controller_joint_names: ['', 'left_hip_pitch_joint', 'left_leg_pitch_joint', 'left_wheel2_joint', 'left_wheel1_joint', 'right_hip_pitch_joint', 'right_leg_pitch_joint', 'right_wheel2_joint', 'right_wheel1_joint', 'left_shoulder_joint', 'left_arm1_joint', 'left_arm2_joint', 'right_shoulder_joint', 'right_arm1_joint', 'right_arm2_joint', ]
