/go2_gazebo gazebo_ros_control/DefaultRobotHWSim 100 FL_foot 0 0 0 0 0 0 trunk /apply_force/trunk true true 1000 true __default_topic__ trunk_imu imu_link 1000.0 0.0 0 0 0 0 0 0 imu_link 0 0 0 0 0 0 100 FR_calf_fixed_joint_lump__FR_foot_collision_1 100 FL_calf_fixed_joint_lump__FL_foot_collision_1 100 RR_calf_fixed_joint_lump__RR_foot_collision_1 100 RL_calf_fixed_joint_lump__RL_foot_collision_1 FR_foot_contact FL_foot_contact RR_foot_contact RL_foot_contact false 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 1 0.2 0.2 1 0.6 0.6 1 0.2 0.2 0.2 0.2 1 0.2 0.2 1 0.6 0.6 1 0.2 0.2 0.2 0.2 1 0.2 0.2 1 0.6 0.6 1 0.2 0.2 0.2 0.2 1 0.2 0.2 1 0.6 0.6 1