robotiq_2f_140_gripper:
  ros__parameters:
    # Physical limits
    min_position: 0.0     # Meters (fully closed)
    max_position: 0.14    # Meters (fully open)
    min_speed: 0.02       # Meters per second
    max_speed: 0.15       # Meters per second
    min_force: 20.0       # Newtons
    max_force: 235.0      # Newtons