gripper_left_current_controller:
  type: "effort_controllers/JointTrajectoryController"
  check_mode: True
  joints:
    - gripper_left_finger_joint
  gains: # Required because we're controlling an effort interface
    gripper_left_finger_joint: {p: 100,  d: 0, i: 0, i_clamp: 1}
  constraints:
    goal_time: &goal_time_constraint 0.6
    stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
    gripper_left_finger_joint:
      goal: &goal_pos_constraint 0.02

  stop_trajectory_duration: 0.0


gripper_right_current_controller:
  type: "effort_controllers/JointTrajectoryController"
  check_mode: True
  joints:
    - gripper_right_finger_joint
  gains: # Required because we're controlling an effort interface
    gripper_right_finger_joint: {p: 100,  d: 0, i: 0, i_clamp: 1}
  constraints:
    goal_time: *goal_time_constraint
    stopped_velocity_tolerance: *stopped_velocity_constraint
    gripper_right_finger_joint:
      goal: *goal_pos_constraint

  stop_trajectory_duration: 0.0