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