r_arm_traj_controller:
  type: "effort_controllers/JointTrajectoryController"
  joints:
    - right_arm_0_joint
    - right_arm_1_joint
    - right_arm_2_joint
    - right_arm_3_joint
    - right_arm_4_joint
    - right_arm_5_joint
    - right_arm_6_joint

  constraints:
    goal_time: 0.5                   # Override default
    stopped_velocity_tolerance: 0.02 # Override default
    right_arm_0_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_1_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_2_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_3_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_4_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_5_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    right_arm_6_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified

  gains: # Required because we're controlling an effort interface
    right_arm_0_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_1_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_2_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_3_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_4_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_5_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    right_arm_6_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}

  state_publish_rate:  25            # Override default
  action_monitor_rate: 30            # Override default
  stop_trajectory_duration: 0        # Override default

l_arm_traj_controller:
  type: "effort_controllers/JointTrajectoryController"
  joints:
    - left_arm_0_joint
    - left_arm_1_joint
    - left_arm_2_joint
    - left_arm_3_joint
    - left_arm_4_joint
    - left_arm_5_joint
    - left_arm_6_joint

  constraints:
    goal_time: 0.5                   # Override default
    stopped_velocity_tolerance: 0.02 # Override default
    left_arm_0_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_1_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_2_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_3_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_4_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_5_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified
    left_arm_6_joint:
      trajectory: 0.05               # Not enforced if unspecified
      goal: 0.02                     # Not enforced if unspecified

  gains: # Required because we're controlling an effort interface
    left_arm_0_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_1_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_2_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_3_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_4_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_5_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}
    left_arm_6_joint: {p: 1.0,  d: 0.0, i: 0.0, i_clamp: 1}

  state_publish_rate:  25            # Override default
  action_monitor_rate: 30            # Override default
  stop_trajectory_duration: 0        # Override default
