joint_limits:

  joint_1:
    effort: 150
    velocity: 2.0
    lower: !degrees  -180
    upper: !degrees  180

  joint_2:
    effort: 150
    velocity: 2.0
    lower: !degrees  -90
    upper: !degrees  90

  joint_3:
    effort: 150
    velocity: 2.0
    lower: !degrees  -90
    upper: !degrees  90

  joint_4:
    effort: 50
    velocity: 2.0
    lower: !degrees  -180
    upper: !degrees  180

  joint_5:
    effort: 50
    velocity: 2.0
    lower: !degrees  -90
    upper: !degrees  90

  joint_6:
    effort: 25
    velocity: 2.0
    lower: !degrees  -180
    upper: !degrees  180