diff --git a/config/joint_motion_limit.yaml b/config/joint_motion_limit.yaml
new file mode 100644
index 0000000..75ebdb8
--- /dev/null
+++ b/config/joint_motion_limit.yaml
@@ -0,0 +1,46 @@
+arm_joint_limits:
+  right_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4
+
+  left_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4
\ No newline at end of file
diff --git a/config/joint_soft_limits.yaml b/config/joint_soft_limits.yaml
new file mode 100644
index 0000000..ba4c70a
--- /dev/null
+++ b/config/joint_soft_limits.yaml
@@ -0,0 +1,47 @@
+arm_joint_limits:
+  right_arm:
+    joint_1:
+      min: -167
+      max: 167
+    joint_2:
+      min: -4
+      max: 183
+    joint_3:
+      min: -154
+      max: 154
+    joint_4:
+      min: -117
+      max: 117
+    joint_5:
+      min: -154
+      max: 154
+    joint_6:
+      min: -91
+      max: 91
+    joint_7:
+      min: -91
+      max: 91
+
+  left_arm:
+    joint_1:
+      min: -167
+      max: 167
+    joint_2:
+      min: -183
+      max: 4
+    joint_3:
+      min: -154
+      max: 154
+    joint_4:
+      min: -117
+      max: 117
+    joint_5:
+      min: -154
+      max: 154
+    joint_6:
+      min: -91
+      max: 91
+    joint_7:
+      min: -91
+      max: 91
+      
\ No newline at end of file
diff --git a/src/msgs/msg/ControlActions.msg b/src/msgs/msg/ControlActions.msg
new file mode 100644
index 0000000..98a5121
--- /dev/null
+++ b/src/msgs/msg/ControlActions.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+uint64 system_timestamp
+string arm_ip
+
+float64[12] 
\ No newline at end of file