arm left shoulder 1: 0 0 15 0 0 0 1 1 1
arm left shoulder 2: 0 0 30 0 0 0 1 1 1
arm right shoulder 1: 0 0 -15 0 0 0 1 1 1
arm right shoulder 2: 0 0 -30 0 0 0 1 1 1