"robot_ip_address": "172.16.0.2"
"robot_mode": "PositionControl"
"robot_port": 5007
"robot_speed": 20.0
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
"force_upper_limits_scaling_factor": 4.0
"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0]