def GetSimLimits():
  servo_limits = [_CONFIG['sim']['servos_sim'][i]['servo_drive']
                  for i in range(len(_SERVOS))]
  return {_SERVOS[i]: (servo_limits[i]['ref_model_min_position_limit'],
                       servo_limits[i]['ref_model_max_position_limit'])
          for i in range(len(_SERVOS))}