/go1_gazebo gazebo_ros_control/DefaultRobotHWSim 10 base 0 0 0 0 0 0 Gazebo/Yellow 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 20 1.047198 640 480 R8G8B8 0.05 3 0.2 true 1.0 camera_link_ir /camera_link/color/image_raw /camera_link/color/camera_info /camera_link/depth/image_raw /camera_link/depth/camera_info /camera_link/depth/points depthCamera_link_left 0.5 3.0 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 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 Gazebo/Green false 0.2 0.2 0.2 0.2 Gazebo/White 0.2 0.2 Gazebo/Red 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/DarkGrey 0.2 0.2 1 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/DarkGrey 0.2 0.2 1 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/DarkGrey 0.2 0.2 1 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/DarkGrey 0.2 0.2 1 0.6 0.6 1 Gazebo/DarkGrey transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_face_ir /camera_face/color/image_raw /camera_face/color/camera_info /camera_face/depth/image_raw /camera_face/depth/camera_info /cam1/point_cloud_face camera_optical_face 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0 16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_chin_ir /camera_chin/color/image_raw /camera_chin/color/camera_info /camera_chin/depth/image_raw /camera_chin/depth/camera_info /cam2/point_cloud_chin camera_optical_chin 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0 16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_left_ir /camera_left/color/image_raw /camera_left/color/camera_info /camera_left/depth/image_raw /camera_left/depth/camera_info /cam3/point_cloud_left camera_optical_left 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0 16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_right_ir /camera_right/color/image_raw /camera_right/color/camera_info /camera_right/depth/image_raw /camera_right/depth/camera_info /cam4/point_cloud_right camera_optical_right 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0 16 2.094 928 800 R8G8B8 0.1 5 0.025 true 0.0 camera_rearDown_ir /camera_rearDown/color/image_raw /camera_rearDown/color/camera_info /camera_rearDown/depth/image_raw /camera_rearDown/depth/camera_info /cam5/point_cloud_rearDown camera_optical_rearDown 0.1 1.5 0.0 0.0 0.0 0.0 0.0 0 0.0045 0.0039 0 0