diff --git a/robots/go1_description/urdf/go1.urdf b/robots/go1_description/urdf/go1.urdf
index 051002a787e6daf404668951093c11a3276ddf68..fd3ef85e07caaef095fe5bf9818c1ada8daa6bbc 100644
--- a/robots/go1_description/urdf/go1.urdf
+++ b/robots/go1_description/urdf/go1.urdf
@@ -32,14 +32,14 @@
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
- <gazebo>
+ <!-- <gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/go1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
- </gazebo>
+ </gazebo> -->
<!-- Show the trajectory of trunk center. -->
- <gazebo>
+ <!-- <gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
<frequency>10</frequency>
<plot>
@@ -48,7 +48,7 @@
<material>Gazebo/Yellow</material>
</plot>
</plugin>
- </gazebo>
+ </gazebo> -->
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
@@ -60,7 +60,7 @@
</plot>
</plugin>
</gazebo> -->
- <gazebo>
+ <!-- <gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
@@ -84,7 +84,7 @@
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
- </gazebo>
+ </gazebo> -->
<!-- Depth camera -->
<!-- <gazebo>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
@@ -156,7 +156,7 @@
</plugin>
</sensor>
</gazebo> -->
- <gazebo reference="depthCamera_link_left">
+ <!-- <gazebo reference="depthCamera_link_left">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
@@ -196,9 +196,9 @@
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
- </gazebo>
+ </gazebo> -->
<!-- Foot contacts. -->
- <gazebo reference="FR_calf">
+ <!-- <gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
@@ -233,9 +233,9 @@
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
- </gazebo>
+ </gazebo> -->
<!-- Visualization of Foot contacts. -->
- <gazebo reference="FR_foot">
+ <!-- <gazebo reference="FR_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>FR_foot_contact</topicName>
@@ -282,9 +282,9 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
- </gazebo>
+ </gazebo> -->
<!-- FL leg -->
- <gazebo reference="FL_hip">
+ <!-- <gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
@@ -309,9 +309,9 @@
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
- </gazebo>
+ </gazebo> -->
<!-- FR leg -->
- <gazebo reference="FR_hip">
+ <!-- <gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
@@ -336,9 +336,9 @@
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
- </gazebo>
+ </gazebo> -->
<!-- RL leg -->
- <gazebo reference="RL_hip">
+ <!-- <gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
@@ -363,9 +363,9 @@
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
- </gazebo>
+ </gazebo> -->
<!-- RR leg -->
- <gazebo reference="RR_hip">
+ <!-- <gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
@@ -390,7 +390,7 @@
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
- </gazebo>
+ </gazebo> -->
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
@@ -421,7 +421,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -479,7 +479,7 @@
<visual>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -532,7 +532,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -585,7 +585,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -692,7 +692,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -745,7 +745,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -798,7 +798,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -905,7 +905,7 @@
<visual>
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -958,7 +958,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -1011,7 +1011,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -1118,7 +1118,7 @@
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -1171,7 +1171,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -1224,7 +1224,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
@@ -1329,7 +1329,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
@@ -1403,7 +1403,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
@@ -1477,7 +1477,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
@@ -1551,7 +1551,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
@@ -1625,7 +1625,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
@@ -1713,7 +1713,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
@@ -1738,7 +1738,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
@@ -1763,7 +1763,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>