/lite3_gazebo gazebo_ros_control/DefaultRobotHWSim 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 0.2 0.2 100 FR_SHANK_fixed_joint_lump__FR_FOOT_collision_1 100 FL_SHANK_fixed_joint_lump__FL_FOOT_collision_1 100 HR_SHANK_fixed_joint_lump__HR_FOOT_collision_1 100 HL_SHANK_fixed_joint_lump__HL_FOOT_collision_1 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 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface 1 hardware_unitree_mujoco/HardwareUnitree