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ROSMASTER M1 PRO📖
0.Robot Configuration and Operation Guidelines
  • 0.Unboxing and Review
  • 1.Assembly Videos
  • 2.User Manual
  • 3.Enter Docker (For Raspberry Pi)
  • 4.FAQ
  • 5.RobotManager User Guide
1.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
2.Lidar Course
  • 1.Lidar Introduction And Use
  • 2.Lidar Obstacle Avoidance
  • 3.Lidar Following
  • 4.Lidar Guard
  • 5.Lidar Patrol
  • 6.GMapping-SLAM Mapping
  • 7.Cartographer-SLAM Mapping
  • 8.Slam-Toolbox Mapping
  • 9.Lifelong Mode Mapping
  • 10.Navigation2 Single Point Navigation
  • 11.Navigation2 Multi Point Navigation
  • 12.Cartographer Relocalization Navigation
  • 13.Slam-Toolbox Localization Navigation
  • 14.Synchronous Mapping And Navigation
  • 15.Aruco Visual Relocalization Navigation
  • 16.Mobile App Mapping And Navigation
3.USB Camera-Depth Camera Course
  • 1.USB Camera Introduction
  • 2.USB Camera Intrinsic Calibration
  • 3.Nuwa-HP60C Camera Introduction (Depth Camera Only)
  • 4.Depth Pseudo Color Image (Depth Camera Only)
  • 5.Depth Camera Distance Measurement (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)
4.Robotic Arm and 3D Space Gripping Course
  • 1.Robotic Arm Basic Usage
  • 2.Robotic Arm Kinematics
  • 3.Robotic Arm Chassis Coordination Control
  • 4.AprilTag ID Sorting
  • 5.AprilTag Height Anomaly Sorting
  • 6.AprilTag Tracking and Grasping
  • 7.Color Block Sorting
  • 8.Color Block Height Anomaly Sorting
  • 9.Color Block Tracking and Grasping
  • 10.Wood Block Shape Sorting
  • 11.KCF Tracking and Grasping Objects
  • 12.Mediapipe Gesture ID Sorting AprilTag
  • 13.Mediapipe Gesture Height Sorting AprilTag
  • 14.Desktop Tracking and Grasping AprilTag
  • 15.3D Spatial Tracking AprilTag
  • 16.Transformer Model Tracking Algorithm
  • 17.Line Following Obstacle Clearing
5.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
6.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
7.OpenClaw Interaction Method
  • 1.OpenClaw Webchat Interaction
  • 2.OpenClaw Tui Interaction
  • 3.OpenClaw Voice Dialogue Interaction
  • 4.OpenClaw WhatsApp Interaction
8.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
9.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 Props Placement
  • 2.Building the Sandbox Map
  • 3.Visual Relocalization Marker
  • 4.Map Mapping Marker
  • 5.Sandbox Scenario Comprehensive Case
11.AI Large 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 large Model Development
  • 1.Register a Model Service Provider Account
  • 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 - Voice Version
  • 1.Semantic Understanding and Command Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding and Robotic Arm Gripping
  • 4.Multimodal Visual Understanding and SLAM Navigation
  • 5.Robotic arm gripping+Multimodal visual understand+SLAM navigation
  • 6.Intention Understanding
14.AI Model - Text Version
  • 1.Semantic Understanding and Command Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding and Robotic Arm Gripping
  • 4.Multimodal Visual Understanding and 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 robotic arm
  • 13.Gesture grabbing and releasing objects
  • 14.Finger control robotic arm
  • 15.Medipipe gesture control robotic arm action 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.Trajectory Planning
  • 8.Collision Detection
  • 9.Scene Design
  • 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
  • System File
  • Code
  • 3D Model File
  • Software Tools
  • Hardware_Info
  • Deb function package
  • Dify AI Agent
Download ZIP

Welcome to ROSMASTER M1 PRO repository

3.OpenClaw API-KEY Configuration

OpenClaw API-KEY Configuration

OpenClaw API-KEY Configuration1. Course Content2. Preparation3. API-KEY Application4. Configure OpenClaw API-KEY4.1 Configuration Methods4.2 Quick Configuration4.2.1 Configure baseurl4.2.2 Fill in apiKey and baseUrl5. View Connected Model Status5.1 View the Configured Model List5.2 Verify Configuration Success6. Other Connection Methods6.1 CLI Command Configuration (Suitable for Beginners)6.2 Modify Configuration File (Recommended Method)Configuration File LocationEdit Configuration File7. 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 large model service providers.

  • Master starting openclaw and setting it to auto-start on boot and disabling it

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. Preparation

Important

  • In the subsequent OpenClaw chapters, the OpenClaw gateway service must be started first. The recommended way is to set it to auto-start on boot while studying the OpenClaw-related chapters, so you do not need to start the service manually every time. When it is not needed, turn off auto-start on boot, because the OpenClaw service will occupy the motherboard's memory resources in the background.

 

  • Start the OpenClaw gateway service

openclaw gateway run --port 18789

 

  • Set and disable OpenClaw auto-start on boot

xxxxxxxxxx
robot_manage gui
  • Turn the OpenClaw auto-start option on or off to enable/disable the auto-start-on-boot feature

image-20260918151423915

 

3. API-KEY Application

  • For API-KEY application, refer to the accompanying tutorial 【AI Model Development】—【Register a Model Service Provider Account】

  • 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

4. Configure OpenClaw API-KEY

4.1 Configuration Methods

OpenClaw provides two methods for configuring API-KEY:

  1. CLI Command Configuration (suitable for beginners)

  2. Direct Configuration File Modification (suitable for developers)

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

4.2 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 Model Development】—【Register a Model Service Provider Account】). The factory preset configuration file has already configured the Bailian model parameters; just fill in the API-KEY and baseUrl to use directly.

  • Open the OpenClaw configuration file:

xxxxxxxxxx
nano $HOME/.openclaw/openclaw.json

4.2.1 Configure baseurl

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

image-20260529165252065

image-2026081016526666

4.2.2 Fill in apiKey and baseUrl

  • Find the corresponding fields and replace the baseurl and apiKey fields

image-20260427175701480

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

 

5. View Connected Model Status

5.1 View the Configured Model List

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

xxxxxxxxxx
openclaw models list

image-20260427181208772

5.2 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

 

6. Other Connection Methods

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

6.1 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 the up and down arrows to select the service provider for which you have applied for an API-KEY, and press Enter to confirm. Here we take the 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 it in freely

image-20260427173335228

  • Model alias (optional) can be left empty

image-20260427173502891

  1. Other Configuration

  • For the other configuration items, select skip for all as shown in the figure below; no configuration needed

image-20260427173738590

image-20260427173805504

image-20260427173838434

  • For Enable Hooks, press space to select Skip for now

image-20260427173915965

  • Select Restart to restart the gateway and apply the configuration

image-20260427174010877

 

6.2 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, 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"
          }
        }
      }
    }

image-20260723202924131

  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"
        }
      }
    ]
  }

 

7. 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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