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src/end_effectors/epick_config/config/suction_cups.yaml

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# ePick Suction Cup Profiles
#
# Each profile defines the physical dimensions of a suction cup configuration.
# The active profile is set in the beamline config (grippers.epick.cup_profile).
#
# Dimensions:
#   extension_length: Length of extension tube between ePick body and cup (meters)
#   extension_radius: Radius of extension tube (meters)
#   suction_cup_height: Height of the suction cup cylinder (meters)
#   suction_cup_radius: Radius of the suction cup (meters)

cups:
  pen_vacuum:
    description: "Custom extension nozzle + small cup (CMS beamline)"
    extension_length: 0.0345
    extension_radius: 0.001
    suction_cup_height: 0.002
    suction_cup_radius: 0.0035

  7mm_dia:
    description: "7mm diameter cup with short extension"
    extension_length: 0.018
    extension_radius: 0.006
    suction_cup_height: 0.006
    suction_cup_radius: 0.0035

  3mm_dia:
    description: "3mm diameter cup with short extension (small samples)"
    extension_length: 0.013
    extension_radius: 0.004
    suction_cup_height: 0.003
    suction_cup_radius: 0.0015

  3mm_dia_external_air:
    description: "3mm diameter cup with external-air blow-out adapter"
    extension_length: 0.030
    extension_radius: 0.009
    suction_cup_height: 0.003
    suction_cup_radius: 0.0015

  default:
    description: "Stock ePick suction cup (no extension)"
    extension_length: 0.0
    extension_radius: 0.0
    suction_cup_height: 0.020
    suction_cup_radius: 0.012