arm_joint_state_controller:
  type: "joint_state_controller/JointStateController"
  publish_rate: 20

arm_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - joint1
    - joint2
    - joint3
    - joint4
  constraints:
    goal_time: 0.3

gripper_controller:
  type: "position_controllers/GripperActionController"
  joint: gripper