Added joint trajectory controller config

tor_controller_configuration/config/joint_trajectory_controllers.yaml

+left_leg_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
+    - leg_left_1_joint
+    - leg_left_2_joint
+    - leg_left_3_joint
+    - leg_left_4_joint
+    - leg_left_5_joint
+    - leg_left_6_joint
+  constraints:
+    goal_time: &goal_time_constraint 0.6
+    stopped_velocity_tolerance: *stopped_velocity_constraint
+    arm_left_1_joint:
+      goal: &goal_pos_constraint 0.02
+    arm_left_2_joint:
+      goal: *goal_pos_constraint
+    arm_left_3_joint:
+      goal: *goal_pos_constraint
+    arm_left_4_joint:
+      goal: *goal_pos_constraint
+    arm_left_5_joint:
+      goal: *goal_pos_constraint
+    arm_left_6_joint:
+      goal: *goal_pos_constraint
+
+  stop_trajectory_duration: 0.0
+
+right_leg_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
+    - leg_right_1_joint
+    - leg_right_2_joint
+    - leg_right_3_joint
+    - leg_right_4_joint
+    - leg_right_5_joint
+    - leg_right_6_joint
+  constraints:
+    goal_time: *goal_time_constraint
+    stopped_velocity_tolerance: *stopped_velocity_constraint
+    arm_right_1_joint:
+      goal: *goal_pos_constraint
+    arm_right_2_joint:
+      goal: *goal_pos_constraint
+    arm_right_3_joint:
+      goal: *goal_pos_constraint
+    arm_right_4_joint:
+      goal: *goal_pos_constraint
+    arm_right_5_joint:
+      goal: *goal_pos_constraint
+    arm_right_6_joint:
+      goal: *goal_pos_constraint
+
+  stop_trajectory_duration: 0.0