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