# 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_left_pris1
right_gripper_controller:
  ros__parameters:
    joint: right_left_pris1
left_side_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
      - left_left_pris1
    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_left_pris1
    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_left_pris1
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
      - right_left_pris1
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity