controllers.yaml

controller_list:
  - name: ''
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e
,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t,
arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,
arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t,torso_joint_b1,torso_joint_b2]
  - name: sda10f/sda10f_r1_controller
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t]
  - name: sda10f/sda10f_b1_controller
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [torso_joint_b1]
  - name: sda10f/sda10f_b2_controller
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [torso_joint_b2]
  - name: sda10f/sda10f_r2_controller
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t]