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joints:
- arm_left_1_joint
- arm_left_2_joint
- arm_left_3_joint
- arm_left_4_joint
- arm_left_5_joint
- arm_left_6_joint
- arm_left_7_joint
- arm_right_1_joint
- arm_right_2_joint
- arm_right_3_joint
- arm_right_4_joint
- arm_right_5_joint
- arm_right_6_joint
- arm_right_7_joint
- gripper_left_joint
- gripper_right_joint
- head_1_joint
- head_2_joint
- leg_left_1_joint
- leg_left_2_joint
- leg_left_3_joint
- leg_left_4_joint
- leg_left_5_joint
- leg_left_6_joint
- leg_right_1_joint
- leg_right_2_joint
- leg_right_3_joint
- leg_right_4_joint
- leg_right_5_joint
- leg_right_6_joint
- torso_1_joint
- torso_2_joint
left_ft_sensor: left_ankle_ft
right_ft_sensor: right_ankle_ft
base_imu_sensor: base_imu
check_mode: False
actuators:
- leg_left_1_motor
- leg_left_2_motor
- leg_left_3_motor
- leg_left_4_motor
- leg_left_5_motor
- leg_left_6_motor
- leg_right_1_motor
- leg_right_2_motor
- leg_right_3_motor
- leg_right_4_motor
- leg_right_5_motor
- leg_right_6_motor