joint1:
  limit:
    lower: -1.396263
    upper: 3.490659
    velocity: 16.754666
    effort: 40

joint2:
  limit:
    lower: -1.745329
    upper: 1.745329
    velocity: 16.754666
    effort: 40

joint3:
  limit:
    lower: -1.570796
    upper: 1.570796
    velocity: 5.445426
    effort: 27

joint4:
  limit:
    lower: 0.0
    upper: 2.443461
    velocity: 5.445426
    effort: 27

joint5:
  limit:
    lower: -1.570796
    upper: 1.570796
    velocity: 20.943946
    effort: 7

joint6:
  limit:
    lower: -0.785398
    upper: 0.785398
    velocity: 20.943946
    effort: 7

joint7:
  limit:
    lower: -1.570796
    upper: 1.570796
    velocity: 20.943946
    effort: 7

# joint_gripper1:
#   limit:
#     lower: 0.0
#     upper: 0.043
#     velocity: 100
#     effort: 100

# joint_gripper2:
#   limit:
#     lower: 0.0
#     upper: 0.043
#     velocity: 100
#     effort: 100