controller_joint_names:
  [
    "",
    "FL_hip_joint",
    "Fl_thigh_joint",
    "FL_calf_joint",
    "FL_foot_joint",
    "FR_hip_joint",
    "FR_thigh_joint",
    "FR_calf_joint",
    "FR_foot_joint",
    "RL_hip_joint",
    "RL_thigh_joint",
    "RL_calf_joint",
    "RL_foot_joint",
    "RR_hip_joint",
    "RR_thigh_joint",
    "RR_calf_joint",
    "RR_foot_joint",
  ]