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JiboAutoMod/CONFIG_LOCATIONS.md
Kevin 3db6de2d2c GUI installer v2
2026-03-21 22:10:13 +02:00

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JiboOS V3.1 – Config locations inventory (for SSH tooling)

This workspace is a filesystem tree under build/. Most paths below are absolute paths as they exist on the robot.

If you’re using this repo as a staging image, the mapping is:

  • Workspace path: build/<ABS_PATH>
  • Robot path: <ABS_PATH>

Example: build/usr/local/etc/jibo-jetstream-service.json corresponds to /usr/local/etc/jibo-jetstream-service.json on-robot.

Highest-level “what runs what”

/usr/local/etc/jibo-system-manager.json

Purpose: Master orchestrator config. Defines the service startup order, executables, arguments (including which -c /usr/local/etc/<service>.json is used), environment variables, and some device-level settings.

Why your tooling should care: if you need to know which process consumes a config file, this is the authoritative mapping.

Notable sections:

  • SystemManager.service.services[]
    • name, executable, modes.<mode>.arguments (usually includes the config file path)
    • modes.<mode>.enabled (turn a service on/off per mode)
  • SystemManager.skills.environment
    • JIBO_HUB_SHIM_HOST (host/port target for the hub shim)
    • JIBO_GQA_ENDPOINT (HTTP endpoint used by the optional GQA shim)
  • credentials.path: /var/jibo/credentials.json (runtime config; controls region selection in Jetstream)
  • wifi.* (wpa_supplicant + DHCP client options)
  • time.* (timezone/localtime paths and NTP sync)

Apply/restart: system-manager itself (how depends on your init/systemd on the robot). Most changes only take effect on service restart or reboot.

Core robot service configs (/usr/local/etc/*.json)

These are the main knobs for the robot’s built-in services. Many follow this pattern:

  • WebCore.serverPort: HTTP port for the service
  • <ServiceName>.registryPort: service registry port (usually 8181)
  • logging.*: log levels / syslog routing

/usr/local/etc/jibo-service-registry.json

Purpose: Service registry / management web endpoints.

  • Ports: 8181 (WebCore.serverPort, ServiceRegistry.registryPort)

Apply/restart: restart jibo-service-registry.

/usr/local/etc/jibo-jetstream-service.json

Purpose: Jetstream (hub client + streaming audio + wakeword/ASR pipeline glue).

Key knobs:

  • HubClient.override: where Jetstream sends /v1/listen and friends.
    • hub_hostname, hub_port
    • Use this to point Jetstream to a local or server-hosted hub shim.
  • HubClient.listen_language
  • HubClient.encoding_type + encoding-settings: OGG_OPUS / FLAC settings
  • RecogHJ, HubAsr: timing for SOS/EOS and max speech timeouts

Apply/restart: restart jibo-jetstream-service.

/usr/local/etc/jibo-asr-service.json

Purpose: On-robot ASR service (WebSocket event stream + HTTP start/stop), logging, cloud/local STT selection.

Key knobs:

  • webCore.serverPort: 8088
  • AsrService.language
  • AsrService.log_audio, log_text, log_path, upload intervals/thresholds
  • AsrService.resident_task / resident_audio_channel: default always-on hotphrase task (e.g. audio_source_id":"alsa1")
  • AsrService.task_templates: defines ASR pipelines

Apply/restart: restart jibo-asr-service.

Note: this file contains cloud credentials/keys in this build tree. Treat it as sensitive in your tooling (avoid echoing it into logs).

/usr/local/etc/jibo-tts-service.json

Purpose: On-robot TTS voice + audio output.

Key knobs:

  • webCore.serverPort: 8089
  • TTSService.resourcePath: voice resources
  • TTSService.alsaPlaybackDevice: playback routing
  • voiceParams.*: speed, volume, max chars, etc.

Apply/restart: restart jibo-tts-service.

/usr/local/etc/jibo-nlu-service.json

Purpose: NLU service (local grammar/model parsing).

Key knobs:

  • webCore.serverPort: 8787
  • Service.nlu_data_dir: NLU model data
  • Service.default_locale

Apply/restart: restart jibo-nlu-service.

/usr/local/etc/jibo-audio-service.json

Purpose: Audio routing/capture/playback device selection and audio processing thresholds.

