{
    "bridge": {
        "iface":             "eth0",
        "timeout":           10.0,
        "cooldown":          8.0,
        "release_after":     0.5,
        "audio_lead_s":      0.3,
        "quick_fail_window": 8.0,
        "trigger_poll_hz":   50.0
    },
    "tts": {
        "mode":             "tts_only",
        "speaker_id":       2,
        "volume":           100,
        "seconds_per_char": 0.12,
        "min_seconds":      2.5,
        "queue_max":        4,
        "busy_factor": {
            "min":  1.0,
            "max":  2.5,
            "up":   1.20,
            "down": 0.97
        }
    },
    "phrases": {
        "safe":           "Safe to enter. Have a good day.",
        "unsafe_generic": "Please stop. Wear your proper safety equipment.",
        "unsafe_missing": "Please stop. Wear your proper safety equipment. You are missing {items}.",
        "deactivated":    "Saqr deactivated.",
        "ready":          "Saqr is running. Press R2 plus X to start.",
        "no_camera":      "Camera not connected. Please plug in the camera and try again."
    },
    "arm": {
        "reject_action":  "reject",
        "release_action": "release arm"
    },
    "motion": {
        "enabled":     true,
        "unsafe_file": "adnoc1.jsonl",
        "home_file":   "arm_home.jsonl",
        "speed":       1.0
    },
    "deploy": {
        "robot_ip":   "192.168.123.164",
        "robot_user": "unitree",
        "robot_env":  "marcus",
        "remote_dir": "/home/unitree/Saqr",
        "ssh_opts":   "-o StrictHostKeyChecking=no -o ConnectTimeout=10"
    },
    "start_saqr": {
        "conda_root":  "$HOME/miniconda3",
        "conda_env":   "marcus",
        "dds_iface":   "eth0",
        "saqr_source": "realsense",
        "stream_port": 8080
    }
}