left and right sides).</p>
<ul class="simple">
<li><p>Adjust the joint id number to maintain a logical order (e.g., left_hip = 1, left_knee = 2, left_ankle = 3, left_elbow = 4, …).</p></li>
</ul>
</li>
<li><p>Update the if statement that associates controller data with the joint ID.</p></li>
</ol>
</section>
<section id="paramsfromsd-h">
<h2>ParamsfromSD.h<a class="headerlink" href="#paramsfromsd-h" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>In the <cite>controller_paramete