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ROSMASTER A1 PRO📖
00.Configuration and Operation Guide
  • 0. Unboxing and Review
  • 1.Assembly Videos
  • 2.User Manual
  • 3.Enter Docker (For Raspberry Pi)
  • 4.A1Pro Front Wheel Servo Calibration
  • 5.USB Camera Calibration
  • 6.Depth Camera Calibration
  • 7.FAQ
  • 8.Desktop Configuration Center and Remote Control Guide
01.Chassis Control Course
  • 1.Robot Information Publishing
  • 2.Robot Handle Control
  • 3.Robot Keyboard Control
  • 4.Linear Velocity Calibration
  • 5.Angular Velocity Calibration
  • 6.Robot URDF Model
  • 7.Robot EKF State Estimation
02.Lidar Course
  • 1.Lidar Introduction and Use
  • 2.Lidar Obstacle Avoidance
  • 3.Lidar Following
  • 4.Lidar Patrol
  • 5.GMapping-SLAM Mapping
  • 6.Cartographer-SLAM Mapping
  • 7.Slam-Toolbox Mapping
  • 8.Lifelong Mode Mapping
  • 9.Navigation2 Single Point Navigation
  • 10.Navigation2 Multi Point Navigation
  • 11.Cartographer Relocalization Navigation
  • 12.Slam-Toolbox Localization Navigation
  • 13.Synchronous Mapping And Navigation
  • 14.Aruco Visual Relocalization Navigation
  • 15.Mobile App Mapping And Navigation
  • 16.AprilTag Transport
  • 17.Color Block Transport
03.USB Camera-Depth Camera Course
  • 1.USB Camera Introduction
  • 2.USB Camera Intrinsic Calibration
  • 3.Nuwa-HP60C Camera Introduction (Depth Camera Only)
  • 4.Depth Camera Distance Measurement (Depth Camera Only)
  • 5.Depth Pseudo Color Image (Depth Camera Only)
  • 6.Block Volume Calculation (Depth Camera Only)
  • 7.Edge Detection (Depth Camera Only)
  • 8.RTAB-Map SLAM Mapping (Depth Camera Only)
  • 9.RTAB-Map Navigation (Depth Camera Only)
04.Robotic Arm and 3D Space Gripping Course
  • 0.Robotic Arm Basic Usage
  • 1.Robotic Arm Kinematics
  • 2.Robotic Arm Chassis Coordination Control
  • 3.AprilTag ID Sorting
  • 4.AprilTag Height Anomaly Sorting
  • 5.AprilTag Tracking and Grasping
  • 6.Color Block Sorting
  • 7.Color Block Height Anomaly Sorting
  • 8.Color Block Tracking and Grasping
  • 9.Wood Block Shape Sorting
  • 10.KCF Tracking and Grasping Objects
  • 11.Mediapipe Gesture ID Sorting AprilTag
  • 12.Mediapipe Gesture Height Sorting AprilTag
  • 13.Desktop Tracking and Grasping AprilTag
  • 14.3D Spatial Tracking AprilTag
  • 15.Line Following Obstacle Clearing
  • 16.Transformer Model Tracking Algorithm
05.Road Network Planning and Navigation
  • 1.Introduction To Road Network Planning
  • 2.Road Network Annotation
  • 3.Planning And Navigation Between Waypoints
  • 4.Road Network Navigation In Any Pose
  • 5.Path Re-planning
06.OpenClaw Basic Course
  • 1.Introduction to OpenClaw
  • 2.OpenClaw Core Concepts
  • 3.OpenClaw API-KEY Configuration
  • 4.OpenClaw Switch Models
  • 5.OpenClaw System Prompt Words
  • 6.OpenClaw Common CLI Commands
07.OpenClaw Interaction Method
  • 1.OpenClaw Webchat Interaction
  • 2.OpenClaw Tui Interaction
  • 3.OpenClaw Voice Dialogue Interaction
  • 4.OpenClaw WhatsApp Interaction
08.OpenClaw Development
  • 1.OpenClaw Connecting to Robot MCP Service
  • 2.Robot CLI Command Tool
  • 3.robot-control plugin tool
  • 4.reply-bridge plugin tool
  • 5.OpenClaw Multimodal Vision
  • 6.OpenClaw Chassis Control
  • 7.OpenClaw Robotic Arm Control
  • 8.OpenClaw Skills Development
  • 9.OpenClaw Scheduled Tasks
  • 10.OpenClaw Multi-Agent Intelligent Agent
  • 11.OpenClaw Active Interaction
  • 12.OpenClaw Vector Memory
09.OpenClaw Embodied Intelligent Application
  • 1.OpenClaw Target Tracking
  • 2.OpenClaw Arm Tracking And Grasping
  • 3.OpenClaw Arm Fixed-point Placement
  • 4.OpenClaw Waste Sorting
  • 5.OpenClaw SLAM Mapping And Navigation
  • 6.OpenClaw Navigation Transport
  • 7.OpenClaw AprilTag Grasping
  • 8.OpenClaw Color Line Patrol
  • 9.OpenClaw Visual Distance Measurement
10.OpenClaw Scenario Sandbox
  • 1.Map Description and Prop Placement
  • 2.Build Sand Table Map
  • 3.Visual Relocation Markers
  • 4.Map Mapping Markers
  • 5.OpenClaw Scenario Sandbox Comprehensive Case
11.AI Model Basics
  • 1.AI Large Model Types and Principles
  • 2.RAG Retrieval Enhancement and Model Training Samples
  • 3.Embodied Intelligent Robot System Architecture
  • 4.Embodied Intelligent Functions Core Source Code
12.AI Model Development
  • 1.Register a Model Service Provider Aaccount
  • 2.Configuring API-KEY
  • 3.Introduction to Dify
  • 4.Basic Dify Features
  • 5.AI Large Model Development - chatbot
  • 6.Deploy the RAG Knowledge Base
  • 7.RAG Knowledge Base + chatbot
  • 8.AI Agent Workflow
  • 9.Custom Wake-up Response
13.AI Model - Text Version
  • 1.Semantic Understand and Command Follow
  • 2.Multimodal Visual Understand
  • 3.Multimodal Visual Understand + Robotic Arm Gripping
  • 4.Multimodal Visual Understand+SLAM Navigation
  • 5.Robotic Arm Gripping+Multimodal Visual Understand+SLAM Navigation
  • 6.Intention Estimation
14.AI Model - Voice Version
  • 1.Semantic Understand and Command Follow
  • 2.Multimodal Visual Understand
  • 3. Multimodal Large Model+Robotic Arm Gripping
  • 4.Multimodal Visual Understand+SLAM Navigation
  • 5.Robotic Arm Gripping+Multimodal Visual Understand+SLAM Navigation
  • 6.Intention Estimation
15.Mediapipe Visual Course
  • 1.Hand Detection
  • 2.Posture Detection
  • 3.Overall Detection
  • 4.Facial Landmark Detection
  • 5.Face Detection
  • 6.Face Special Effects
  • 7.3D Object Recognition
  • 8.Brush
  • 9.Finger Control
  • 10.Palm Target Positioning
  • 11.Fingertip Trajectory Recognition
  • 12.Fingertip Gesture Control Cobotic Arm
  • 13.Gesture Grabbing and Releasing Objects
  • 14.Finger Control Robotic Arm
  • 15.Medipipe Gesture Control Robotic arm Cction Group
16.MoveIt2 Simulation Course
  • 1.MovelT2 Configuration
  • 2.MovelT2 Simulation-Reality Linkage
  • 3.Random Movement
  • 4.Forward Kinematics Design
  • 5.Inverse Kinematics Design
  • 6.Cartesian Path
  • 7.Scene Design
  • 8.Trajectory Planning
  • 9.Collision Detection
  • 10.3D Perception Obstacle‑Avoidance
17.Multi-vehicle Course
  • 1.Multi-vehicle Control
  • 2.Multi-vehicle Navigation
  • 3.Multi-vehicle Formation
18.YOLO26 Development
  • 1.CLI Use
  • 2.Object Detection
  • 3.Instance Segmentation
  • 4.Pose Estimation
  • 5.Image Classification
  • 6.Oriented Object Detection
  • 7.YOLOv26 + DeepSORT Tracking
