g20_thumb_cmc_pitch_zero:
  ros__parameters:
    t0_id: 0
    t3_id: 1
    joint_name: thumb_cmc_pitch
    motor_index: 0
    zero_command_u8: 255
    measure_travel: false
    baseline_command_u8:
      [255, 255, 255, 255, 255, 255, 193, 148, 105, 42,
       245, 255, 255, 255, 255, 255, 255, 255, 255, 255]
    repetitions: 3
    zero_capture_frames: 30
    # Each round sends one 255->64 endpoint command and one 64->255 return
    # command.  All valid T3-minus-T0 centres observed during both motions are
    # state-binned and fitted to one image-plane circle.
    trajectory_command_u8: 64
    trajectory_bin_size_u8: 8.0
    trajectory_minimum_frames: 45
    trajectory_minimum_bins: 18
    trajectory_minimum_state_span_u8: 160.0
    trajectory_minimum_radius_px: 20.0
    trajectory_minimum_arc_deg: 20.0
    trajectory_maximum_radial_rms_px: 2.0
    trajectory_maximum_p95_radial_error_px: 3.5
    trajectory_endpoint_settle_seconds: 0.3
    trajectory_timeout_seconds: 30.0
    settle_seconds: 0.5
    move_timeout_seconds: 20.0
    capture_timeout_seconds: 15.0
    state_tolerance_u8: 2.0
    preflight_frames: 60
    minimum_detection_rate: 0.95
    maximum_hamming: 0
    minimum_decision_margin: 30.0
    minimum_edge_pixels: 40.0
    maximum_static_position_rms_px: 1.5
    maximum_round_difference_deg: 1.0
    maximum_return_error_deg: 1.0
    # Zero direction is always T3 centre -> fitted circle centre. T3's printed
    # orientation and corner +x direction are deliberately not used.
    maximum_zero_radial_error_px: 4.0
    # Detect a long physical table/reference edge in the lower image. The red
    # target and blue detected line are display-only aids for manual alignment;
    # they never block preflight or the start service.
    camera_alignment_enabled: true
    camera_alignment_reference_y_ratio: 0.90
    camera_alignment_roi_y_min_ratio: 0.55
    camera_alignment_roi_y_max_ratio: 0.98
    camera_alignment_minimum_line_length_ratio: 0.30
    camera_alignment_max_candidate_angle_deg: 15.0
    camera_alignment_max_angle_deg: 0.5
    camera_alignment_max_vertical_offset_px: 12.0
    camera_alignment_required_frames: 10
    camera_alignment_minimum_detection_rate: 0.8
    camera_alignment_max_age_seconds: 1.0
    publish_debug_image: true
    debug_max_rate_hz: 10.0
    debug_scale: 0.75