Key knobs:

  • WebCore.serverPort: 8383
  • AudioService.alsaCaptureDevice, alsaPlaybackDevice
  • AudioService.router* latencies
  • AudioService.kinematic_model: points to /usr/local/etc/jibo-kinematic-model.json

Apply/restart: restart jibo-audio-service.

/usr/local/etc/jibo-body-service.json

Purpose: Low-level body control: serial devices, offsets, limits, battery thresholds, IMU calibration path.

Key knobs:

  • WebCore.serverPort: 8282
  • bodyBoard.*: /dev/ttyTHS0/1 devices, offsets, flipped flags, accel/vel limits
  • imu.driver.calibrationFile: /var/jibo/imu/imu-cal.json (runtime file)
  • BodyService.kinematic_model: points to /usr/local/etc/jibo-kinematic-model.json

Apply/restart: restart jibo-body-service.

/usr/local/etc/jibo-kinematic-model.json

Purpose: Robot kinematic model (frame transforms, masses, inertias). Used by audio/body/LPS.

Apply/restart: restart consumers (at least jibo-body-service, jibo-audio-service, and jibo-lps-service).

/usr/local/etc/jibo-media-service.json

Purpose: Media service camera configuration (CUDA/V4L2 device paths, capture params).

Key knobs:

  • WebCore.serverPort: 7979
  • MediaService.camera.*: /dev/video0, /dev/video1, flips, AE/AWB tuning

Apply/restart: restart jibo-media-service.

/usr/local/etc/jibo-lps-service.json

Purpose: LPS (Local Perception System) + internal media subsystem + visual awareness pipeline.

Key knobs:

  • WebCoreLPS.serverPort: 8484
  • CaptureSubsystem.camera_config_file: /usr/local/etc/lps/cameras.json
  • EngineSubsystem.schemas.*: /usr/local/etc/lps/schemas/{normal,focused,minimal}.json
  • EngineSubsystem.engine.state.entity_config_file: /usr/local/etc/lps/entityConfig.json
  • EngineSubsystem.engine.state.geometry.*: camera model params in /var/jibo/lps/*.json (runtime files)

Apply/restart: restart jibo-lps-service.

/usr/local/etc/lps/cameras.json

Purpose: Camera device list + CUDA capture config + controls presets.

Apply/restart: restart jibo-lps-service (and anything using the same capture stack).

/usr/local/etc/lps/entityConfig.json

Purpose: Entity tracking parameters (people/head tracking, confidence thresholds, trackers, etc.).

Apply/restart: restart jibo-lps-service.

/usr/local/etc/lps/schemas/normal.json

/usr/local/etc/lps/schemas/focused.json

/usr/local/etc/lps/schemas/minimal.json

Purpose: LPS “schema” graphs: which detectors/actions run and at what cadence.

Apply/restart: restart jibo-lps-service.

/usr/local/etc/jibo-identity-service.json

Purpose: Identity/face recognition engine + model paths.

Key knobs:

  • WebCore.serverPort: 8489
  • IdentityService.engine.identifier.*: choose identifier type (deepid/eigenfaces/resnetfaceid) and model paths
  • Storage path: /var/jibo/identity/* (runtime)

Apply/restart: restart jibo-identity-service.

/usr/local/etc/jibo-server-service.json

Purpose: Cloud/server connection service + notifications.

  • WebCore.serverPort: 8888
  • NotificationSubsystem.serverURLSuffix

Apply/restart: restart jibo-server-service.

/usr/local/etc/jibo-service-center-service.json

Purpose: Service-center web UI/service.

  • WebCore.serverPort: 9797

Apply/restart: restart jibo-service-center-service.

/usr/local/etc/jibo-certification-service.json

Purpose: Certification service.

  • WebCore.serverPort: 9292

Apply/restart: restart jibo-certification-service.

/usr/local/etc/jibo-system-monitoring-service.json

Purpose: System health/storage monitoring + health log upload.

Key knobs:

  • WebCore.serverPort: 4111
  • SystemMonitoringService.storage.semantic: path aliases used for reporting
  • health.upload.arguments: uses /var/jibo/credentials.json (runtime)

Apply/restart: restart jibo-system-monitoring-service.

