Configuration

Configuration models and file formats for connectors

The inorbit-connector framework uses Pydantic models for configuration, providing validation and type safety.

ConnectorConfig

The main configuration class is ConnectorConfig, which contains all settings for your connector. It includes a fleet field containing a list of RobotConfig entries.

Connectors should subclass inorbit_connector.models.ConnectorConfig and define a connector_config field that contains the configuration for the connector. For more details see the Creating a Custom Configuration section below.

Key Fields

• api_key (str | None): The InOrbit API key. Can be set via environment variable INORBIT_API_KEY
• api_url (HttpUrl): The URL of the InOrbit API endpoint. Defaults to InOrbit Cloud SDK URL. Can be set via environment variable INORBIT_API_URL
• connector_type (str): A string identifier for your connector type (e.g., “example_bot”)
• connector_config (BaseModel): Your custom configuration model that inherits from Pydantic’s BaseModel. This is where you define connector-specific fields
• update_freq (float): Update frequency in Hz for the execution loop. Default is 1.0
• location_tz (str): The timezone of the robot location (e.g., “America/Los_Angeles”, “UTC”). Must be a valid pytz timezone
• logging (LoggingConfig): Logging configuration (see below)
• maps (dict[str, MapConfig]): Dictionary mapping frame_id to map configuration (see below)
• env_vars (dict[str, str]): Environment variables to be set in the connector or user scripts
• fleet (list[RobotConfig]): List of robot configurations (see below)
• user_scripts_dir (DirectoryPath | None): Path to directory containing user scripts for command execution
• account_id (str | None): InOrbit account ID, required for publishing footprints
• inorbit_robot_key (str | None): Robot key for InOrbit Connect robots. See API documentation

Environment Variables

The following environment variables are automatically read during configuration:

• INORBIT_API_KEY (required): The InOrbit API key
• INORBIT_API_URL (optional): The InOrbit API endpoint URL

RobotConfig

Represents configuration for a single robot in the fleet:

• robot_id (str): The InOrbit robot ID
• cameras (list[CameraConfig]): List of camera configurations for this robot

MapConfig

Configuration for a map that can be associated with a frame_id:

• file (FilePath): Path to the PNG map file
• map_id (str): The map identifier
• map_label (str, optional): Human-readable map label
• origin_x (float): X coordinate of the map origin
• origin_y (float): Y coordinate of the map origin
• resolution (float): Map resolution in meters per pixel
• format_version (int, optional): Default is 2. A value of 1 indicates the Y axis is inverted while a value of 2 indicates natural map rendering. See https://developer.inorbit.ai/docs#maps

LoggingConfig

Configuration for logging:

• config_file (FilePath | None): Path to logging configuration file. If not set, uses default configuration
• log_level (LogLevels | None): Log level (DEBUG, INFO, WARNING, ERROR, CRITICAL). Overrides the level set in the config file
• defaults (dict[str, str]): Default values to pass to the logging configuration file (e.g., log file path)

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Creating a Custom Configuration

To create a connector-specific configuration, subclass ConnectorConfig:

from pydantic import BaseModel
from inorbit_connector.models import ConnectorConfig, RobotConfig

class MyRobotConfig(BaseModel):
    """Custom fields for your robot."""
    api_version: str
    hardware_revision: str
    custom_setting: str

class MyConnectorConfig(ConnectorConfig):
    """Configuration for your connector."""
    connector_config: MyRobotConfig
    
    @field_validator("connector_type")
    def check_connector_type(cls, connector_type: str) -> str:
        if connector_type != "my_connector":
            raise ValueError(f"Expected connector type 'my_connector'")
        return connector_type

Configuration Files

Configuration is typically loaded from YAML files. See:

• Single robot: examples/example.yaml
• Fleet: examples/example.fleet.yaml

Use inorbit_connector.utils.read_yaml() to load configuration from YAML files:

from inorbit_connector.utils import read_yaml

yaml_data = read_yaml("config.yaml")
config = MyConnectorConfig(**yaml_data)