From 0c71e5941d502e50c879bd47e50e845bd1f99a57 Mon Sep 17 00:00:00 2001 From: misko Date: Sat, 22 Feb 2025 21:47:22 -0800 Subject: [PATCH] update rover configs for collection --- .../rover/rover_v3.1/drone_run.sh | 4 +- latest_configs/feb11_paired.yml | 10 +-- latest_configs/feb11_single.yaml | 2 +- ...0p02_gains_vehicle_0p2dropout_nobounce.yml | 90 +++++++++++++++++++ latest_configs/feb16_single.yaml | 77 ++++++++++++++++ latest_configs/feb16_single_wd0p02.yaml | 77 ++++++++++++++++ latest_configs/feb16_single_wd0p02_gains.yaml | 78 ++++++++++++++++ .../feb16_single_wd0p02_gains_vehicle.yaml | 79 ++++++++++++++++ ...ingle_wd0p02_gains_vehicle_0p2dropout.yaml | 79 ++++++++++++++++ ...p02_gains_vehicle_0p2dropout_nobounce.yaml | 79 ++++++++++++++++ latest_configs/jan14_paired_debug.yml | 1 + .../rover_receiver_config_pi_3mhz_47mm.yaml | 64 +++++++++++++ 12 files changed, 632 insertions(+), 8 deletions(-) create mode 100644 latest_configs/feb16_paired_wd0p02_gains_vehicle_0p2dropout_nobounce.yml create mode 100644 latest_configs/feb16_single.yaml create mode 100644 latest_configs/feb16_single_wd0p02.yaml create mode 100644 latest_configs/feb16_single_wd0p02_gains.yaml create mode 100644 latest_configs/feb16_single_wd0p02_gains_vehicle.yaml create mode 100644 latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout.yaml create mode 100644 latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout_nobounce.yaml create mode 100644 spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml diff --git a/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh b/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh index 5690765..9244ff5 100755 --- a/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh +++ b/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh @@ -60,7 +60,7 @@ echo "performance" | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_gover if [ ${rover_id} -eq 1 ]; then routine=diamond - config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_43mm.yaml + config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml n=3000 expected_radios=2 elif [ ${rover_id} -eq 2 ]; then @@ -71,7 +71,7 @@ elif [ ${rover_id} -eq 2 ]; then expected_radios=1 elif [ ${rover_id} -eq 3 ]; then routine=center - config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_35mm.yaml + config=${repo_root}/spf/rover_configs/rover_receiver_config_pi_3mhz_43mm.yaml n=3000 expected_radios=2 else diff --git a/latest_configs/feb11_paired.yml b/latest_configs/feb11_paired.yml index eb646c6..4870b60 100644 --- a/latest_configs/feb11_paired.yml +++ b/latest_configs/feb11_paired.yml @@ -4,12 +4,12 @@ datasets: empirical_individual_radio: false empirical_symmetry: true flip: false - double_flip: false + double_flip: true precompute_cache: /mnt/md2/cache/precompute_cache_3p5/ scatter: continuous scatter_k: 21 shuffle: true - sigma: 0.05 + sigma: 0.1 skip_qc: true snapshots_adjacent_stride: 1 train_snapshots_per_session: 1 @@ -17,9 +17,9 @@ datasets: random_snapshot_size: False snapshots_stride: 1 train_paths: - - /mnt/md2/splits/feb9_train_nosig.txt + - /mnt/md2/splits/feb11_train_nosig.txt val_paths: - - /mnt/md2/splits/feb9_val_nosig.txt + - /mnt/md2/splits/feb11_val_nosig.txt val_holdout_fraction: 0.2 val_subsample_fraction: 0.2 workers: 30 @@ -71,7 +71,7 @@ model: act: leaky optim: amp: false - checkpoint: /home/mouse9911/gits/spf/checkpoints/feb9/single_checkpoints_windowedbeamformer_nosig_3p5_rotatedist_x2_freq_spac_newloss_nonorm/best.pth + checkpoint: /home/mouse9911/gits/spf/checkpoints/feb11/single/best.pth checkpoint_every: 5000 device: cuda direct_loss: false diff --git a/latest_configs/feb11_single.yaml b/latest_configs/feb11_single.yaml index 0977c07..edb56fc 100644 --- a/latest_configs/feb11_single.yaml +++ b/latest_configs/feb11_single.yaml @@ -67,7 +67,7 @@ optim: dtype: torch.float32 epochs: 100 head_start: 0 - learning_rate: 0.0002 + learning_rate: 0.0001 # started at 0.0002 loss: mse output: /home/mouse9911/gits/spf/checkpoints/feb11/single resume_step: 0 diff --git a/latest_configs/feb16_paired_wd0p02_gains_vehicle_0p2dropout_nobounce.yml b/latest_configs/feb16_paired_wd0p02_gains_vehicle_0p2dropout_nobounce.yml new file mode 100644 index 0000000..2a01307 --- /dev/null +++ b/latest_configs/feb16_paired_wd0p02_gains_vehicle_0p2dropout_nobounce.yml @@ -0,0 +1,90 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: false + double_flip: true + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig_noroverbounce.