anima_module.yaml

schema_version: "1.0"

module:
  name: moroco
  version: "0.1.0"
  display_name: "MOROCO — Multi-Operator-Robot Coordination Under Restricted Comms"
  description: "Multi-operator robot coordination framework operating under degraded communication conditions"
  category: coordination.multi_robot
  license: Apache-2.0
  paper: "MoRoCo: Multi-operator-robot Coordination under Restricted Communication (arXiv:2508.07657)"

capabilities:
  provides:
    - type: coordination
      subtype: restricted_comms
    - type: multi_robot
      subtype: multi_operator

interface:
  inputs:
    - name: robot_states
      ros2_type: std_msgs/msg/Float32MultiArray
    - name: operator_commands
      ros2_type: std_msgs/msg/String
  outputs:
    - name: coordinated_actions
      ros2_type: std_msgs/msg/Float32MultiArray
    - name: comm_status
      ros2_type: std_msgs/msg/String

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda, onnxruntime_cpu]
    - name: nvidia_jetson
      backends: [tensorrt, onnxruntime_cpu]

performance:
  profiles:
    - platform: linux_x86
      model: moroco-base
      backend: onnxruntime_cuda
      fps: 10
      latency_p50_ms: 80

safety:
  failure_mode: escalate
  timeout_ms: 1000
  health_topic: /anima/moroco/health

composability:
  pairs_well_with:
    - coordination.fleet
    - defense.signal_processing
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-moroco:0.1.0
  port: 8144