How to add a BWC configuration files

[kight71]

I have already read BaselineWalkingController Tips. However, the BWC configuration files link in this document can not be checked. May you give me some advice about it? Really thank you for your help!

[mmurooka]

The BWC configurations specific to JVRC1 are described below:

BaselineWalkingController/etc/BaselineWalkingController.in.yaml

Lines 282 to 312 in 23af859

	# Robot-specific configurations
	jvrc1:
	PostureTask:
	jointWeights:
	WAIST_R: 10
	WAIST_P: 10
	# For arm swing
	jointGains:
	- jointName: R_SHOULDER_P
	stiffness: 400
	- jointName: L_SHOULDER_P
	stiffness: 400
	CoMTask:
	activeJoints: [
	"Root",
	"R_HIP_Y", "R_HIP_R", "R_HIP_P", "R_KNEE", "R_ANKLE_P", "R_ANKLE_R",
	"L_HIP_Y", "L_HIP_R", "L_HIP_P", "L_KNEE", "L_ANKLE_P", "L_ANKLE_R"]
	BaseOrientationTask:
	frame: WAIST_R_S
	FootManager:
	enableArmSwing: true
	jointAnglesForArmSwing:
	Left:
	R_SHOULDER_P: [-0.13962634015954636] # -8
	L_SHOULDER_P: [0.06981317007977318] # 4
	Right:
	R_SHOULDER_P: [0.06981317007977318] # 4
	L_SHOULDER_P: [-0.13962634015954636] # -8

Similarly, you can describe your robot's configurations in this file.