  • 8.Monocular Depth Estimation
19.Control Board STM32 Driver Course
  • 0.Notes (Must Read)
  • 1.About Expansion Board
  • 2.STM32 Development Environment
  • 3.Button Control
  • 4.FreeRTOS Application
  • 5.Serial Communication
  • 6.SBUS Model Aircraft Remote Control
  • 7.CAN Bus Communication
  • 8.RGB Colorful Light Bar
  • 9.Timer Interrupt to Control PWM Servo
  • 10.Control Serial Port Servos
  • 11.Nine-axis Attitude Sensor to Obtain Data
  • 12.Control Motor
  • 13.Timer Captures the Encoder Data
  • 14.1 Kinematic Analysis of Mecanum Wheel
  • 14.2 Kinematic Analysis of Ackerman
  • 14.3 Kinematic Analysis of 4WD
  • 15.PID Control Robot Movement
20.Docker Course
  • 1.Docker Introduction and Installation
  • 2.Docker Basic Commands
  • 3.Docker Submission and Multi-Terminal Access
  • 4. Docker Startup Script
  • 5.Docker-Vscode Environment Construction
21.Image Processing Basics Course
  • 1. Introduction to Open Source CV
  • 2. Image reading and display
  • 3. Image writing
  • 4. Image quality
  • 5. Pixel Operation
  • 6. Image zoom
  • 7. Image cutting
  • 8. Image translation
  • 9. Image Mirroring
  • 10. Affine Transformation
  • 11. Image Rotation
  • 12. Perspective Transformation
  • 13. Grayscale processing
  • 14. Image Binarization
  • 15. Edge Detection
  • 16. Line drawing
  • 17. Rectangle and circle drawing
  • 18. Drawing text and pictures
22.Linux System Course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
23.ROS2 Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
24.Main Control Course
Jetson Orin Nano_NX
  • 1.Jetson Orin board introduction
  • 2.Restore the factory image system
  • 3.Backup SSD system
  • 4.SSD expansion
  • 5.Network configuration
  • 6.SSH remote login
  • 7.VNC remote control
  • 8.Remote file transfer
  • 9.Jtop tool
  • 10.Exchange space expansion
Raspberry Pi
  • 1. Introduction to Raspberry PI 5
  • 2. Raspberry PI system installation and backup
  • 3. Powering the Raspberry PI 5
  • 4. Startup of Raspberry PI 5
  • 5. Update and upgrade operating system
  • 6. Introduction to raspi-config tool
  • 7. config.txt file description
  • 8. Network Configuration
  • 9. remote access
  • 10. Transfer files remotely
  • 11. Set display resolution and rotation
  • 12. Set screen to sleep
  • 13. Play audio and video
  • 14. Using USB camera
  • 15. Using MIPI camera
  • 16. Get real-time temperature of Raspberry Pi
RDKX5
  • 1.Introduction to RDK X5 board
  • 2.Write system file
  • 3.Hardware interface description
  • 4.Install case and other accessories
  • 5.Network configuration
  • 6.Remote login
  • 7.Update system
  • 8.srpi-config user guide
  • 9.config. txt configuration file
  • 10.Self-startup setting
  • 11.RDK exclusive command usage
  • 12.Linux command usage
  • 13.GPIO readwrite operation
  • 14.Image classification algorithm
  • 15.Use USB camera
  • 16.Use MIPI camera
  • 17.Binocular camera depth algorithm
  • 18. Controlling RGB Cooling Fans
Download
  • SystemFile
  • Code
  • 3D_Model_File
  • Software_Tools
  • Hardware_Info
  • Introduction_Manual
  • Script_File
  • Dify AI Agent
Download ZIP

