diff --git a/sot_pyrene_bringup/sot/pyrene.yaml b/sot_pyrene_bringup/sot/pyrene.yaml
index eeb59323e43623449572b9d2f9011ee14e0777a2..bf01ff6381d481c7246465dc71953a608493c5e4 100644
--- a/sot_pyrene_bringup/sot/pyrene.yaml
+++ b/sot_pyrene_bringup/sot/pyrene.yaml
@@ -18,4 +18,10 @@ sot:
     gripper_right_inner_single_joint: -gripper_right_joint,
     gripper_right_fingertip_3_joint: -gripper_right_joint}
 sot_controller:
+  joint_names: [ 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,
+    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, gripper_left_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_right_joint, head_1_joint, head_2_joint
+  ]
   dt: 0.001