robotiq_2f_gripper:
  # Physical limits
  min_position: 0.0     # Meters (fully closed)
  max_position: 0.1426    # Meters (fully open)
  max_angle: 0.695      # radiants (closed)
  min_speed: 0.02       # Meters per second
  max_speed: 0.15      # Meters per second
  min_force: 20.0       # Newtons
  max_force: 235.0      # Newtons