Index: pr2_controller_configuration_gazebo/pr2_arm_controllers.yaml
===================================================================
--- pr2_controller_configuration_gazebo/pr2_arm_controllers.yaml	(revision 49815)
+++ pr2_controller_configuration_gazebo/pr2_arm_controllers.yaml	(working copy)
@@ -2,45 +2,25 @@
   type: "robot_mechanism_controllers/JointTrajectoryActionController"
   joints:
     - r_shoulder_pan_joint
-    - r_shoulder_lift_joint
-    - r_upper_arm_roll_joint
     - r_elbow_flex_joint
-    - r_forearm_roll_joint
     - r_wrist_flex_joint
-    - r_wrist_roll_joint
   gains:
     r_shoulder_pan_joint: {p: 800.0, d: 10.0}
-    r_shoulder_lift_joint: {p: 800.0, d: 10.0}
-    r_upper_arm_roll_joint: {p: 200.0, d: 3.0}
     r_elbow_flex_joint: {p: 100.0, d: 3.0}
-    r_forearm_roll_joint: {p: 500.0, d: 6.0}
     r_wrist_flex_joint: {p: 400.0, d: 4.0}
-    r_wrist_roll_joint: {p: 400.0, d: 4.0}
   joint_trajectory_action_node:
     joints:
       - r_shoulder_pan_joint
-      - r_shoulder_lift_joint
-      - r_upper_arm_roll_joint
       - r_elbow_flex_joint
-      - r_forearm_roll_joint
       - r_wrist_flex_joint
-      - r_wrist_roll_joint
     constraints:
       goal_time: 0.6
       r_shoulder_pan_joint:
         goal: 0.02
-      r_shoulder_lift_joint:
-        goal: 0.02
-      r_upper_arm_roll_joint:
-        goal: 0.02
       r_elbow_flex_joint:
         goal: 0.02
-      r_forearm_roll_joint:
-        goal: 0.02
       r_wrist_flex_joint:
         goal: 0.02
-      r_wrist_roll_joint:
-        goal: 0.02