robot:
  arm_bus:
    Lock: 0
    Torque_Limit: 1000
    Protection_Current: 500
    Over_Current_Protection_Time: 10
    Max_Torque_Limit: 1000
    Overload_Torque: 40  # Play around with this
    Protection_Time: 1000  # When does it kick in?
    Protective_Torque: 1
    Maximum_Acceleration: 100
    Torque_Enable: 1
    Acceleration: 30
  hand_bus:
    Acceleration: 100