example.yaml

# The timezone of the robot location as a pytz timezone (https://pythonhosted.org/pytz/#helpers)
location_tz: America/Los_Angeles
# Connector log level (DEBUG, INFO, WARNING, ERROR, CRITICAL)
log_level: INFO
# The type of connector
connector_type: sick_tag_loc
# Update rate of the connector's main execution loop in Hz
update_freq: 5.0
# Account ID of the InOrbit account where the robots are registered
account_id: <inorbit_account_id>

# This is where you define custom fields specific to your robot's connector
connector_config:
  # SICK system
  sick_rtls_http_server_address: http://192.168.1.249/
  sick_rtls_rest_api_port: 8080
  sick_rtls_websocket_port: 8080
  # Translational transform between SICK Tag-LOC and InOrbit
  # The values can be obtained by running the `scripts/transform.py` script.
  # This is required to convert the SICK Tag-LOC coordinates to InOrbit coordinates.
  translation_x: 0.0
  translation_y: 0.0
  # Custom footprints
  # Each list item is a footprint definition that will be used to create a footprint
  # in InOrbit. See https://developer.inorbit.ai/docs for reference.
  # The `tags` field is a list of SICK tag IDs that will be associated with the footprint.
  # A robot level RobotFootprint configuration will be created for each tag ID.
  footprints:
    - tags: [tagId1, tagId7]
      spec:
        footprint:
        - x: -0.5
          y: -0.5
        - x: 0.3
          y: -0.5
        - x: 0.3
          y: 0.5
        - x: -0.5
          y: 0.5
        radius: 1
    - tags: [tagId3]
      spec:
        radius: 0.2