joint_limits:
  shoulder_pan_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 730.0
    max_position: !degrees  360.0
    max_velocity: !degrees  120.0
    min_position: !degrees -360.0
  shoulder_lift_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 730.0
    max_position: !degrees  360.0
    max_velocity: !degrees  120.0
    min_position: !degrees -360.0
  elbow_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 430.0
    max_position: !degrees  180.0
    max_velocity: !degrees  150.0
    min_position: !degrees -180.0
  wrist_1_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 100.0
    max_position: !degrees  360.0
    max_velocity: !degrees  210.0
    min_position: !degrees -360.0
  wrist_2_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 100.0
    max_position: !degrees  360.0
    max_velocity: !degrees  210.0
    min_position: !degrees -360.0
  wrist_3_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 100.0
    max_position: !degrees  360.0
    max_velocity: !degrees  210.0
    min_position: !degrees -360.0