g20_thumb_calibration:
  ros__parameters:
    command_topic: /g20/cb_left_hand_control_cmd
    state_topic: /g20/cb_left_hand_state
    info_topic: /g20/cb_left_hand_info
    camera_info_topic: /camera/camera/color/camera_info
    image_topic: /camera/camera/color/image_rect
    detections_topic: /apriltag/detections
    tf_topic: /tf
    # Use PnP translations as 3-D Tag centres and fit the directly observable
    # root/MCP circles. The passive IP output follows the G20 URDF mimic
    # relation below; its small residual T5 circle is diagnostic only. PnP
    # orientations remain auxiliary quality checks. Command 255 is zero.
    angle_estimation_mode: trajectory_center_3d
    passive_ip_multiplier: 1.02
    publish_debug_image: false
    debug_max_rate_hz: 10.0
    debug_scale: 0.5

    # Default: send one end-to-end command per direction and pair every valid
    # AprilTag frame with the timestamp-interpolated actual G20 state.
    scan_mode: continuous
    continuous_motion_mode: endpoint
    repetitions: 1
    # Used only by point-mode fallback and validation approach offsets.
    command_step: 8
    auto_start_tip: true
    maximum_state_image_skew_ms: 150.0
    continuous_endpoint_tolerance_u8: 2.0
    continuous_endpoint_hold_seconds: 1.0
    continuous_timeout_seconds: 90.0
    continuous_invalid_timeout_seconds: 3.0
    continuous_minimum_valid_frames: 40
    continuous_minimum_state_span_u8: 240.0
    continuous_minimum_bins: 32
    continuous_maximum_bin_gap: 16
    # Keep the responsive firmware speed, but pace it through the same
    # 8-unit grid without waiting for static image captures at each point.
    continuous_segment_minimum_seconds: 0.1
    continuous_segment_timeout_seconds: 5.0
    continuous_prepare_timeout_seconds: 30.0
    preflight_frames: 150
    minimum_detection_rate: 0.95
    minimum_detection_hz: 15.0
    maximum_hamming: 0
    minimum_decision_margin: 30.0
    # Trial threshold for small/far tags (historically observed at 32-38 px).
    # Final acceptance is still guarded by static RMS and random validation.
    minimum_edge_pixels: 30.0
    # Current 30 px tags measure about 0.50-0.53 deg RMS while stationary.
    # Keep a small practical margin here; final random validation stays at
    # MAE <= 2 deg and P95 <= 3 deg.
    # Match the preflight noise gate to the 3 deg robust capture gate below.
    # The final calibration is still accepted only by the independent
    # validation MAE/P95 limits, not by this readiness check.
    maximum_static_std_deg: 3.0
    pose_outlier_threshold_deg: 5.0
    minimum_pose_inlier_rate: 0.90
    pnp_minimum_valid_rate: 0.95
    # 30-38 px tags are usable, but only if IPPE gives a tight image fit and
    # a pose continuous with the preceding frame.
    pnp_maximum_reprojection_error_px: 1.5
    # All four tags keep a temporally continuous IPPE solution throughout the
    # complete session. With 30 px planar tags, tiny reprojection differences
    # do not reliably identify the physical branch and previously caused
    # stationary T0 to flip by about 25 deg between scan and validation.
    pnp_reprojection_tie_px: 1.5
    pnp_maximum_pose_jump_deg: 35.0
    pnp_maximum_translation_jump_m: 0.04
    pnp_maximum_tag_tilt_deg: 75.0
    # Preserve the branch through short detector gaps. A continuous sweep
    # already pauses after 3 s without valid synchronised observations.
    pnp_tracker_reset_seconds: 5.0
    # Select all four IPPE branches as one kinematic chain. This prevents T4
    # and T5 from independently changing mirror branches at the turnaround or
    # during validation while still allowing real joint motion frame-to-frame.
    pnp_group_relative_rotation_scale_deg: 5.0
    pnp_group_relative_translation_scale_m: 0.01
    # Reprojection remains a tie-breaker; temporal joint-chain continuity is
    # deliberately dominant for the current 30-38 px planar tags.
    pnp_group_reprojection_weight: 0.05
    # Whole-sweep branch review. During a root sweep T3/T4/T5 should retain
    # rigid relative poses; during a tip sweep T0/T3 should remain fixed.
    pnp_trajectory_reprojection_scale_px: 0.1
    pnp_rigid_rotation_scale_deg: 5.0
    pnp_rigid_translation_scale_m: 0.01
    # Judge the complete rigid trajectory against a robust sweep reference.
    # Reject persistent drift at P95; keep a looser hard maximum so one noisy
    # 30 px endpoint frame does not discard an otherwise sound sweep.
    pnp_rigid_p95_accepted_drift_deg: 8.0
    pnp_rigid_maximum_accepted_drift_deg: 15.0
    # Centre-trajectory mode judges branch consistency by the Euclidean
    # distance between rigid Tag centres.  This is deliberately independent
    # of the noisy planar-Tag orientation returned by PnP.
    pnp_rigid_p95_accepted_distance_drift_m: 0.003
    pnp_rigid_maximum_accepted_distance_drift_m: 0.006

    # Three-dimensional centre-trajectory geometry gates. T0 stays on the
    # palm as the translation anchor; T3/T4/T5 are the moving thumb points.
    trajectory_maximum_plane_rms_m: 0.004
    trajectory_maximum_radial_rms_m: 0.004
    trajectory_minimum_radius_m: 0.005
    trajectory_minimum_arc_deg: 15.0
    trajectory_maximum_root_role_disagreement_deg: 5.0
    trajectory_maximum_anchor_drift_m: 0.005
    trajectory_static_translation_outlier_m: 0.005
    trajectory_maximum_static_translation_rms_m: 0.002

    # Static captures are now used only for sweep preparation and validation.
    stable_frames: 5
    capture_frames: 8
    minimum_settle_seconds: 0.4
    # This only confirms that the hand has stopped before an 8-frame robust
    # median capture. The passive T4->T5 pair currently has about 2.3 deg
    # peak spread over five 30 px PnP frames, while its two IPPE branches are
    # separated by about 5.5 deg. A 3 deg gate accepts measurement jitter but
    # still rejects a branch change. Final MAE/P95 limits remain unchanged.
    maximum_stable_spread_deg: 3.0
    # In centre mode the stationary capture gate is expressed in metres.
    maximum_stable_translation_spread_m: 0.003
    settle_timeout_seconds: 10.0
    capture_timeout_seconds: 10.0

    validation_command_count: 5
    # The backlash approach point only waits for feedback to reach the target;
    # it no longer performs an unnecessary image capture.
    validation_approach_minimum_seconds: 0.2
    validation_approach_timeout_seconds: 10.0
    validation_position_tolerance_u8: 2.0
    validation_seed: 20260727
    maximum_validation_mae_deg: 2.0
    maximum_validation_p95_deg: 3.0
    maximum_coupling_drift_deg: 2.0
    minimum_ip_coupling_r_squared: 0.98
    maximum_monotonic_correction_deg: 2.0
    maximum_hysteresis_deg: 5.0