roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch  # kinetic and above
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers_indigo.launch  # indigo

rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch  # kinetic and above
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup_indigo.launch  # indigo

roscd hrpsys_ros_bridge/euslisp/
roseus samplerobot-interface.l
(samplerobot-init)
(setq *robot* (instance samplerobot-robot :init))
(send *ri* :angle-vector (send *robot* :reset-pose) 5000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

# top level name space()
hrpsys_gazebo_configuration:
# velocity feedback for joint control, use parameter gains/joint_name/p_v
  use_velocity_feedback: true
# synchronized hrpsys and gazebo
  use_synchronized_command: false
# name of robot (using for namespace)
  robotname: SampleRobot
# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
  joint_id_list: [0, ... , 28]
# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
  joints:
    - RLEG_HIP_R
    - CHEST
# joint gain settings
# Torque feedback mode
# effort := p * error + d * d/dt error + i * sigma (error) + vp * velocity_error
#   error := reference_position - current_position
#   velocity_error := reference_velocity - current_velocity
# Velociy feedback mode
# desired_velocity := p_v * error + reference_velocity
  gains:
    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
    RARM_WRIST_R:    {p:    20.0, d:  0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
# force sensor settings
#   list of force sensorname
  force_torque_sensors:
    - lfsensor
    - rfsensor
# configuration of force sensor
#   key of force_torque_sensors_config should be a member of force_torque_sensors
  force_torque_sensors_config:
    lfsensor: {joint_name: 'JOINT_NAME0', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
    rfsensor: {joint_name: 'JOINT_NAME1', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
# IMU sensor settings
# configuration of IMU sensor
#   key of imu_sensors_config should be a member of imu_sensors
# pose of imu_sensor relative to parent link should be specified in URDF.
  imu_sensors:
    - imu_sensor0
  imu_sensors_config:
    imu_sensor0: {ros_name: 'ros_imu_sensor', link_name: 'LINK_NAME0', frame_id: 'LINK_NAME0'}