mtc_node:
  ros__parameters:
    # General parameters
    execute: false
    max_solutions: 10
    spawn_table: true

    # Controller parameters
    controller_names: 
      - "arm_controller"
      - "grip_action_controller"

    # Robot configuration parameters
    arm_group_name: "arm"
    gripper_group_name: "gripper"
    gripper_frame: "link6_flange"
    gripper_open_pose: "open"
    gripper_close_pose: "half_closed"
    arm_home_pose: "home"

    # Scene frame parameters
    world_frame: "base_link"

    # Table parameters
    table_name: "table"
    table_reference_frame: "base_link"
    table_dimensions: [0.10, 0.20, 0.03]
    table_pose: [0.22, 0.12, 0.0, 0.0, 0.0, 0.0]

    # Object parameters
    object_name: "object"
    object_reference_frame: "base_link"
    object_dimensions: [0.35, 0.0125] 
    object_pose: [0.22, 0.12, 0.0, 0.0, 0.0, 0.0]

    # Grasp and place parameters
    grasp_frame_transform: [0.0, 0.0, 0.096, 1.5708, 0.0, 0.0]
    place_pose: [-0.183, -0.14, 0.0, 0.0, 0.0, 0.0]
    place_surface_offset: -0.03

    # Motion planning parameters
    approach_object_min_dist: 0.0015
    approach_object_max_dist: 0.3
    lift_object_min_dist: 0.005
    lift_object_max_dist: 0.3
    lower_object_min_dist: 0.005
    lower_object_max_dist: 0.4

    # Timeout parameters
    move_to_pick_timeout: 5.0
    move_to_place_timeout: 10.0

    # Grasp generation parameters
    grasp_pose_angle_delta: 0.2618  # Approximately pi/12 in radians
    grasp_pose_max_ik_solutions: 8
    grasp_pose_min_solution_distance: 1.0

    # Place generation parameters
    place_pose_max_ik_solutions: 2

    # Cartesian planner parameters
    cartesian_max_velocity_scaling: 1.0
    cartesian_max_acceleration_scaling: 1.0
    cartesian_step_size: 0.00025

    # Direction vector parameters
    approach_object_direction_z: 1.0
    lift_object_direction_z: 1.0
    lower_object_direction_z: -1.0
    retreat_direction_z: -1.0

    # Other parameters
    place_pose_z_offset_factor: 0.5
    retreat_min_distance: 0.025
    retreat_max_distance: 0.25