From 28d6a8bc20b907f51c3cf3f7f5964903dff84227 Mon Sep 17 00:00:00 2001
From: kindsenior <kunio.einstein@gmail.com>
Date: Wed, 15 Nov 2017 13:26:02 +0900
Subject: [PATCH] [hrpsys_ros_bridge_tutorials] add PDgain files and setting
 for choreonoid simulation

---
 hrpsys_ros_bridge_tutorials/CMakeLists.txt    |  2 ++
 .../models/JAXON_BLUE.PDgains.sav             | 31 +++++++++++++++++++
 .../models/JAXON_BLUE.PDgains_sim.dat         | 31 +++++++++++++++++++
 3 files changed, 64 insertions(+)
 create mode 100644 hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains.sav
 create mode 100644 hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat

diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
index 09a63050..5e2b7745 100644
--- a/hrpsys_ros_bridge_tutorials/CMakeLists.txt
+++ b/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,"
diff --git a/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains.sav b/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains.sav
new file mode 100644
index 00000000..bdddf4be
--- /dev/null
+++ b/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
diff --git a/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat
new file mode 100644
index 00000000..bf9ae5da
--- /dev/null
+++ b/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
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
+20000 320
\ No newline at end of file