# 左臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。

single_arm_velocity_teleop:
  ros__parameters:
    arm_name: left_rm75
    controller_topic: /xr/left_controller
    control_rate_hz: 90.0
    command_timeout_sec: 0.12

    # 手柄相对位移 -> 目标 TCP 位姿；随后做目标低通和单帧步长限制。
    scale: 1.0
    deadband_m: 0.001
    target_filter_alpha: 0.65
    target_filter_alpha_fast: 0.9
    target_filter_fast_threshold_m: 0.03
    max_linear_speed: 0.3
    enable_position_axes: [true, true, true]
    current_pose_poll_hz: 10.0

    workspace_min: [-0.70, -0.60, 0.10]
    workspace_max: [0.70, 0.40, 0.70]
    cyl_radius_limit: [0.20, 0.60]
    low_z_threshold: 0.20
    low_z_min_radius: 0.21

    # 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: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
    robot_ip: 192.168.192.18
    robot_port: 8080
    avoid_singularity: 0
    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: false
    initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
    initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
    init_move_speed: 20
    debug_topic_prefix: /xr_rm