• CHECK_ACCELEROMETER_ID : iob.cpp
• CHECK_ATTITUDE_SENSOR_ID : iob.cpp
• CHECK_FORCE_SENSOR_ID : iob.cpp
• CHECK_GYRO_SENSOR_ID : iob.cpp
• CHECK_JOINT_ID : iob.cpp
• JOINT_ID_MODEL2REAL : iob.cpp
• JOINT_ID_REAL2MODEL : iob.cpp
• NUM_OF_REAL_JOINT : iob.cpp