Removed post-fix ' velocity' from controllable names because it would…

… interfere with how Boxy's low-level interfaces parses velocity commands.
SemRoCo · Aug 22, 2016 · 90c7b71 · 90c7b71
1 parent 770d381
commit 90c7b71
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Showing 15 changed files with 224 additions and 224 deletions.
diff --git a/config/boxy_controllables.yaml b/config/boxy_controllables.yaml
@@ -1,18 +1,18 @@
 body_controllables:
   right_arm:
-    - right_arm_0_joint velocity
-    - right_arm_1_joint velocity
-    - right_arm_2_joint velocity
-    - right_arm_3_joint velocity
-    - right_arm_4_joint velocity
-    - right_arm_5_joint velocity
-    - right_arm_6_joint velocity
+    - right_arm_0_joint
+    - right_arm_1_joint
+    - right_arm_2_joint
+    - right_arm_3_joint
+    - right_arm_4_joint
+    - right_arm_5_joint
+    - right_arm_6_joint
   left_arm:
-    - left_arm_0_joint velocity
-    - left_arm_1_joint velocity
-    - left_arm_2_joint velocity
-    - left_arm_3_joint velocity
-    - left_arm_4_joint velocity
-    - left_arm_5_joint velocity
-    - left_arm_6_joint velocity
-  torso: triangle_base_joint velocity
+    - left_arm_0_joint
+    - left_arm_1_joint
+    - left_arm_2_joint
+    - left_arm_3_joint
+    - left_arm_4_joint
+    - left_arm_5_joint
+    - left_arm_6_joint
+  torso: triangle_base_joint
diff --git a/config/boxy_controller_action_server.yaml b/config/boxy_controller_action_server.yaml
@@ -6,22 +6,22 @@ thresholds:
   motion_old: 0.5
 body_controllables:
   right_arm:
-    - right_arm_0_joint velocity
-    - right_arm_1_joint velocity
-    - right_arm_2_joint velocity
-    - right_arm_3_joint velocity
-    - right_arm_4_joint velocity
-    - right_arm_5_joint velocity
-    - right_arm_6_joint velocity
+    - right_arm_0_joint
+    - right_arm_1_joint
+    - right_arm_2_joint
+    - right_arm_3_joint
+    - right_arm_4_joint
+    - right_arm_5_joint
+    - right_arm_6_joint
   left_arm:
-    - left_arm_0_joint velocity
-    - left_arm_1_joint velocity
-    - left_arm_2_joint velocity
-    - left_arm_3_joint velocity
-    - left_arm_4_joint velocity
-    - left_arm_5_joint velocity
-    - left_arm_6_joint velocity
-  torso: triangle_base_joint velocity
+    - left_arm_0_joint
+    - left_arm_1_joint
+    - left_arm_2_joint
+    - left_arm_3_joint
+    - left_arm_4_joint
+    - left_arm_5_joint
+    - left_arm_6_joint
+  torso: triangle_base_joint
 frame_id: base_footprint
 l_frame_id: left_gripper_tool_frame
 r_frame_id: right_gripper_tool_frame

diff --git a/config/pr2_controller_action_server.yaml b/config/pr2_controller_action_server.yaml
@@ -6,21 +6,21 @@ thresholds:
   motion_old: 0.5
 body_controllables:
   right_arm:
-    - r_elbow_flex_joint velocity
-    - r_shoulder_lift_joint velocity
-    - r_shoulder_pan_joint velocity
-    - r_upper_arm_roll_joint velocity
-    - r_wrist_flex_joint velocity
-    - r_wrist_roll_joint velocity
+    - r_elbow_flex_joint
+    - r_shoulder_lift_joint
+    - r_shoulder_pan_joint
+    - r_upper_arm_roll_joint
+    - r_wrist_flex_joint
+    - r_wrist_roll_joint
   left_arm:
-    - l_elbow_flex_joint velocity
-    - l_forearm_roll_joint velocity
-    - l_shoulder_lift_joint velocity
-    - l_shoulder_pan_joint velocity
-    - l_upper_arm_roll_joint velocity
-    - l_wrist_flex_joint velocity
-    - l_wrist_roll_joint velocity
-  torso: torso_lift_joint velocity
+    - l_elbow_flex_joint
+    - l_forearm_roll_joint
+    - l_shoulder_lift_joint
+    - l_shoulder_pan_joint
+    - l_upper_arm_roll_joint
+    - l_wrist_flex_joint
+    - l_wrist_roll_joint
+  torso: torso_lift_joint
 frame_id: base_link
 l_frame_id: l_gripper_tool_frame
 r_frame_id: r_gripper_tool_frame

diff --git a/controller_specs/boxy_cart_cart_control.yaml b/controller_specs/boxy_cart_cart_control.yaml
@@ -713,21 +713,21 @@ scope:
   - pos_vel_limit_arm_joints: 0.5
 
 controllable-constraints:
-  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint velocity]
+  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint]
 
 soft-constraints:
   - soft-constraint: [{x-coord: l_trans_control}, {x-coord: l_trans_control}, weight_pos_control, {x-coord: l_trans}, left EE x-pos control slack]

diff --git a/controller_specs/boxy_cart_joint_control.yaml b/controller_specs/boxy_cart_joint_control.yaml
@@ -435,21 +435,21 @@ scope:
   - pos_vel_limit_arm_joints: 0.5
 
 controllable-constraints:
-  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint velocity]
+  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint]
 
 soft-constraints:
   - soft-constraint: [{x-coord: l_trans_control}, {x-coord: l_trans_control}, weight_pos_control, {x-coord: l_trans}, left EE x-pos control slack]

diff --git a/controller_specs/boxy_joint_cart_control.yaml b/controller_specs/boxy_joint_cart_control.yaml
@@ -434,21 +434,21 @@ scope:
   - pos_vel_limit_arm_joints: 0.5
 
 controllable-constraints:
-  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint velocity]
+  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint]
 
 soft-constraints:
   - soft-constraint: [left_arm_0_error, left_arm_0_error, weight_pos_control, left_arm_0_joint_var, left_arm_0_joint control slack]

diff --git a/controller_specs/boxy_joint_joint_control.yaml b/controller_specs/boxy_joint_joint_control.yaml
@@ -112,21 +112,21 @@ scope:
   - pos_vel_limit_arm_joints: 0.5
 
 controllable-constraints:
-  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint velocity]
-  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint velocity]
+  - controllable-constraint: [-0.05, 0.05, 100.0, 0, triangle_base_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, left_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, left_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, left_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, left_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, left_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, left_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, left_arm_6_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, right_arm_0_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, right_arm_1_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, right_arm_2_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, right_arm_3_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, right_arm_4_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, right_arm_5_joint]
+  - controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, right_arm_6_joint]
 
 soft-constraints:
   - soft-constraint: [left_arm_0_error, left_arm_0_error, weight_pos_control, left_arm_0_joint_var, left_arm_0_joint control slack]