# Robotics MCP Server Configuration Example
# Copy this file to ~/.robotics-mcp/config.yaml and customize
robotics:
# Moorebot Scout Configuration
moorebot_scout:
enabled: false
robot_id: "scout_01"
ip_address: "192.168.1.100"
port: 9090
mock_mode: true # Set false when hardware available
# YDLIDAR SuperLight (95g) Configuration
lidar:
enabled: false
type: "ydlidar_superlight"
weight: 95 # grams
ros_topic: "/scan"
scan_rate: 10 # Hz
range_min: 0.1 # meters
range_max: 12.0 # meters (indoor)
mounting:
position: "top"
height_offset: 0.08 # 8cm above Scout body
rotation_offset: 0 # degrees
power:
voltage: 5 # V
current: 0.48 # A (480mA)
location:
home_base: {x: 0.0, y: 0.0}
rooms:
living_room: {x_min: 0, x_max: 5, y_min: 0, y_max: 4}
bedroom: {x_min: 5, x_max: 8, y_min: 0, y_max: 3}
patrols:
default:
- {x: 2.0, y: 2.0, room: "living_room"}
- {x: 6.0, y: 1.5, room: "bedroom"}
# Navigation and SLAM
navigation:
slam_enabled: true
obstacle_avoidance: true
safety_distance: 0.3 # meters (30cm minimum clearance)
map_resolution: 0.05 # 5cm per pixel
maps_directory: "maps/"
# Unitree Go2
unitree_go2:
enabled: false
robot_id: "go2_01"
mock_mode: true
# Unitree G1
unitree_g1:
enabled: false
robot_id: "g1_01"
mock_mode: true
# Yahboom Raspbot-V2 (ROS 2)
yahboom_raspbot_v2:
enabled: true
robot_id: "yahboom_01"
ip_address: "192.168.1.101" # Configure for your network
port: 9090 # ROS bridge WebSocket port
ros_domain_id: 0
camera_enabled: true
navigation_enabled: true
arm_enabled: false # Set true when arm/gripper addon installed
mock_mode: true # Set false for real hardware
# Gazebo Simulation (rosbridge WebSocket)
gazebo:
enabled: false
robot_id: "gazebo_01"
host: "localhost"
port: 9090
model: "turtlebot3"
cmd_vel_topic: "/cmd_vel"
odom_topic: "/odom"
scan_topic: "/scan"
camera_enabled: true
camera_topic: "/camera/image_raw"
mock_mode: true # Set false when Gazebo + rosbridge running
# Dreame D20 Pro / D20 Pro Plus Robot Vacuum
# Config key dreame_d20_pro or dreame_d20_pro_plus - both map to robot_type dreame
dreame_d20_pro_plus:
enabled: false # Set true to enable Dreame vacuum integration
robot_id: "dreame_01"
robot_type: "dreame"
ip_address: "192.168.1.102" # Run scripts/discover_dreame.py to find
token: "" # Run scripts/get_dreame_token.py to obtain
mock_mode: true # Set false for real hardware
# Dreame-specific configuration
capabilities:
suction_levels: 4 # 1-4 (Quiet, Standard, Turbo, Max)
water_levels: 3 # 1-3 (Low, Medium, High)
mop_humidity_levels: 3 # 1-3 (Low, Medium, High)
ai_obstacle_detection: true
self_emptying: true
multi_floor_mapping: true
# Default cleaning settings
default_settings:
suction_level: 2 # Standard
water_volume: 2 # Medium
mop_humidity: 2 # Medium
# Room mapping (auto-discovered on first run)
rooms: {} # Will be populated by robot discovery
# Restricted zones (virtual walls/no-go areas)
restricted_zones:
walls: [] # [[x1,y1,x2,y2], ...] for virtual walls
zones: [] # [[x1,y1,x2,y2], ...] for no-go zones
# Cleaning sequences (room cleaning order)
cleaning_sequences:
default: [] # Room IDs in cleaning order
quick: [] # Faster cleaning sequence
# Map configuration
map:
save_path: "maps/dreame/"
auto_update: true
multi_floor: false # Set true for multi-floor homes
# Camera configuration (1MP Raspberry Pi Camera)
camera:
resolution: "640x480" # Upgrade to 1280x720 when possible
fps: 30
format: "MJPEG"
ros_topic: "/camera/image_raw"
# Navigation parameters
navigation:
max_linear_velocity: 0.3 # m/s (conservative for indoor)
max_angular_velocity: 1.0 # rad/s
obstacle_avoidance: true
safety_distance: 0.2 # meters (20cm clearance)
map_resolution: 0.05 # 5cm per pixel
# Home patrol configuration
patrols:
home_security:
- {x: 0.0, y: 0.0, description: "living room"}
- {x: 3.0, y: 0.0, description: "kitchen"}
- {x: 3.0, y: 2.0, description: "bedroom"}
- {x: 0.0, y: 2.0, description: "return to base"}
# Arm/gripper configuration (when addon purchased)
arm:
enabled: false # Set true when installed
joints: 4 # DOF (degrees of freedom)
gripper: true
reach: 0.3 # meters
payload: 0.5 # kg
# Virtual Robotics (Vbot)
virtual:
enabled: true
platform: "unity" # "unity" or "vrchat"
unity:
host: "localhost"
port: 8080
use_unity3d_mcp: true
vrchat:
enabled: false
use_vrchat_mcp: true
osc_port: 9000
environments:
stroheckgasse_apartment:
path: "environments/stroheckgasse.ply"
type: "marble_export"
# Virtual robot instances
robots:
vbot_scout_01:
type: "scout"
platform: "unity"
model_path: "assets/models/scout/scout_base.fbx"
scale: 1.0 # 1× = 11.5cm (actual Scout size)
position: {x: 0.0, y: 0.0, z: 0.0}
vbot_scout_go2_size:
type: "scout"
platform: "unity"
model_path: "assets/models/scout/scout_base.fbx"
scale: 6.1 # Scaled to Unitree Go2 size (70cm) for testing
position: {x: 0.0, y: 0.0, z: 0.0}
# Multi-robot coordination (bot + vbot)
coordination:
enabled: false
strategy: "zone_based" # or "time_based", "priority_based"
zones:
zone_1:
robots: ["scout_01", "vbot_scout_01"] # Physical + virtual
area: {x_min: 0, x_max: 5, y_min: 0, y_max: 4}
# MCP Server Integration
mcp_integration:
osc_mcp:
enabled: true
prefix: "osc"
use_proxy: true
unity3d_mcp:
enabled: true
prefix: "unity"
use_proxy: true
vrchat_mcp:
enabled: true
prefix: "vrchat"
use_proxy: true
avatar_mcp:
enabled: true
prefix: "avatar"
use_proxy: true
# Server Configuration
server:
enable_http: true
http_port: 12230
http_host: "0.0.0.0"
log_level: "INFO"
