[hrpsys_choreonoid] Add SampleRobot#355
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Naoki-Hiraoka wants to merge 3 commits intostart-jsk:masterfrom
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[hrpsys_choreonoid] Add SampleRobot#355Naoki-Hiraoka wants to merge 3 commits intostart-jsk:masterfrom
Naoki-Hiraoka wants to merge 3 commits intostart-jsk:masterfrom
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(#328 から分離しました。)
SampleRobotのシミュレーションを追加しました。
SampleRobotのシミュレーションをするために、2点の変更が必要でした。
rleg, lleg, rarm, larmの順についているという仮定がありました。SampleRobotは力センサがlleg, rleg, larm, rarmの順についているので、この仮定を無くしました。rleg, llegの2箇所に3軸ずつついているという仮定がありました。SampleRobotはbushがlleg, rleg, larm, rarmの4箇所にそれぞれ3,3,6,6軸ずつついているので、この仮定を無くしました。hrpsys_ros_bridge_tutorialsではなくhrpsys_ros_bridgeのSampleRobotを使うので、コードはhrpsys_choreonoid_tutorialsではなくhrpsys_choreonoidに置きました。