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, forces: forces, currents: currents,
  torques: torques, control: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
  position_control_init_pos:
    - name: leg_left_1_joint
      des_pos: 0.0
    - name: leg_left_2_joint
      des_pos: 0.0
    - name: leg_left_3_joint
      des_pos: -0.411354
    - name: leg_left_4_joint
      des_pos: 0.859395
    - name: leg_left_5_joint
      des_pos: -0.448041
    - name: leg_left_6_joint
      des_pos: -0.001708
    - name: leg_right_1_joint
      des_pos: 0.0
    - name: leg_right_2_joint
      des_pos: 0.0
    - name: leg_right_3_joint
      des_pos: -0.411354
    - name: leg_right_4_joint
      des_pos: 0.859395
    - name: leg_right_5_joint
      des_pos: -0.448041
    - name: leg_right_6_joint
      des_pos: -0.001708
    - name: torso_1_joint
      des_pos: 0.0
    - name: torso_2_joint
      des_pos: 0.006761
    - name: arm_left_1_joint
      des_pos: 0.25847
    - name: arm_left_2_joint
      des_pos: 0.173046
    - name: arm_left_3_joint
      des_pos: 0.0002
    - name: arm_left_4_joint
      des_pos: -0.525366
    - name: arm_left_5_joint
      des_pos: 0.0
    - name: arm_left_6_joint
      des_pos: 0.0
    - name: arm_left_7_joint
      des_pos: 0.1
    - name: gripper_left_joint
      des_pos: -0.005
    - name: arm_right_1_joint
      des_pos: -0.25847
    - name: arm_right_2_joint
      des_pos: -0.173046
    - name: arm_right_3_joint
      des_pos: 0.0002
    - name: arm_right_4_joint
      des_pos: -0.525366
    - name: arm_right_5_joint
      des_pos: 0.0
    - name: arm_right_6_joint
      des_pos: 0.0
    - name: arm_right_7_joint
      des_pos: 0.1
    - name: gripper_right_joint
      des_pos: -0.005
    - name: head_1_joint
      des_pos: 0.0
    - name: head_2_joint
      des_pos: 0.0
  dt: 0.001
  jitter: 0.0004
  verbosity_level: 5