Welcome to ROSMASTER A1 PRO repository

3.OpenClaw API-KEY Configuration

OpenClaw API-KEY Configuration

OpenClaw API-KEY Configuration1. Course Content2. API-KEY Application2.1 Recommended Model Service Providers3. Configure OpenClaw API-KEY3.1 Configuration Methods3.2 Quick Configuration3.2.1 Configure baseurl3.2.2 Fill in apiKey and baseUrl4. View Connected Model Status4.1 View Configured Model List4.2 Verify Configuration Success5. Other Connection Methods5.1 CLI Command Configuration (Suitable for Beginners)5.2 Modify Configuration File (Recommended Method)Configuration File LocationEdit Configuration File6. Common Problems and Solutions

1. Course Content

This course will provide a detailed introduction to configuring AI model API-KEYs for OpenClaw, including the API-KEY application process, two configuration methods (CLI command configuration and configuration file modification), and how to verify successful configuration. After completing this course, you will be able to successfully connect and use various AI model service providers.

Course Objectives

  • Understand the types of model service providers supported by OpenClaw

  • Master the method for applying for API-KEY

  • Learn how to view and verify the status of connected models

2. API-KEY Application

2.1 Recommended Model Service Providers

  • Refer to the accompanying tutorial [AI Large Model Development] — [Register Model Service Account] for API-KEY application reference

  • OpenClaw supports many model service providers, for example:

    • OpenAI

    • Alibaba Cloud - Tongyi Qianwen

    • DeepSeek

    • Zhipu AI

    • Moonshot

  • You can freely choose a model service provider based on the network policies of your country and region, and register and apply for an API-KEY on the corresponding official website

3. Configure OpenClaw API-KEY

3.1 Configuration Methods

OpenClaw provides two methods for configuring API-KEY:

  1. Desktop App Configuration (Recommended)

  2. Direct Configuration File Modification (Suitable for developers)

  3. Configuration file path: $HOME/.openclaw/openclaw.json

3.2 Quick Configuration

Note

  • The factory-preset openclaw.json configuration file has built-in Alibaba Cloud Bailian platform's baseurl and commonly used models for quick configuration

  • Suitable for quick hands-on experience, first register for an Alibaba Cloud Bailian large model account and create an API-KEY (refer to the accompanying tutorial [AI Large Model Development] — [Register Model Service Account])

  • The factory preset configuration file has already configured Bailian model parameters, just fill in the API-KEY and baseUrl to use directly

  • Open the OpenClaw configuration file:

nano $HOME/.openclaw/openclaw.json
# For Raspberry Pi version:
nano $HOME/MODELS/openclaw/openclaw.json

3.2.1 Configure baseurl

  • Users need to configure the baseUrl corresponding to their own account. Go to the Alibaba Cloud Model Studio Console, apply for API key, copy the API key and OpenAI-compatible address (Base URL), and fill in the corresponding positions.

image-20260529165252065

image-2026081016526666

3.2.2 Fill in apiKey and baseUrl

  • Method 1: Open Desktop App Configuration

Double-click the desktop icon:

image-20260903202111919

Find AI Large Models and Agents, fill in apiKey and baseUrl. The two positions can be the same. Visual large models can also separately fill in other OpenAI protocol-compatible visual models.

image-20260908163414409

Click Save and Sync Configuration, then exit.

image-20260908163547967

  • Method 2: Find the corresponding field and replace baseurl and apiKey fields

    • Path: $HOME/.openclaw/openclaw.json

image-20260903201812294

After filling in, press Ctrl+X, then press Y to confirm saving, and press Enter to exit.

 

4. View Connected Model Status

4.1 View Configured Model List

After configuration, you can use the following command to view the connected models:

​x
# For Raspberry Pi version, restart openclaw first
ocg restart
# For other boards
openclaw gateway restart

openclaw models list

image-20260903201642962

4.2 Verify Configuration Success

  1. Test Conversation

    xxxxxxxxxx
    openclaw tui

    Start the TUI interface, send a test message (such as "Hello"), and confirm the model can respond normally.

image-20260427181707062

 

5. Other Connection Methods

  • If you have your own model provider or need to connect to other model providers later, refer to the following tutorials

5.1 CLI Command Configuration (Suitable for Beginners)

  1. Start Configuration Wizard

    xxxxxxxxxx
    openclaw onboard
  • Select [Yes] and press Enter

image-20260427171151912

  • Select configuration mode as QuickStart and press Enter

image-20260427171417315

 

  1. Select Model Service Provider

    • Use up and down arrows to select the service provider for which you have applied for an API-KEY, press Enter to confirm. Here we take Alibaba Cloud Bailian model provider as an example. The configuration method for other model providers is the same.

