cell_loader_ctrl/robot-control/config/config.yaml

measurement_devices:
  - id: "device_1"
    position: [100.0, 200.0, 50.0]
    slots:
      - position: [10.0, 20.0, 50.0]
        occupied: False
        slot_id: 0
      - position: [20.0, 20.0, 50.0]
        occupied: False
        slot_id: 1
      - position: [30.0, 20.0, 50.0]
        occupied: False
        slot_id: 2

  - id: "device_2"
    position: [100.0, 300.0, 50.0]
    slots:
      - position: [10.0, 20.0, 50.0]
        occupied: False
        slot_id: 0
      - position: [20.0, 20.0, 50.0]
        occupied: False
        slot_id: 1
      - position: [30.0, 20.0, 50.0]
        occupied: False
        slot_id: 2

feeder:
  position: [0.0, 0.0, 50.0]
  approach_position: [0.0, 0.0, 100.0]

dropoff_grades:
  accepted:
    position: [500.0, 0.0, 50.0]
    capacity_threshold: 0.8
  rejected:
    position: [500.0, 100.0, 50.0]
    capacity_threshold: 0

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

grbl:
  port: /dev/ttyUSB0 # or debug
  baudrate: 115200

system_settings:
  speed: 100.0
  acceleration: 500.0
  safe_height: 20.0