services:
  nuwa:
    base_url: http://localhost:8877
    timeout_s: 5.0
    api_key: null
  marker_finder:
    base_url: http://localhost:8082
    timeout_s: 5.0
  yolo:
    base_url: http://localhost:8879
    timeout_s: 10.0
  g1:
    base_url: http://localhost:8765
    timeout_s: 5.0
    write_timeout_s: 30.0
  h1:
    base_url: http://localhost:8767
    timeout_s: 5.0
    write_timeout_s: 30.0
  sam21:
    base_url: http://localhost:8002
    timeout_s: 10.0
  open3dmodel:
    base_url: http://localhost:8878
    timeout_s: 30.0
    api_key_env: OPEN3D_API_KEY
    max_stl_bytes: 20000000
  front_camera:
    base_url: http://192.168.123.99:8878
    timeout_s: 5.0
aruco:
  dictionary: DICT_4X4_50
  wrist_marker:
    id: 10
    size_mm: 40.0
robot:
  wrist_side: right
  active: g1
tab_right_arm:
  yolo_class: pestello
  yolo_conf_front: 0.4
  yolo_conf_wrist: 0.4
  move_offset_camera_mm:
    x: 100.0
    y: 0.0
    z: 100.0
  axis_sign_cam_to_wrist:
    x: 1
    y: -1
    z: -1
  camera_offset_wrist_mm:
    x: 0.0
    y: 0.0
    z: 100.0
  cluster_depth_window_m: 0.20
  max_step_m: 0.15
  z_floor_m: null
  home_pose:
    position:
    - 0.3
    - -0.2
    - 0.3
    rpy_deg:
    - 0
    - 0
    - 0
  custom_pose:
    position:
    - 0.3
    - -0.2
    - 0.3
    rpy_deg:
    - 0
    - 0
    - 0
grasp:
  approach_offset_m: 0.1
  pre_grasp_clearance_m: 0.05
  max_object_width_m: 0.08
  pointcloud_step: 1
  pointcloud_max_depth_mm: 2000
  use_sam21: true
  visual_servo:
    min_distance_m: 0.1
    step_fraction: 0.5
    wrist_marker_rvec:
    - 0
    - 0
    - 0
  find_model:
    sample_points: 2000
    min_fitness: 0.5
    max_rmse_mm: 5.0
calibration:
  min_samples: 5
  method: DANIILIDIS
  file: data/calibration.yaml
  samples_file: data/samples.json
chat:
  openrouter:
    base_url: https://openrouter.ai/api/v1
    model: anthropic/claude-sonnet-4.5
    timeout_s: 60.0
    max_tool_iterations: 8
    temperature: 0.1
    api_key_env: OPENROUTER_API_KEY
    referer: http://localhost:8890
    title: presa-mano
    user_prompt_addendum: Misure sempre in mm interi. Sii conciso ma riporta i risultati
      di OGNI tool che hai chiamato (anche solo in una riga compatta), non saltare
      informazioni rilevanti.