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig_noroverbounce.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 24 + segmentation_version: 3.5 +global: + vehicle_type_input: true + gains_input: True + windowed_beamformer_input: true + signal_matrix_input: false + beamformer_input: false + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + load_single: true + name: pairedbeamformer + norm: layer + single: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.2 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains_vehicle_0p2dropout_noroverbounce/best.pth + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 60 + head_start: 0 + learning_rate: 0.0002 + loss: mse + resume_step: 0 + output: /home/mouse9911/gits/spf/checkpoints/feb16/paired_checkpoints_windowedbeamformer_nosig_3p5_randx_wd0p02_gains_vehicle_0p2dropout_noroverbounce + save_on: val/paired_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.0 diff --git a/latest_configs/feb16_single.yaml b/latest_configs/feb16_single.yaml new file mode 100644 index 0000000..e3793eb --- /dev/null +++ b/latest_configs/feb16_single.yaml @@ -0,0 +1,77 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 30 + segmentation_version: 3.5 +global: + beamformer_input: false + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.0 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.2 diff --git a/latest_configs/feb16_single_wd0p02.yaml b/latest_configs/feb16_single_wd0p02.yaml new file mode 100644 index 0000000..3cbf23a --- /dev/null +++ b/latest_configs/feb16_single_wd0p02.yaml @@ -0,0 +1,77 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 30 + segmentation_version: 3.5 +global: + beamformer_input: false + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.0 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02 + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.02 diff --git a/latest_configs/feb16_single_wd0p02_gains.yaml b/latest_configs/feb16_single_wd0p02_gains.yaml new file mode 100644 index 0000000..e4637be --- /dev/null +++ b/latest_configs/feb16_single_wd0p02_gains.yaml @@ -0,0 +1,78 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 24 + segmentation_version: 3.5 +global: + beamformer_input: false + gains_input: True + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.0 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.02 diff --git a/latest_configs/feb16_single_wd0p02_gains_vehicle.yaml b/latest_configs/feb16_single_wd0p02_gains_vehicle.yaml new file mode 100644 index 0000000..c81a0ce --- /dev/null +++ b/latest_configs/feb16_single_wd0p02_gains_vehicle.yaml @@ -0,0 +1,79 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 24 + segmentation_version: 3.5 +global: + beamformer_input: false + vehicle_type_input: true + gains_input: True + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.0 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains_vehicle + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.002 diff --git a/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout.yaml b/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout.yaml new file mode 100644 index 0000000..4929ece --- /dev/null +++ b/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout.yaml @@ -0,0 +1,79 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 24 + segmentation_version: 3.5 +global: + beamformer_input: false + vehicle_type_input: true + gains_input: True + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.2 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains_vehicle_0p2dropout + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.002 diff --git a/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout_nobounce.yaml