config.yaml

# Robotic Arm Motion Generator Configuration
preset:
  sequence1: &seq1 # Motion Sequence of Robotic Arm
    task_coordinates:
      - { x: 1, y: 5 }
      - { x: 2, y: 1 }
      - { x: 5, y: 1 }
  sequence2: &seq2 # Motion Sequence of Robotic Arm
    task_coordinates:
      - { x: 2, y: 3 }
      - { x: 7, y: 5 }
      - { x: 5, y: 7 }
  sequence3: &seq3 # Motion Sequence of Robotic Arm
    task_coordinates:
      - { x: 7, y: 7 }
      - { x: 6, y: 5 }
      - { x: 4, y: 9 }
  sequence4: &seq4 # Motion Sequence of Robotic Arm
    task_coordinates:
      - { x: 2, y: 3 }
      - { x: 3, y: 4 }
      - { x: 5, y: 4 }
  amq: # AMQP Broker Information
    broker: &amq_connect_info
      address: "rabbitmq"
      port: 5672
    credentials: &amq_credential
      username: "admin"
      password: "rabbit"
  pub_sub:
    - pub_sub_1: &pub_generator_robot
        type: "amq"
        broker: *amq_connect_info
        credential: *amq_credential
        exchange: "generator_robot"
        binding_keys: # Default Queue Logic will be: <binding_key>.robot.<id>
          - "generator.robot."
    - pub_sub_2: &sub_control_robot
        type: "amq"
        broker: *amq_connect_info
        credential: *amq_credential
        exchange: "control_robot"
        binding_keys: # Default Queue Logic will be: <binding_key>.robot.<id>
          - "control.robot."
    - pub_sub_3: &pub_visual
        type: "amq"
        broker: *amq_connect_info
        credential: *amq_credential
        exchange: "visual"
        binding_keys: # Default Queue Logic will be: <binding_key>.robot.<id>
          - "visual.generator.robot."
  robot_arm_design:
    two_arm_robot_1: &two_arm_robot_1
      count: 2 # Number of Joints (excluding Wrist)
      length:
        shoulder_to_elbow: 6.0 # Length in Meters
        elbow_to_gripper: 6.0 # Length in Meters
  robot_controllers:
    - controller_1: &controller_1
        sample_rate: 0.1
        proportional_gain: 3
        goal_threshold: 0.1
  pub_sub_protocols:
    - pub_sub_protocol_1: &pub_sub_protocol_1
        publishers:
          - *pub_generator_robot
          - *pub_visual
        subscribers:
          - *sub_control_robot
robot_generator:
  version: "0.1" # Configuration Version
  robots: # List of Robots to be simulated with unique ID
    - id: "1"
      arm: *two_arm_robot_1
      base: { x: 35.0, y: 50.0 }
      motion:
        control: *controller_1
        pattern: *seq2 # Motion Pattern of the Robot
      protocol: *pub_sub_protocol_1
    - id: "2"
      arm: *two_arm_robot_1
      base: { x: 130.0, y: 120.0 }
      motion:
        control: *controller_1
        pattern: *seq2 # Motion Pattern of the Robot
      protocol: *pub_sub_protocol_1

#    - id: "3"
#      arm: *two_arm_robot_1
#      base: { x: 130.0, y: 50.0 }
#      motion:
#        control: *controller_1
#        pattern: *seq2 # Motion Pattern of the Robot
#      protocol: *pub_sub_protocol_1
#    - id: "4"
#      arm: *two_arm_robot_1
#      base: { x: 35.0, y: 120.0 }
#      motion:
#        control: *controller_1
#        pattern: *seq2 # Motion Pattern of the Robot
#      protocol: *pub_sub_protocol_1