"%OPENHRP_SDK_ROOT%\bin\openhrp-controller-bridge" ^
--server-name BBcontroller ^
--out-port acgyro:RATE_GYRO_SENSOR ^
--out-port acaccel:ACCELERATION_SENSOR ^
--out-port acjoint:JOINT_VALUE ^
--in-port cmforce:JOINT_TORQUE ^
--in-port cmjoint:SX1,SX2,SY1,SY2:JOINT_VALUE ^
--in-port cmspeed:SX1,SX2,SY1,SY2:JOINT_VELOCITY ^
--in-port cmaccel:SX1,SX2,SY1,SY2:JOINT_ACCELERATION ^
--connection acaccel:BBcont0:acaccel ^
--connection acgyro:BBcont0:acgyro ^
--connection acjoint:BBcont0:acjoint ^
--connection cmjoint:BBcont0:cmjoint ^
--connection cmspeed:BBcont0:cmspeed ^
--connection cmaccel:BBcont0:cmaccel ^
--connection cmforce:BBcont0:cmforce