arm_controller:
  type: effort_controllers/JointTrajectoryController
  topic: "test"
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint
  gains:
    shoulder_pan_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
    shoulder_lift_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
    elbow_joint: {p: 10000.0, i: 500.0, d: 100.0, i_clamp: 100.0}
    wrist_1_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
    wrist_2_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
    wrist_3_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.5
      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      elbow_joint: {trajectory: 0.1, goal: 0.1}
      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
