joint1:
  limit:
    lower:      -2.7437
    upper:       2.7437
    velocity:    2.62
    effort:     87.0

joint2:
  limit:
    lower:     -1.7837
    upper:      1.7837
    velocity:   2.62
    effort:    87.0

joint3:
  limit:
    lower:     -2.9007
    upper:      2.9007
    velocity:   2.62
    effort:    87.0

joint4:
  limit:
    lower:     -3.0421
    upper:     -0.1518
    velocity:   2.62
    effort:    87.0

joint5:
  limit:
    lower:     -2.8065
    upper:      2.8065
    velocity:   5.26
    effort:    12.0

joint6:
  limit:
    lower:      0.5445
    upper:      4.5169
    velocity:   4.18
    effort:    12.0

joint7:
  limit:
    lower:     -3.0159
    upper:      3.0159
    velocity:   5.26
    effort:    12.0