# 右臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。

single_arm_velocity_teleop:
  ros__parameters:
    arm_name: right_rm75
    controller_topic: /xr/right_controller
    control_rate_hz: 90.0
    command_timeout_sec: 0.12

    scale: 0.7
    deadband_m: 0.001
    target_filter_alpha: 0.65
    target_filter_alpha_fast: 0.9
    target_filter_fast_threshold_m: 0.05
    max_linear_speed: 0.15
    enable_position_axes: [true, true, true]
    enable_orientation_control: true
    enable_orientation_axes: [true, true, true]
    orientation_deadband_rad: 0.005
    orientation_filter_alpha: 0.65
    max_orientation_speed: 0.5
    current_pose_poll_hz: 10.0

    workspace_min: [-0.60, -0.60, 0.10]
    workspace_max: [0.60, 0.70, 0.55]
    cyl_radius_limit: [0.10, 0.70]
    low_z_threshold: 0.1
    low_z_min_radius: 0.1

    # 映射关系：机器人位移增量 = [手柄y, 手柄z, 手柄x]。
    xr_to_robot_matrix: [0.0, 1.0, 0.0,
                         0.0, 0.0, 1.0,
                         1.0, 0.0, 0.0]

    use_mock: false
    mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
    robot_ip: 192.168.192.19
    robot_port: 8080
    avoid_singularity: 1
    frame_type: 1
    follow: false
    canfd_trajectory_mode: 2
    canfd_radio: 0
    configure_safety_limits: true
    max_line_speed: 1.0
    max_angular_speed: 1.5
    max_line_acc: 1.0
    max_angular_acc: 2.0
    joint_max_speed: 180.0
    joint_max_acc: 180.0
    move_to_initial_pose_on_connect: true
    initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
    init_move_speed: 20
    debug_topic_prefix: /xr_rm