measurement_devices:
  - id: device_1
    position: [50.0, 50.0, 0.0]
    slots:
      - position: [10.0, 20.0, 0.0]
        occupied: False
        slot_id: 0
      - position: [20.0, 20.0, 0.0]
        occupied: False
        slot_id: 1
      - position: [30.0, 20.0, 0.0]
        occupied: False
        slot_id: 2

  - id: device_2
    position: [100.0, 50.0, 0.0]
    slots:
      - position: [10.0, 20.0, 0.0]
        occupied: False
        slot_id: 0
      - position: [20.0, 20.0, 0.0]
        occupied: False
        slot_id: 1
      - position: [30.0, 20.0, 0.0]
        occupied: False
        slot_id: 2

feeder:
  position: [0.0, 0.0, 0.0]
  approach_position: [0.0, 0.0, 20.0]

dropoff_grades:
  - id: accepted
    position: [0.0, 10.0, 0.0]
    capacity_threshold: 0.8
  - id: rejected
    position: [0.0, 20.0, 0.0]
    capacity_threshold: 0

mqtt:
  broker: localhost # or debug
  port: 1883
  username: robot
  password: robot
  keepalive: 60

grbl:
  # port: /dev/ttyACM0 # or debug
  port: debug
  baudrate: 115200

vision:
  camera_id: 0
  resolution: [640, 480]
  frame_rate: 30
  exposure: 0.1
  gain: 1.0
  bbox: [100, 100,  200, 200]  # (x, y, width, height)

vacuum:
  min_pressure_bar: -0.85
  max_pressure_bar: -0.35
  max_pump_time_s: 30
  gripping_threshold_bar: -0.35
  pump_watchdog_timeout_s: 30

gpio:
  debug: true
  pump_pin: 17
  valve_pin: 27

i2c:
  debug: true

movement:
  speed: 400.0
  acceleration: 20.0
  safe_height: 25.0

logging:
  level: INFO
  file_path: logs/robot.log
  max_file_size_mb: 1
  backup_count: 3
  console_output: true