controller_manager:
  ros__parameters:
    update_rate: 100

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    arm_position_controller:
      type: forward_command_controller/ForwardCommandController

    head_position_controller:
      type: forward_command_controller/ForwardCommandController

    left_hand_position_controller:
      type: forward_command_controller/ForwardCommandController

    right_hand_position_controller:
      type: forward_command_controller/ForwardCommandController

arm_position_controller:
  ros__parameters:
    joints:
      - idx13_left_arm_joint1
      - idx14_left_arm_joint2
      - idx15_left_arm_joint3
      - idx16_left_arm_joint4
      - idx17_left_arm_joint5
      - idx18_left_arm_joint6
      - idx19_left_arm_joint7
      - idx20_right_arm_joint1
      - idx21_right_arm_joint2
      - idx22_right_arm_joint3
      - idx23_right_arm_joint4
      - idx24_right_arm_joint5
      - idx25_right_arm_joint6
      - idx26_right_arm_joint7
    interface_name: position

head_position_controller:
  ros__parameters:
    joints:
      - idx27_head_joint1
      - idx28_head_joint2
    interface_name: position

left_hand_position_controller:
  ros__parameters:
    joints:
      - L_thumb_swing_joint
      - L_thumb_1_joint
      - L_thumb_2_joint
      - L_thumb_3_joint
      - L_index_1_joint
      - L_index_2_joint
      - L_middle_1_joint
      - L_middle_2_joint
      - L_ring_1_joint
      - L_ring_2_joint
      - L_pinky_1_joint
      - L_pinky_2_joint
    interface_name: position

right_hand_position_controller:
  ros__parameters:
    joints:
      - R_thumb_swing_joint
      - R_thumb_1_joint
      - R_thumb_2_joint
      - R_thumb_3_joint
      - R_index_1_joint
      - R_index_2_joint
      - R_middle_1_joint
      - R_middle_2_joint
      - R_ring_1_joint
      - R_ring_2_joint
      - R_pinky_1_joint
      - R_pinky_2_joint
    interface_name: position
