arm_controller:
  type: robot_mechanism_controllers/JointTrajectoryActionController
  joints:
    - arm_shoulder_pan_joint
    - arm_shoulder_lift_joint
    - arm_elbow_joint
    - arm_wrist_1_joint
    - arm_wrist_2_joint
    - arm_wrist_3_joint
  gains:
    arm_shoulder_pan_joint:
      p: 2000.0
      d: 0.0
    arm_shoulder_lift_joint:
      p: 2000.0
      d: 0.0
    arm_elbow_joint:
      p: 2000.0
      d: 0.0
    arm_wrist_1_joint:
      p: 2020.0
      d: 0.0
    arm_wrist_2_joint:
      p: 2030.0
      d: 0.0
    arm_wrist_3_joint:
      p: 2050.0
      d: 0.0

  arm_joint_trajectory_action_node:
    joints:
        - arm_shoulder_pan_joint
        - arm_shoulder_lift_joint
        - arm_elbow_joint
        - arm_wrist_1_joint
        - arm_wrist_2_joint
        - arm_wrist_3_joint
    constraints:
      goal_time: 0.6
      arm_shoulder_pan_joint:
        goal: 0.05
      arm_shoulder_lift_joint:
        goal: 0.05
      arm_elbow_joint:
        goal: 0.05
      arm_wrist_1_joint:
        goal: 0.05
      arm_wrist_2_joint:
        goal: 0.05
      arm_wrist_3_joint:
        goal: 0.05