# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    left_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    right_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    left_gripper_controller:
      type: position_controllers/GripperActionController


    right_gripper_controller:
      type: position_controllers/GripperActionController


    left_side_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    right_side_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    upper_body_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

left_arm_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
right_arm_controller:
  ros__parameters:
    joints:
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
left_gripper_controller:
  ros__parameters:
    joint: left_gripper
right_gripper_controller:
  ros__parameters:
    joint: right_gripper
left_side_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
      - left_gripper
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
right_side_controller:
  ros__parameters:
    joints:
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
      - right_gripper
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
upper_body_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
      - left_gripper
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
      - right_gripper
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity