1 0 0 1 100 100 65535 100 50 10 0 0 0 1 100 100 0 0 0 1 0 0 10 0 -0 0 0.8 0.8 0.8 1 0.2 0.2 0.2 1 1000 0.9 0.01 0.001 -0.5 0.1 -0.9 model://fanuc_robotic_arm_with_gripper