/usr/local/etc/jibo-test-capture-service.json

Purpose: Camera capture tools service (debug/QA).

  • WebCore.serverPort: 7979 (note: overlaps with jibo-media-service.json in this tree; only one should bind a given port at runtime)

Apply/restart: restart jibo-test-capture-service.

/usr/local/etc/jibo-test-capture.json

Purpose: Test capture tool runtime behavior (recording toggles, lock counts, display/profiler options).

Apply/restart: whatever tool/runner loads it (not a standard service config; used by capture tooling).

/usr/local/etc/jibo-camera-calibrator.json

Purpose: Camera calibration workflow + capture device selection. Writes calibration outputs into /var/jibo/lps.

Apply/restart: used by the calibrator tool; changes apply on next run.

/usr/local/etc/jibo-hub-shim.json

Purpose: Robot-local hub shim config (for running the shim on the robot).

Key knobs:

  • listen.*: bind/port/path for /v1/listen
  • asrService.baseUrl: typically http://127.0.0.1:8088 on-robot

Apply/restart: restart the hub-shim process (not a core Jibo service; depends on your deployment).

/usr/local/etc/jibo-sts.json

Purpose: Placeholder config for secure-transfer (STS). In this tree it is currently empty.

Apply/restart: N/A (service may use defaults or other config sources).

SSM / robot “mode” configuration (/usr/local/etc/jibo-ssm/*.json)

These files configure the Node-based SSM (service supervisor/skill launcher) and its ports per robot mode.

  • /usr/local/etc/jibo-ssm/jibo-ssm-normal.json
  • /usr/local/etc/jibo-ssm/jibo-ssm-oobe.json
  • /usr/local/etc/jibo-ssm/jibo-ssm-developer.json
  • /usr/local/etc/jibo-ssm/jibo-ssm-int-developer.json

Common knobs:

  • services.SkillsService.port (HTTP port; typically 8779)
  • services.DevShell.* (developer ports: 8686/8989/9191) (developer/int-developer)
  • services.WifiService.region (e.g. api)
  • RegistryClient.host/port (usually 127.0.0.1:8181)
  • logging.namespaces (fine-grained log routing)

Apply/restart: restart SSM / the Node process that loads these configs.

Hub shim (server-hosted) config

This is for the PC/server side shim that emulates the hub /v1/listen endpoint.

Workspace source:

  • hub-shim/config.example.json (template)
  • hub-shim/config.json (local dev)
  • hub-shim/systemd/jibo-hub-shim.service (service unit)
  • hub-shim/systemd/jibo-hub-shim.env.example (env file template)

Server install locations (created by hub-shim/install-server.sh):

  • /opt/jibo-hub-shim/ (code)
  • /etc/jibo-hub-shim/config.json (config)
  • /etc/jibo-hub-shim/jibo-hub-shim.env (sets JIBO_HUB_SHIM_CONFIG=/etc/jibo-hub-shim/config.json)
  • /etc/systemd/system/jibo-hub-shim.service

Key knobs in the shim config JSON:

  • listen.bindHost, listen.port, listen.path
  • asrService.baseUrl: robot ASR base URL (e.g. http://<robot-ip>:8088 if shim runs off-robot)
  • asrService.audioSourceId: commonly alsa1 on-robot
  • asrService.timeoutMs
  • gqaShim.enabled + gqaShim.ollama.*: optional Ollama-backed “GQA shim” HTTP service

Apply/restart: systemctl restart jibo-hub-shim (server). For local dev: restart node index.js ./config.json.

AI bridge (PC-side) configuration

PC server (Python)

  • ai_bridge_server/server.py

Config sources:

  • CLI args: --host, --port (default run example uses 0.0.0.0:8020)
  • Env vars:
    • OLLAMA_URL (default http://127.0.0.1:11434/api/chat)
    • OLLAMA_MODEL (default phi3.5)
    • WHISPER_MODEL (default base) (audio endpoint only)

Apply/restart: restart the Python process.

