robotiq_2f_gripper:
  # Physical limits
  min_position: 0.0     # Meters (fully closed)
  max_position: 0.085   # 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