Connect this robot, press Download solarian_base.yaml. The file carries the relay's address, its port block, the robot's keypair and a fresh token. Save it in the robot's solarian project and start the robot with it:

# on the robot, in its solarian project
cp ~/Downloads/solarian_base.yaml conf/deployment/solarian_base.yaml
solarian run-robot -d solarian_base

solarian_base is a deployment profile like any other: it extends one of the project's profiles with Base's relay and keys. The robot shows online while the relay has heard from it within the last 10 seconds.

Each download issues a new token; earlier ones keep working until you revoke them under Tokens.

What the file extends and carries

• Extends is the profile the file adds to, localhost by default: where the robot's device paths, ports and placement keys come from. Set it to the profile the robot already runs with, such as turing, and Save.
• The file carries the URL of every running service and policy of the project, under the deployment key its conf reads, and solarian_base_endpoint_token, the token they require. Services and policies in the file lists them. Download the file again after starting or stopping one.
• Include the managed relay is on by default. Turn it off for a robot that keeps its own relay and controller and uses Base only for GPUs: the file then carries only the endpoints, and the download issues no token.

Allow cloud control

Allow cloud control of this robot is off by default, and controller sessions refuse to start without it. Turn off cloud control takes it back.

If the link to Base drops, the robot stops its skills and holds every module in its safe state after the robot's link timeout. Your local kill switch is stopping the robot process. One internet round trip of latency is noticeable for fine manipulation: skills schedule waypoints ahead to absorb it, so for that work run the server and controller on your own network instead.

The managed relay

The Managed relay section runs solarian run-server for this robot on Base. It is the clock authority for both sides, so it has to be up before the robot or a controller can do anything.

• Start and Stop the relay; its badge shows pending, starting, running, stopped or error, with the error message.
• Host and Ports are what the robot dials; Robot last seen and Health checked come from Base's probe every 30 seconds.
• Encryption keys → Rotate issues a new robot keypair. Every connection file downloaded before stops working; download a new one.

Open a controller session

With the robot online, the relay running and cloud control allowed, press Open Controller. Base starts solarian run-controller ui=external against the relay and opens the session page (/controller/<id>):

• Take control to send commands; Release control hands it back. Others who open the session watch until you release it.
• STOP ALL stops the robot. Anyone in the session can press it, with or without control; Space stops it too.
• The cameras, state and skills of the robot, live, and the Keys panel.
• Teleop device pairs a device in this browser to drive the robot.
• End session stops the controller.

Opening the controller again while your session is active returns to it.

Teleop devices

Under Teleop devices on the robot's page, calibrate the leader arms you drive it with, so their joints match the robot's: Leader arm (Dynamixel), Leader arm (Feetech STS), with Calibrate or Recalibrate. They connect over Web Serial, in Chromium-based browsers. A SpaceMouse or a Gamepad pairs itself in the controller and needs no calibration.

Robot tokens

Tokens on the robot's page lists the robot's install tokens with their Prefix and Last used. New token → Issue creates one, shown once; Revoke disables it.

Limits

Controller sessions count against your plan:

Servers and services

What Base runs for you, and what you still run yourself:

An endpoint's URL reaches the robot through the connection file, so a skill or calculated field calls it with no change. See Services, Policies & Models.

See also

• Server, Controller, Robot — the three nodes.
• Configs — deployment profiles such as solarian_base.
• Quick Start — connecting a robot, step by step.
• Services, Policies & Models — what the connection file points the project at.