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