sot_controller:
  libname: libsot-pyrene-controller.so
  simulation_mode: gazebo
  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 ]
  map_rc_to_sot_device: { motor-angles: motor-angles ,
  joint-angles: joint-angles, velocities: velocities,
  torques: torques, cmd-joints: control, cmd-effort: control }
  control_mode: POSITION