Robot-side AI bridge client config

  • /opt/jibo/Jibo/Skills/@be/be/be/ai-bridge-config.json

Key knobs:

  • enabled
  • mode: TEXT or AUDIO
  • serverBaseUrl: your PC’s bridge server URL (e.g. http://<pc-ip>:8020)
  • ASR integration:
    • useAsrServiceStt, asrServiceHost, asrServicePort, asrAudioSourceId, asrTimeoutMs, asrAutoStart
  • Behavior:
    • wakeupChitchatPhrases[]
    • followupEnabled, followupDelayMs
    • aiForwardingAllowedSkills[] gating

Apply/restart: restart the SkillsService / BE skill (or reboot).

Related dev-only override:

  • /opt/jibo/Jibo/Skills/@be/be/be/jibo-asr-service.local.json (local-run ASR config variant)

Skills menu / content configs (skill-layer “settings”)

These are not OS-level services, but they are configuration surfaces for skill UI/menu behavior.

  • /opt/jibo/Jibo/Skills/@be/menu-entries.d/*.json
    • Defines top-level menu entries/submenus (e.g. childrenDir points at a skill folder containing menuEntry.json).
  • /opt/jibo/Jibo/Skills/*/menuEntry.json
    • Declares skill menu metadata (title/hidden/etc.).
  • /opt/jibo/Jibo/Skills/@be/be/menu/menus/*.json
    • Defines button menus (labels/icons/utterances + hit area polygon).

Apply/restart: restart SkillsService / reload the menu skill.

Init scripts and env-tunable configs (/etc/init.d/*)

These scripts are often the real place where ports and file paths are chosen, via environment variables.

/etc/init.d/S04jibo-asr-service

  • Launches: /usr/local/bin/jibo-asr-service -c /usr/local/etc/jibo-asr-service.json
  • PID file: /var/run/jibo-asr-service.pid
  • Log: /tmp/jibo-asr-service.log

/etc/init.d/S02jibo-skills-logd

Skills UDP log daemon.

Env vars:

  • JIBO_LOGD_HOST (default 127.0.0.1)
  • JIBO_LOGD_PORT (default 15140)
  • JIBO_LOGD_FILE (default /tmp/jibo-skills.log)

/etc/init.d/S03jibo-skills-logpanel

Skills web log panel.

Env vars:

  • JIBO_LOGPANEL_BIND (default 0.0.0.0)
  • JIBO_LOGPANEL_PORT (default 15150)
  • JIBO_LOGD_FILE (shared logfile path)

/etc/init.d/S21firewall

Firewall rules (iptables). Not JSON, but it is a major “settings surface”.

  • Always allows SSH port 22
  • Also explicitly allows SkillsService panel 8779 and log panel 15150
  • Opens additional ports based on the current mode via /usr/bin/jibo-getmode

Apply: run the init script (restart) or reboot.

Runtime-created or runtime-edited config files (referenced by the above)

These are not present in this build tree, but the services above reference them. Your SSH tooling will often want to read/edit these too.

  • /var/jibo/credentials.json
    • Used for: Jetstream region-settings selection; system health upload credentials.
  • /var/jibo/imu/imu-cal.json
    • Used for: BodyService IMU calibration.
  • /var/jibo/lps/CameraModelParamsL.json
  • /var/jibo/lps/CameraModelParamsR.json
  • /var/jibo/lps/InterCameraTransform.json
    • Used for: LPS geometry.
  • /var/etc/timezone, /var/etc/localtime
    • Used for: system timezone.

Quick port index (useful for “is my edit live?” checks)

From configs in this tree:

  • Service registry: 8181
  • Body: 8282
  • Audio: 8383
  • Jetstream: 8090
  • ASR: 8088
  • TTS: 8089
  • NLU: 8787
  • Identity: 8489
  • LPS: 8484 (and internal media 8486)
  • Media: 7979
  • Server service: 8888
  • System manager: 8585
  • System monitoring: 4111
  • Service center: 9797
  • Certification: 9292
  • Skills service: 8779 (SSM)
  • Skills logd: UDP 15140
  • Skills log panel: 15150
  • Hub shim (this project): 9000 (server-side shim)
  • AI bridge server (PC): 8020

Suggested conventions for your editor tool

  • Always read/parse JSON with comment tolerance disabled (these are strict JSON files).
  • Treat these keys as “high risk” and avoid accidentally printing them:
    • Anything containing appkey, key, credential, password, token.
  • After edits:
    • Restart only the owning service (see sections above).
    • Prefer system-manager / SSM restart only when necessary.
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