us final version

config.py

@@ -0,0 +1,39 @@
+import os
+from dataclasses import dataclass
+from pathlib import Path
+
+from dotenv import load_dotenv
+
+load_dotenv(Path(__file__).with_name(".env"))
+
+
+@dataclass(frozen=True)
+class Servo:
+    key: str
+    name: str
+    role: str
+    home: int
+    lo: int = 0
+    hi: int = 180
+
+
+# Keep lo/hi in sync with LIMITS in robot_arm.ino
+SERVOS = (
+    Servo("s1", "base", "rotates the whole arm left/right; lower = right, higher = left", home=50),
+    Servo("s2", "shoulder", "lifts the arm forward; 0 = folded back, 120 = reaching far out", home=0),
+    Servo("s3", "elbow", "bends the forearm; 140 = tucked in, 0 = fully extended", home=140),
+    Servo("s4", "wrist", "tilts the tip up/down", home=10),
+)
+
+HOME = tuple(s.home for s in SERVOS)
+
+OPENAI_API_KEY = os.getenv("OPENAI_API_KEY", "")
+OPENAI_MODEL = os.getenv("OPENAI_MODEL", "gpt-5-mini")
+OPENAI_REASONING_EFFORT = os.getenv("OPENAI_REASONING_EFFORT", "")
+
+STT_LANGUAGE = os.getenv("STT_LANGUAGE", "en-US")
+BAUD_RATE = int(os.getenv("BAUD_RATE", "9600"))
+
+
+def clamp_pose(pose):
+    return tuple(max(s.lo, min(s.hi, int(round(a)))) for s, a in zip(SERVOS, pose))