    • Here select custom provider [Custom Provider]

image-20260427171711888

  • Fill in the base_url of the model service provider

image-20260427172302299

 

  1. Enter API-KEY

  • After selecting a service provider, the system will prompt you to enter the corresponding API-KEY

image-20260427172456361

  • Paste or enter your applied API-KEY and press Enter to confirm

image-20260427172816515

  • Select interface protocol as OpenAI-compatible

image-20260427172908400

  1. Fill in the model name. Here we take MiniMax as an example.

image-20260427173143879

  • Endpoint ID is the model provider identifier, you can fill in freely

image-20260427173335228

  • Model alias (optional) can be left empty

image-20260427173502891

  1. Other Configuration

  • For other configuration items, press as shown in the figure below to select all Skip, no configuration needed

image-20260427173738590

image-20260427173805504

image-20260427173838434

  • Press space to select Skip for now for Enable Hooks

image-20260427173915965

  • Select Restart to restart the gateway and apply the configuration

For Raspberry Pi version, use ocg restart instead.

image-20260427174010877

 

5.2 Modify Configuration File (Recommended Method)

Configuration File Location

  • The configuration file is located at: $HOME/.openclaw/openclaw.json

Edit Configuration File

xxxxxxxxxx
nano $HOME/.openclaw/openclaw.json
# Or use your favorite editor, such as vim, code, etc. It is recommended to modify through IDEs like vscode for easier operation
  1. Add Model Provider Configuration

    Add or modify the models.providers section in the configuration file. Refer to the format below. You can refer to the factory default bailian provider's configuration format:

    xxxxxxxxxx
    {
      "models": {
        "providers": {
          "openai": {
            "apiKey": "OPENAI_API_KEY"
          },
          "anthropic": {
            "apiKey": "ANTHROPIC_API_KEY"
          },
          "google": {
            "apiKey": "GOOGLE_API_KEY"
          }
        }
      },
      "agents": {
        "defaults": {
          "model": {
            "primary": "openai/gpt-4"
          }
        }
      }
    }

 

  1. Save and Exit

    • Press Ctrl+O to save, Ctrl+X to exit (nano editor)

  2. Factory Default Bailian Configuration (Can be directly modified or referenced)

xxxxxxxxxx
  "bailian": {
    "baseUrl": "https://dashscope.aliyuncs.com/compatible-mode/v1",
    "apiKey": "sk-a87e1137b17b4a35af13aaxxxxxxx",
    "api": "openai-completions",
    "models": [
      {
        "id": "qwen3.5-plus",
        "name": "qwen3.5-plus",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 1000000,
        "maxTokens": 65536
      },
      {
        "id": "qwen3.6-plus",
        "name": "qwen3.6-plus",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 1000000,
        "maxTokens": 65536
      },
      {
        "id": "qwen3-coder-next",
        "name": "qwen3-coder-next",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 262144,
        "maxTokens": 65536
      },
      {
        "id": "MiniMax-M2.5",
        "name": "MiniMax-M2.5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 196608,
        "maxTokens": 32768
      },
      {
        "id": "glm-5",
        "name": "glm-5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 202752,
        "maxTokens": 16384,
        "compat": {
          "thinkingFormat": "qwen"
        }
      },
      {
        "id": "glm-4.7",
        "name": "glm-4.7",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 202752,
        "maxTokens": 16384,
        "compat": {
          "thinkingFormat": "qwen"
        }
      },
      {
        "id": "kimi-k2.5",
        "name": "kimi-k2.5",
        "api": "openai-completions",
        "reasoning": false,
        "input": [
          "text",
          "image"
        ],
        "cost": {
          "input": 0,
          "output": 0,
          "cacheRead": 0,
          "cacheWrite": 0
        },
        "contextWindow": 262144,
        "maxTokens": 32768,
        "compat": {
          "thinkingFormat": "qwen"
        }
      }
    ]
  }

 

6. Common Problems and Solutions

Problem: After configuration, it prompts API-KEY is invalid or authentication failed

  1. Confirm the API-KEY is correct (note there should be no extra spaces)

  2. Check if the API-KEY has expired or been disabled

  3. Confirm if the account balance is sufficient (some service providers require prepaid balance)

 

Problem: Configuration is correct but cannot connect to the model service

  1. Check if the network connection is normal

  2. Confirm if the network in your country/region can access the service

  3. Try switching to another model service provider for testing

OpenClaw Core Concepts
OpenClaw Switch Models

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