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