quadruped_ros2_control/descriptions/unitree/aliengo_description/xacro/ros2_control.xacro

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

  <ros2_control name="UnitreeSystem" type="system">

    <hardware>
      <plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
    </hardware>

    <joint name="FR_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="FR_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="FR_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="FL_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="FL_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="FL_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RR_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RR_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RR_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RL_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RL_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

    <joint name="RL_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>

      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

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

    <sensor name="foot_force">
      <state_interface name="FR"/>
      <state_interface name="FL"/>
      <state_interface name="RR"/>
      <state_interface name="RL"/>
    </sensor>

  </ros2_control>

</robot>