anymal quadruped_description base 400.0 1000000.0 100.0 0.8 0.8 1000000.0 100.0 0.8 0.8 1000000.0 100.0 0.8 0.8 1000000.0 100.0 0.8 0.8 Gazebo/Orange 0.8 0.8 sensors imu_link /imu_link imu imu/bias imu/calibrate 400