Merge pull request #541 from kindsenior/add-jaxon-blue-chorenoid-conf

[hrpsys_ros_bridge_tutorials] add PDgain files and setting for choreonoid simulation

hrpsys_ros_bridge_tutorials/CMakeLists.txt

@@ -378,6 +378,8 @@ compile_rbrain_model_for_closed_robots(JAXON_BLUE JAXON_BLUE JAXON_BLUE
   --conf-dt-option "0.002"
   --simulation-timestep-option "0.002"
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
+  --conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/JAXON_BLUE.PDgains.sav"
+  --conf-file-option "pdgains_sim_file_name: ${PROJECT_SOURCE_DIR}/models/JAXON_BLUE.PDgains_sim.dat"
   --conf-file-option "abc_leg_offset: 0.0, 0.1, 0.0"
   ## KAWADA foot
   --conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.055,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,-0.055,-0.217,0,1.0,0.0,1.5708,"

hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains.sav

@@ -0,0 +1,31 @@
+33000 0 240
+83000 0 240
+33000 0 240
+33000 0 240
+47000 0 240
+33000 0 240
+33000 0 240
+83000 0 240
+33000 0 240
+33000 0 240
+47000 0 240
+33000 0 240
+83000 0 240
+83000 0 240
+83000 0 240
+10000 0 200
+10000 0 200
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320
+20000 0 320

hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat

@@ -0,0 +1,31 @@
+33000 240
+83000 240
+33000 240
+33000 240
+47000 240
+33000 240
+33000 240
+83000 240
+33000 240
+33000 240
+47000 240
+33000 240
+83000 240
+83000 240
+83000 240
+10000 200
+10000 200
+20000 320
+20000 320
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+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320