                //-------------------------------------------------
                // BEGIN Bridge To LOADER description
                //-------------------------------------------------
                // Bridge to loader
                //bridgeToLoader (BridgeToLoader,
                bridgeToLoader (SimuBridgeToCanOpenHardware,
                        argMap(
                            ref("$loaderTcpProxyName"),
                            ref("hooksController"),
                            ref("carrierController"),
                            ref(loaderPlutoGatewayName),
                            ))

                {//begin description of children of Loader's bridge         

                        // Loader tcp Proxy
                        //loaderTcpProxy (LoaderCanOpenProxy,
                        "$loaderTcpProxyName" (SimuCanOpenProxy, //works
                        //loaderTcpProxyName (SimuCanOpenProxy, //DOES NOT work
                        //loaderTcpProxy (SimuCanOpenProxy, //works
                                argMap(
                                    a("portNumber", 51000),
                                    a("fieldBusTimeout", 2000),
                                    a("myClientName","TestBench"),
                                    a("hardwareBootTimeout",1000), 
                                ))


                        hooksController (SimuLoaderClampController,
                                argMap( 
                                a("nodeID","1b"),
                                a("serialNB","79007141"),
                                //a("plutoGatewayName",loaderPlutoGatewayName),
                                "$loaderPlutoGatewayName",
                                aMap("paramsForCurrent", 
                                    [ContinuousCurrentLimit:3440,
                                    OutputCurrentLimit:6880,
                                    MaxSpeedInCurrentMode:2000,
                                    MotorType:10,PolePairNumber:1,
                                    PositionSensorType:1]),
                                aMap("paramsForProfilePosition", 
                                    [MinPositionLimit:-300,
                                    MaxPositionLimit:550000,
                                    MotionProfileType:0]),
                                aMap("paramsForHoming",[HomeOffset:0]),
                                )) 

                            
                        
                        carrierController (SimuLoaderCarrierController,
                                argMap( 
                                a("nodeID","1a"),
                                a("serialNB","80003184"),
                                //a("plutoGatewayName",loaderPlutoGatewayName),
                                "$loaderPlutoGatewayName",
                                aMap("paramsForCurrent", 
                                    [ContinuousCurrentLimit:7290,
                                    OutputCurrentLimit:14580,
                                    MaxSpeedInCurrentMode:9840,
                                    MotorType:10,
                                    PositionSensorType:4,
                                    ThermalTimeConstantWinding:187,
                                    PolePairNumber:1]),
                                aMap("paramsForProfilePosition", 
                                    [MinPositionLimit:-250,
                                    MaxPositionLimit:1037700,
                                    MotionProfileType:0,
                                    MaxFollowingError:6000,
                                    MaxProfileVelocity:227, 
                                    ProfileVelocity:120,
                                    ProfileAcceleration:100,
                                    ProfileDeceleration:100,
                                    QuickStopDeceleration:10000
                                    ]),
                                aMap("paramsForHoming",
                                    [HomeOffset:0,
                                    HomingAcceleration:1000,
                                    CurrentThresholdHomingMode:500]),
                                ))

                        // description of plutoGateway
                        "$loaderPlutoGatewayName" (SimuLoaderStandalonePlutoGateway, 
                                argMap(
                                a("nodeID","1"),
                                a("serialNB","22d6"),
                                ))
                            

                            
                }//end description of Loader bridge's children
                //----------------------------------------------
                // END Bridge To LOADER description
                //----------------------------------------------
