Force libsot-tiago-steel-controller.so name

Fix joint names of the robot.

roscontrol_sot_tiago/config/sot_tiago_params.yaml

 sot_controller:
-  libname: libsot-tiago-controller.so
-  joint_names: [  torso_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  libname: libsot-tiago-steel-controller.so
+  joint_names: [  torso_lift_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint,
+    gripper_left_finger_joint, gripper_right_finger_joint,
     head_1_joint, head_2_joint ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,

roscontrol_sot_tiago/config/sot_tiago_params_effort.yaml

 sot_controller:
-  libname: libsot-tiago-controller.so
-  joint_names: [ torso_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  libname: libsot-tiago-steel-controller.so
+  joint_names: [ torso_lift_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint,
+    gripper_left_finger_joint, gripper_right_finger_joint,
     head_1_joint, head_2_joint ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,

roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml

 sot_controller:
-  libname: libsot-tiago-controller.so
+  libname: libsot-tiago-steel-controller.so
   simulation_mode: gazebo
-  joint_names: [ torso_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
-     head_1_joint, head_2_joint  ]
+  joint_names: [ torso_lift_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_left_finger_joint,
+    gripper_right_finger_joint,  head_1_joint, head_2_joint  ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
   torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
@@ -24,9 +24,9 @@ sot_controller:
       des_pos: 0.0
     - name: arm_7_joint
       des_pos: 0.1
-    - name: gripper_joint
+    - name: gripper_left_finger_joint
       des_pos: -0.005
-    - name: gripper_joint
+    - name: gripper_right_finger_joint
       des_pos: -0.005 
     - name: head_1_joint
       des_pos: 0.0

roscontrol_sot_tiago/config/sot_tiago_params_gazebo_effort.yaml

 sot_controller:
-  libname: libsot-tiago-controller.so
+  libname: libsot-tiago-steel-controller.so
   simulation_mode: gazebo
-  joint_names: [  torso_1_joint,torso_2_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  joint_names: [  torso_lift_joint,
+    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint,
+    gripper_left_finger_joint, gripper_right_finger_joint,
     head_1_joint, head_2_joint ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,