joint_limits:

  arm_base_joint:
    effort: 50
    velocity: 1.0
    lower: 0
    upper: 1.5

  arm_link_1_joint:
    effort: 50
    velocity: 1.0
    lower: 0
    upper: 0.6

  arm_link_2_joint:
    effort: 50
    velocity: 1.0
    lower: !degrees  -95
    upper: !degrees  95

  arm_link_3_joint:
    effort: 50
    velocity: 1.0
    lower: !degrees  -195
    upper: !degrees  195

  gripper_base_joint:
    effort: 50
    velocity: 1.0
    lower: !degrees  -95
    upper: !degrees  95


  gripper_right_joint:
    effort: 50
    velocity: 1.0
    lower: 0
    upper: 0.03

  gripper_left_joint:
    effort: 50
    velocity: 1.0
    lower: 0
    upper: 0.03