# Defaults for `ros2 launch iiwa_llm_plan_executor planner.launch.py`.
# Qwen3 is called outside this project; this file only configures Webots and
# the two new nodes.
start_delay_sec: 3.0
scene_max_age_sec: 2.0
max_steps: 512
scene_freshness_sec: 2.0
close_inspection_objects:
  - cap
top_camera_topic: /d455_top/image_raw/image_color
hand_camera_topic: /camera/color/image_color
frame_timeout_sec: 2.0
trace_dir: ~/.ros/iiwa_llm_plan_executor/runs
planning_group: iiwa_arm
pose_link: tcp