# RM75 Right-Arm High-Follow YAML Defaults Implementation Plan

> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.

**Goal:** Make right-arm single-arm debugging default to RealMan high-follow complete passthrough for phase-two testing.

**Architecture:** Change only the existing right-arm YAML parameters. Keep launch, left-arm, dual-arm, speed limits, safety limits, timeouts, and stop behavior unchanged.

**Tech Stack:** ROS2 Humble, YAML, pytest, colcon

---

### Task 1: Change right-arm CANFD defaults

**Files:**
- Modify: `xr_rm_bringup/config/right_arm_rm75.yaml`

- [ ] **Step 1: Run a failing configuration assertion**

Run a Python YAML assertion requiring `follow is True` and
`canfd_trajectory_mode == 0`.

Expected: FAIL because the current values are `false` and `2`.

- [ ] **Step 2: Apply the minimal configuration change**

```yaml
follow: true
canfd_trajectory_mode: 0
```

- [ ] **Step 3: Verify configuration and regressions**

Run the same YAML assertion and expect PASS. Then run:

```bash
source /opt/ros/humble/setup.bash
python3 -m pytest -q src/xr_rm_teleop/test
colcon build --symlink-install --executor sequential
```

Expected: all tests and all four workspace packages pass.