controller_list:
  - name: fake_r1_controller
    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: fake_r2_controller
    joints:
      - robot2_shoulder_pan_joint
      - robot2_shoulder_lift_joint
      - robot2_elbow_joint
      - robot2_wrist_1_joint
      - robot2_wrist_2_joint
      - robot2_wrist_3_joint
initial:  # Define initial robot poses.
  - group: r1
    pose: home
  - group: r2
    pose: home