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- 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
- 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: 0.14
- max_pressure_bar: 0.7
- max_pump_time_s: 20
- gripping_threshold_bar: 0.7
- 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
|
