soft_arm_simulator:
  ros__parameters:
    # --- 机器人物理参数 ---
    num_sections: 3           # PCC 段数
    section_length: 0.240     # 每段长度 (m)
    disks_per_section: 3      # 每段的圆盘数量
    disk_radius: 0.033        # 绳索孔距圆心的半径 (m) (用于运动学计算)
    
    # --- 视觉参数 ---
    visual_disk_radius: 0.04  # 圆盘实际显示半径 (m) (可视化的红色圆盘大小)
    visual_disk_thickness: 0.005 # 圆盘厚度 (m)
    
    # --- 仿真参数 ---
    sim_rate: 30.0            # 仿真频率 (Hz)