b/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout_nobounce.yaml new file mode 100644 index 0000000..a30545f --- /dev/null +++ b/latest_configs/feb16_single_wd0p02_gains_vehicle_0p2dropout_nobounce.yaml @@ -0,0 +1,79 @@ +datasets: + batch_size: 256 + empirical_data_fn: /home/mouse9911/gits/spf/empirical_dists/full.pkl + empirical_individual_radio: false + empirical_symmetry: true + flip: true + double_flip: false + precompute_cache: /mnt/md2/cache/precompute_cache_3p5_chunk1/ + scatter: continuous + scatter_k: 21 + shuffle: true + sigma: 0.1 + skip_qc: true + snapshots_adjacent_stride: 1 + train_snapshots_per_session: 1 + val_snapshots_per_session: 1 + random_snapshot_size: False + snapshots_stride: 1 + train_paths: + - /mnt/md2/splits/feb16_train_nosig_noroverbounce.txt + val_paths: + - /mnt/md2/splits/feb16_val_nosig_noroverbounce.txt + val_holdout_fraction: 0.2 + val_subsample_fraction: 0.2 + workers: 24 + segmentation_version: 3.5 +global: + beamformer_input: false + vehicle_type_input: true + gains_input: True + windowed_beamformer_input: true + empirical_input: false + n_radios: 2 + nthetas: 65 + phase_input: false + rx_spacing_input: true + frequency_input: true + signal_matrix_input: false + seed: 10 +logger: + log_every: 100 + name: wandb + plot_every: 15000 + project: 2024_nov22_single_paired_multi +model: + block: true + bn: true + depth: 4 + detach: true + dropout: 0.0 + hidden: 1024 + input_dropout: 0.2 + name: beamformer + norm: layer + windows_stats_net: + dropout: 0.25 + windowed_beamformer: true + normalize_windowed_beamformer: false + hidden_channels: 128 + outputs: 12 + n_layers: 8 + norm: false + act: leaky +optim: + amp: false + checkpoint_every: 5000 + device: cuda + direct_loss: false + dtype: torch.float32 + epochs: 100 + head_start: 0 + learning_rate: 0.0001 # started at 0.0002 + loss: mse + output: /home/mouse9911/gits/spf/checkpoints/feb16/single_wd0p02_gains_vehicle_0p2dropout_noroverbounce + resume_step: 0 + save_on: val/single_loss + scheduler_step: 12 + val_every: 10000 + weight_decay: 0.002 diff --git a/latest_configs/jan14_paired_debug.yml b/latest_configs/jan14_paired_debug.yml index a21c306..c0d2833 100644 --- a/latest_configs/jan14_paired_debug.yml +++ b/latest_configs/jan14_paired_debug.yml @@ -26,6 +26,7 @@ datasets: segmentation_version: 3.5 global: windowed_beamformer_input: true + gains_input: True signal_matrix_input: false beamformer_input: false empirical_input: false diff --git a/spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml b/spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml new file mode 100644 index 0000000..884877d --- /dev/null +++ b/spf/rover_configs/rover_receiver_config_pi_3mhz_47mm.yaml @@ -0,0 +1,64 @@ +# Two receivers each with two antennas +# When a receiver is brought online it performs +# phase calibration using an emitter equidistant from +# both receiver antenna +# The orientation of the receiver is described in +# multiples of pi +emitter: + type: external + +distance-finder: + trigger: 2 + echo: 3 + +boundary: 'auto' +#USB PORTS +#USB 2 (Radio A) | USB 1 (Radio B) +receivers: + #radio A + - receiver-port: 2 + theta-in-pis: 0 + antenna-spacing-m: 0.043 # 50.75 mm + nelements: 2 + array-type: linear + rx-gain-mode: slow_attack + rx-buffers: 4 + rx-gain: -3 + buffer-size: 524288 # 2**12 + f-intermediate: 100000 #1.0e5 + f-carrier: 5.866e+9 #f-carrier: 2.4671e+9 #2.5e9 + f-sampling: 30.0e+6 # 16.0e6 + bandwidth: 3.0e+5 #3.0e5 + #radio B + - receiver-port: 1 + theta-in-pis: 0.5 + antenna-spacing-m: 0.043 # 50.75 mm + nelements: 2 + array-type: linear + rx-gain-mode: slow_attack + rx-buffers: 4 + rx-gain: -3 + buffer-size: 524288 # 2**12 + f-intermediate: 100000 #1.0e5 + f-carrier: 5.866e+9 #f-carrier: 2.4671e+9 #2.5e9 + f-sampling: 30.0e+6 # 16.0e6 + bandwidth: 3.0e+5 #3.0e5 + +n-thetas: 65 +n-records-per-receiver: 600000 +width: 4000 +calibration-frames: 800 +routine: null + +drone-uri: serial + +dry-run: False + +data-version: 4 + +seconds-per-sample: 0.5 + + +collector: + type: "rover" + version: "3.1" \ No newline at end of file