diff --git a/darwin_control/config/darwin_ceabot.yaml b/darwin_control/config/darwin_ceabot.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f3f88615112fe6a221468d2c8000930b68d67213
--- /dev/null
+++ b/darwin_control/config/darwin_ceabot.yaml
@@ -0,0 +1,131 @@
+darwin:
+ # Publish all joint states -----------------------------------
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+ darwin_controller:
+ type: effort_controllers/DarwinController
+ joints:
+ - j_shoulder_pitch_r
+ - j_shoulder_pitch_l
+ - j_shoulder_roll_r
+ - j_shoulder_roll_l
+ - j_elbow_r
+ - j_elbow_l
+ - j_hip_yaw_r
+ - j_hip_yaw_l
+ - j_hip_roll_r
+ - j_hip_roll_l
+ - j_hip_pitch_r
+ - j_hip_pitch_l
+ - j_knee_r
+ - j_knee_l
+ - j_ankle_pitch_r
+ - j_ankle_pitch_l
+ - j_ankle_roll_r
+ - j_ankle_roll_l
+ - j_pan
+ - j_tilt
+ gains:
+ j_shoulder_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_elbow_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_elbow_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_yaw_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_knee_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_yaw_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_knee_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_pan:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_tilt:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+
diff --git a/darwin_description/urdf/left_sensor_foot.xacro b/darwin_description/urdf/left_sensor_foot.xacro
index d9ad32f839b29e0c809643bf87b2f926154083a3..76829b7e00005f528e5ff557be0e01d8f78d9b8e 100755
--- a/darwin_description/urdf/left_sensor_foot.xacro
+++ b/darwin_description/urdf/left_sensor_foot.xacro
@@ -49,35 +49,35 @@
</actuator>
</transmission>
- <xacro:cny70_ir name="left_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_front_right" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0186 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_front_left" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0336 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>
diff --git a/darwin_description/urdf/right_sensor_foot.xacro b/darwin_description/urdf/right_sensor_foot.xacro
index f70603c22b292a661cc81c6385e5ae14f35346e9..971b571f9ce4920d8b3ff5010fc250feb1022399 100755
--- a/darwin_description/urdf/right_sensor_foot.xacro
+++ b/darwin_description/urdf/right_sensor_foot.xacro
@@ -49,35 +49,35 @@
</actuator>
</transmission>
- <xacro:cny70_ir name="right_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_front_right" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0336 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_front_left" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0186 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>