Obtained with rostopic echo /robot/joint_states

Baxter joint_states

header: 
  seq: 10625
  stamp: 
    secs: 214
    nsecs: 469000000
  frame_id: ''
name: ['head_pan', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint', 'left_e0', 'left_e1', 'left_s0', 'left_s1', 'left_w0', 'left_w1', 'left_w2', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'right_e0', 'right_e1', 'right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2']
position: [-1.3303056078939335e-06, 0.02083301101080905, 3.328574553711741e-08, -0.016617037040250082, 0.49445588919115835, 0.1924810211904111, 1.0470000327588433, -0.18420314498418122, 0.026792412231963603, -0.014075382271455439, 0.02083300156520608, 8.986721523828986e-10, -0.02116649879887955, 0.49557111147642985, -0.27265284803969614, 1.0470000138292965, -0.08830157815545636, 0.027997813944400818, 0.027037764975140988]
velocity: [1.3665333866822798e-07, -1.517986891918702e-06, -7.467986030460762e-06, -1.7894644630392019e-06, 8.051211207654336e-05, -9.60019447520543e-07, -3.181790485525843e-05, -3.079680815759514e-05, -4.9076956105191955e-05, 2.4401203388744044e-06, 7.539357932368206e-08, 7.542847013341025e-08, 1.681562830567048e-06, -4.6836756976964804e-07, 1.409394607664528e-07, 2.307932547175912e-09, -3.51329578583887e-05, 2.564806877151848e-07, 4.4003892886150615e-06]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Indices of the 7 DOF left arm (0 indexed): [3,9] and for right (right_e0 to right_w2): [12:18]