/robot_controller:
  ros__parameters:
    lite6_x_limit_lower: 0.1
    lite6_x_limit_upper: 0.305
    lite6_y_limit_lower: -0.1475
    lite6_y_limit_upper: 0.1475

    lite6_z_lift_amount: 0.01
    lite6_z_offset: 0.201942

    lite6_blend_radius: 0.0
    lite6_max_velocity_scaling_factor: 1.0
    lite6_max_acceleration_scaling_factor: 0.9

    axidraw_accel: 100
    axidraw_const_speed: false
    axidraw_pen_delay_down: 0
    axidraw_pen_delay_up: 0
    axidraw_pen_pos_down: 40
    axidraw_pen_pos_up: 60
    axidraw_pen_rate_lower: 50
    axidraw_pen_rate_raise: 75
    axidraw_speed_pendown: 100
    axidraw_speed_penup: 100