dual_arm_action_server:
  ros__parameters:
    left_arm_ip: "192.168.2.2"
    right_arm_ip: "192.168.2.18"
    arm_port: 8080
    left_push_ip: "192.168.2.3"
    right_push_ip: "192.168.2.19"
    push_port: 8089
    push_cycle: 20
    left_arm_joint_start_index: 9     # start index of left arm: left_joint1
    right_arm_joint_start_index: 15   # start index of right arm: right_joint1
    joint_names:
      - left_behind_hip_joint
      - left_behind_leg_joint
      - left_behind_wheel_joint
      - right_behind_hip_joint
      - right_behind_leg_joint
      - right_behind_wheel_joint
      - body_joint
      - body_2_joint
      - head_joint
      - left_joint1
      - left_joint2
      - left_joint3
      - left_joint4
      - left_joint5
      - left_joint6
      - right_joint1
      - right_joint2
      - right_joint3
      - right_joint4
      - right_joint5
      - right_joint6
      - left_front_roll_joint
      - left_front_hip_joint
      - left_front_knee_joint
      - left_front_wheel_joint
      - right_front_roll_joint
      - right_front_hip_joint
      - right_front_knee_joint
      - right_front_wheel_joint

