# 左臂 89 当前生效的参数。从旧仓库 config/site.yaml 抽出，去掉注释。
# 节点代码还在读旧的 site.yaml，这一份还没接上。

robot:
  sn: "Rizon4-063989"
  ip: "192.168.2.101"
  pc_ip: "192.168.2.50"
  iface: "enp4s0"
  tool_name: "tool10120938"
  tcp_xyz_m: [-0.0005, 0.0067, 0.2245]
  tcp_qwxyz: [1.0, 0.0, 0.0, 0.0]
  workpiece_surface_z_m: 0.022
  handeye_file: "handeye/results/89_eye_in_hand.yaml"
  ft_wrench_topic: "/Rizon4_063989/external_wrench_in_tcp"

camera:
  wrist_name: "d405_left"
  wrist_serial: "352122274408"
  wrist_ae_limit_us: 4000
  wrist_emitter: false
  overhead_width: 848
  overhead_height: 480
  overhead_fps: 15
  overhead_ae_limit_us: 8000

yolo:
  weights: "models/yolo/gongjian0929.onnx"
  backend: "onnx"
  conf: 0.10
  iou: 0.45
  imgsz: 640
  device: "0"
  half_precision: true
  min_conf: 0.12
  reacquire_conf: 0.55
  vision_hz: 30.0
  feature_mode: "keypoint"
  keypoint_index: 0
  keypoint_min_conf: 0.30
  keypoint_border_px: 6
  track_max_step_m: 0.04
  reacquire_far_px: 120
  reacquire_confirm_frames: 3
  jump_px: 400.0
  jump_z_m: 0.10
  z_ref_m: 0.22
  min_depth_m: 0.04
  max_depth_m: 0.55
  feature_min_range_m: 0.14
  meas_blend: 0.85
  camera_frame: "d405_color_optical_frame"

servo:
  control_hz: 100.0
  ee_z_m: 0.320
  hole_hover_z_m: 0.320
  min_ee_z_m: 0.20
  safe_z_m: 0.45
  z_min_m: 0.22
  xy_track: "hover"
  ee_vertical_down: true
  kp_xy: 4.20
  kd_xy: 0.20
  kp_z: 0.80
  kd_z: 0.35
  deadzone_m: 0.003
  v_max_xy: 0.45
  v_max_z: 0.04
  slow_far_m: 0.05
  v_slow_xy: 0.08
  a_max: 3.00
  workspace_xyz_min: [0.08, -0.55, 0.18]
  workspace_xyz_max: [0.85, 0.55, 0.65]
  wrist_align_sec: 0.5
  d435_handback_sec: 0.5
  jump_confirm_frames: 3
  traj_topic: "rizon_arm_controller/joint_trajectory"
  point_topic: "visual_servo/filtered_point"

hole:
  backend: "two_stage"
  conf: 0.25
  iou: 0.7
  imgsz: 640
  target_hole: "k1"
  align_tol_m: 0.00025
  align_max_iters: 12
  final_gap_mm: 2.0
  observe_gap_mm: 15.0
  hough_param2: 26
  hough_min_radius: 6
  hough_max_radius: 30
  expected_holes: 2

perception:
  source: "yolo"
  track_camera: "wrist"
  wrist_handoff_conf: 0.5
  overhead_min_depth_m: 0.25
  overhead_max_depth_m: 1.80
  overhead_oneshot_conf: 0.5
  overhead_cooldown_s: 1.5

gripper:
  port: "/dev/ttyUSB0"
  baud: 115200
  slave_id: 1
  stroke_mm: 20.0
  force_pct: 20
  speed_pct: 50
  auto_init: false

tactile:
  model: "dd03"
  left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0"
  right_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0"
  baseline_seconds: 2.0
  filter_alpha: 0.25
  target_fps: 30.0
  publish_hz: 20.0