${arm_type} mock_components/GenericSystem ${fake_sensor_commands} 0.0 openarm_hardware/OpenArm_v10HW ${left_can_interface} ${left_arm_prefix} ${hand} ${can_fd} ${control_gains['joint1']['kp']} ${control_gains['joint2']['kp']} ${control_gains['joint3']['kp']} ${control_gains['joint4']['kp']} ${control_gains['joint5']['kp']} ${control_gains['joint6']['kp']} ${control_gains['joint7']['kp']} ${control_gains['joint1']['kd']} ${control_gains['joint2']['kd']} ${control_gains['joint3']['kd']} ${control_gains['joint4']['kd']} ${control_gains['joint5']['kd']} ${control_gains['joint6']['kd']} ${control_gains['joint7']['kd']} ${initial_position} 0.0 0.0 ${arm_type} mock_components/GenericSystem ${fake_sensor_commands} 0.0 openarm_hardware/OpenArm_v10HW ${right_can_interface} ${right_arm_prefix} ${hand} ${can_fd} ${control_gains['joint1']['kp']} ${control_gains['joint2']['kp']} ${control_gains['joint3']['kp']} ${control_gains['joint4']['kp']} ${control_gains['joint5']['kp']} ${control_gains['joint6']['kp']} ${control_gains['joint7']['kp']} ${control_gains['joint1']['kd']} ${control_gains['joint2']['kd']} ${control_gains['joint3']['kd']} ${control_gains['joint4']['kd']} ${control_gains['joint5']['kd']} ${control_gains['joint6']['kd']} ${control_gains['joint7']['kd']}