controllers.yaml 629 Bytes
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controller_list:
  - name: r1/scaled_pos_traj_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - robot1_shoulder_pan_joint
      - robot1_shoulder_lift_joint
      - robot1_elbow_joint
      - robot1_wrist_1_joint
      - robot1_wrist_2_joint
      - robot1_wrist_3_joint
  - name: r2/scaled_pos_traj_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - robot2_shoulder_pan_joint
      - robot2_shoulder_lift_joint
      - robot2_elbow_joint
      - robot2_wrist_1_joint
      - robot2_wrist_2_joint
      - robot2_wrist_3_joint