# Hard limits for the constrained MoveItPy adapter.  They are deliberately
# separate from the reference executor: the graph executor never falls back to
# an unconstrained MoveToPose goal.
schema_version: 1

joint7:
  # The neutral work pose has joint_7 = 0 rad.  The first-stage hard corridor
  # is +/-90 degrees around it; the -180 degree IK branch is forbidden.
  work_reference_rad: 0.0
  corridor_rad: 1.5707963267948966

tcp:
  # The working tip points down; a working motion may tilt at most 10 degrees.
  max_tilt_deg: 10.0

trajectory:
  # A near-pi jump indicates an IK branch change.  Reject it before execution.
  max_joint_jump_rad: 0.6
  max_cartesian_jump_m: 0.15
  # The planned first point must match the measured joints used as IK seed.
  start_tolerance_rad: 0.35

freshness:
  joint_state_max_age_sec: 1.0
  scene_max_age_sec: 2.0