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src/custom-ur-descriptions/cms_moveit_config/config/hande/moveit_controllers.yaml

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# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - scaled_joint_trajectory_controller
    - gripper_action_controller

  scaled_joint_trajectory_controller:
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
    action_ns: follow_joint_trajectory
    default: true
  gripper_action_controller:
    # parallel_gripper_action_controller/GripperActionController speaks
    # control_msgs/ParallelGripperCommand, not legacy GripperCommand.
    type: ParallelGripperCommand
    joints:
      - robotiq_hande_left_finger_joint
    action_ns: gripper_cmd
    default: true