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