{   
    "id": "xxxxxxxxxxx",
    "module": "safety",
    "command": "soft_limit.set_params",
    "data": {  
        "enable": true,
        "upper": [0,0,0,0,0,0,0],
        "lower": [0,0,0,0,0,0,0],
        "reduced_upper": [0,0,0,0,0,0,0],
        "reduced_lower": [0,0,0,0,0,0,0]
    },
	"p_type": 0
}