diff --git a/hrpsys_gazebo_tutorials/config/SampleRobot.yaml b/hrpsys_gazebo_tutorials/config/SampleRobot.yaml
index b6c605fc..c799748e 100644
--- a/hrpsys_gazebo_tutorials/config/SampleRobot.yaml
+++ b/hrpsys_gazebo_tutorials/config/SampleRobot.yaml
@@ -1,6 +1,6 @@
 hrpsys_gazebo_configuration:
 ### velocity feedback for joint control, use parameter gains/joint_name/p_v
-  use_velocity_feedback: true
+  use_velocity_feedback: false
   use_joint_effort: true
 # iob_rate: 200
 ### loose synchronization default true
@@ -75,35 +75,35 @@ hrpsys_gazebo_configuration:
 # 28  - CHEST
 ## joint gain settings
   gains:
-    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    LLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
-    WAIST_P:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    WAIST_R:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    CHEST:           {p: 6000.0, d:   2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
-    LARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
-    LARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
-    LARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
-    LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    LARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
-    RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
-    RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
-    RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
-    RARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LLEG_HIP_R:      {p: 6000.0, d:  0.1, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_P:      {p: 6000.0, d:  0.15, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_Y:      {p:  2000.0, d:  0.1, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_KNEE:       {p: 9000.0, d:  0.15, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_P:    {p: 4500.0, d:  0.075, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_R:    {p:  3000.0, d:  0.05, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_R:      {p: 6000.0, d:  0.1, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_P:      {p: 6000.0, d:  0.05, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_Y:      {p:  2000.0, d:  0.1, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_KNEE:       {p: 9000.0, d:  0.15, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_P:    {p: 4500.0, d:  0.075, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_R:    {p:  3000.0, d:  0.05, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_P:         {p: 8000.0, d:   0.1, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_R:         {p: 8000.0, d:   0.1, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    CHEST:           {p: 6000.0, d:   0.05, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_SHOULDER_P: {p: 1200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_SHOULDER_R: {p:  500.0, d:   0.05, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    LARM_SHOULDER_Y: {p:  200.0, d:   0.03, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_ELBOW:      {p: 1000.0, d:   0.14, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_WRIST_Y:    {p:  200.0, d:   0.01, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_P:    {p:  300.0, d:   0.02, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_R:    {p:   20.0, d:   0.01, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_SHOULDER_P: {p: 1200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_SHOULDER_R: {p:  500.0, d:   0.05, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    RARM_SHOULDER_Y: {p:  200.0, d:   0.03, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_ELBOW:      {p: 1000.0, d:   0.14, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_WRIST_Y:    {p:  200.0, d:   0.01, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_WRIST_P:    {p:  300.0, d:   0.02, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_WRIST_R:    {p:   20.0, d:   0.01, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
 ## force sensor settings
 ## list of force sensorname
   force_torque_sensors:
@@ -121,6 +121,7 @@ hrpsys_gazebo_configuration:
 ## IMU sensor settings
 ## configuration of IMU sensor
 ## key of imu_sensors_config should be a member of imu_sensors
+## pose of IMU sensor should be written in URDF
   imu_sensors:
     - imu_sensor0
   imu_sensors_config:
diff --git a/hrpsys_gazebo_tutorials/config/SampleRobot_indigo.yaml b/hrpsys_gazebo_tutorials/config/SampleRobot_indigo.yaml
new file mode 100644
index 00000000..b6c605fc
--- /dev/null
+++ b/hrpsys_gazebo_tutorials/config/SampleRobot_indigo.yaml
@@ -0,0 +1,127 @@
+hrpsys_gazebo_configuration:
+### velocity feedback for joint control, use parameter gains/joint_name/p_v
+  use_velocity_feedback: true
+  use_joint_effort: true
+# iob_rate: 200
+### loose synchronization default true
+# use_loose_synchronized: false
+### synchronized hrpsys and gazebo
+# use_synchronized_command: false
+# iob_substeps: 5
+### 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, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28]
+### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
+  joints:
+    - RLEG_HIP_R
+    - RLEG_HIP_P
+    - RLEG_HIP_Y
+    - RLEG_KNEE
+    - RLEG_ANKLE_P
+    - RLEG_ANKLE_R
+    - RARM_SHOULDER_P
+    - RARM_SHOULDER_R
+    - RARM_SHOULDER_Y
+    - RARM_ELBOW
+    - RARM_WRIST_Y
+    - RARM_WRIST_P
+    - RARM_WRIST_R
+    - LLEG_HIP_R
+    - LLEG_HIP_P
+    - LLEG_HIP_Y
+    - LLEG_KNEE
+    - LLEG_ANKLE_P
+    - LLEG_ANKLE_R
+    - LARM_SHOULDER_P
+    - LARM_SHOULDER_R
+    - LARM_SHOULDER_Y
+    - LARM_ELBOW
+    - LARM_WRIST_Y
+    - LARM_WRIST_P
+    - LARM_WRIST_R
+    - WAIST_P
+    - WAIST_R
+    - CHEST
+## comment for joint index
+# 0   - RLEG_HIP_R
+# 1   - RLEG_HIP_P
+# 2   - RLEG_HIP_Y
+# 3   - RLEG_KNEE
+# 4   - RLEG_ANKLE_P
+# 5   - RLEG_ANKLE_R
+# 6   - RARM_SHOULDER_P
+# 7   - RARM_SHOULDER_R
+# 8   - RARM_SHOULDER_Y
+# 9   - RARM_ELBOW
+# 10  - RARM_WRIST_Y
+# 11  - RARM_WRIST_P
+# 12  - RARM_WRIST_R
+# 13  - LLEG_HIP_R
+# 14  - LLEG_HIP_P
+# 15  - LLEG_HIP_Y
+# 16  - LLEG_KNEE
+# 17  - LLEG_ANKLE_P
+# 18  - LLEG_ANKLE_R
+# 19  - LARM_SHOULDER_P
+# 20  - LARM_SHOULDER_R
+# 21  - LARM_SHOULDER_Y
+# 22  - LARM_ELBOW
+# 23  - LARM_WRIST_Y
+# 24  - LARM_WRIST_P
+# 25  - LARM_WRIST_R
+# 26  - WAIST_P
+# 27  - WAIST_R
+# 28  - CHEST
+## joint gain settings
+  gains:
+    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_P:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_R:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    CHEST:           {p: 6000.0, d:   2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    LARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    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
+    - lhsensor
+    - rhsensor
+## 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: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
+    rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
+    lhsensor: {joint_name: 'LARM_WRIST_R', frame_id: 'LARM_LINK7'}
+    rhsensor: {joint_name: 'RARM_WRIST_R', frame_id: 'RARM_LINK7'}
+## IMU sensor settings
+## configuration of IMU sensor
+## key of imu_sensors_config should be a member of imu_sensors
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors_config:
+    imu_sensor0: {ros_name: 'sample_imu_sensor', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}
diff --git a/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers_indigo.launch b/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers_indigo.launch
new file mode 100644
index 00000000..3fe8392c
--- /dev/null
+++ b/hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers_indigo.launch
@@ -0,0 +1,33 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <!-- initial robot pose -->
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="0.73" />
+  <arg name="MODEL_ROTATE_R" default="0.0" />
+  <arg name="MODEL_ROTATE_P" default="0.0" />
+  <arg name="MODEL_ROTATE_Y" default="0.0" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/SampleRobot_indigo.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+
+    <arg name="MODEL_TRANSLATE_X" value="$(arg MODEL_TRANSLATE_X)" />
+    <arg name="MODEL_TRANSLATE_Y" value="$(arg MODEL_TRANSLATE_Y)" />
+    <arg name="MODEL_TRANSLATE_Z" value="$(arg MODEL_TRANSLATE_Z)" />
+    <arg name="MODEL_ROTATE_R" value="$(arg MODEL_ROTATE_R)" />
+    <arg name="MODEL_ROTATE_P" value="$(arg MODEL_ROTATE_P)" />
+    <arg name="MODEL_ROTATE_Y" value="$(arg MODEL_ROTATE_Y)" />
+  </include>
+</launch>
diff --git a/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch b/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch
index 3b6d566e..849915f7 100644
--- a/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch
+++ b/hrpsys_gazebo_tutorials/launch/samplerobot_hrpsys_bringup.launch
@@ -22,7 +22,8 @@
     <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
-    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
+    <arg name="HRPSYS_PY_PKG" value="hrpsys_ros_bridge_tutorials"/>
+    <arg name="HRPSYS_PY_NAME" default="samplerobot_hrpsys_config.py"/>
     <arg name="KINEMATICS_MODE" value="$(arg KINEMATICS_MODE)"/>
     <arg name="BASE_LINK" value="WAIST_LINK0" />
   </include>
diff --git a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
index a0f1feb2..8f66556e 100644
--- a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
@@ -30,6 +30,7 @@
           </accel>
         </noise>
       </imu>
+      <pose>0 0 0 1.5708 0 3.14159</pose>
     </sensor>
   </gazebo>
   <!-- add force sensor -->
diff --git a/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml b/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
index ad24e04c..e7a82ef3 100644
--- a/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
@@ -108,3 +108,13 @@ replace_xmls:
       attribute_name: type
       attribute_value: continuous
     replaced_attribute_value: revolute
+  - match_rule:
+      tag: dynamics
+      attribute_name: friction
+      attribute_value: 0
+    replaced_attribute_value: 1
+  - match_rule:
+      tag: dynamics
+      attribute_name: damping
+      attribute_value: 0.2
+    replaced_attribute_value: 1