quadruped_ros2_control/descriptions/unitree/go1_description/xacro/gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

	<ros2_control name="GazeboSystem" type="system">
		<hardware>
			<plugin>gz_ros2_control/GazeboSimSystem</plugin>
		</hardware>

		<joint name="FR_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FR_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FR_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<sensor name="imu_sensor">
			<state_interface name="orientation.x"/>
			<state_interface name="orientation.y"/>
			<state_interface name="orientation.z"/>
			<state_interface name="orientation.w"/>
			<state_interface name="angular_velocity.x"/>
			<state_interface name="angular_velocity.y"/>
			<state_interface name="angular_velocity.z"/>
			<state_interface name="linear_acceleration.x"/>
			<state_interface name="linear_acceleration.y"/>
			<state_interface name="linear_acceleration.z"/>
		</sensor>
	</ros2_control>

	<gazebo>
		<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
			<parameters>$(find go1_description)/config/gazebo.yaml</parameters>
		</plugin>
		<plugin filename="gz-sim-imu-system"
						name="gz::sim::systems::Imu">
		</plugin>
	</gazebo>

	<gazebo reference="trunk">
		<mu1>0.6</mu1>
		<mu2>0.6</mu2>
		<self_collide>1</self_collide>
	</gazebo>

	<gazebo reference="imu_link">
		<sensor name="imu_sensor" type="imu">
			<always_on>1</always_on>
			<update_rate>500</update_rate>
			<visualize>true</visualize>
			<topic>imu</topic>
			<imu>
				<angular_velocity>
					<x>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>2e-4</stddev>
							<bias_mean>0.0000075</bias_mean>
							<bias_stddev>0.0000008</bias_stddev>
						</noise>
					</x>
					<y>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>2e-4</stddev>
							<bias_mean>0.0000075</bias_mean>
							<bias_stddev>0.0000008</bias_stddev>
						</noise>
					</y>
					<z>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>2e-4</stddev>
							<bias_mean>0.0000075</bias_mean>
							<bias_stddev>0.0000008</bias_stddev>
						</noise>
					</z>
				</angular_velocity>
				<linear_acceleration>
					<x>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>1.7e-2</stddev>
							<bias_mean>0.1</bias_mean>
							<bias_stddev>0.001</bias_stddev>
						</noise>
					</x>
					<y>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>1.7e-2</stddev>
							<bias_mean>0.1</bias_mean>
							<bias_stddev>0.001</bias_stddev>
						</noise>
					</y>
					<z>
						<noise type="gaussian">
							<mean>0.0</mean>
							<stddev>1.7e-2</stddev>
							<bias_mean>0.1</bias_mean>
							<bias_stddev>0.001</bias_stddev>
						</noise>
					</z>
				</linear_acceleration>
			</imu>
		</sensor>
	</gazebo>
	<gazebo reference="imu_joint">
		<disableFixedJointLumping>true</disableFixedJointLumping>
	</gazebo>

</robot>