[hrpsys_gazebo_tutorials] Use hrpsys_ros_bridge_tutorials' models and do

not generate special urdf for gazebo simulation

hrpsys_ros_bridge/models/samplerobot.yaml

@@ -79,3 +79,23 @@ angle-vector:
                      0.0, 0.0, 0.0] # torso
 
 
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK6
+    replaced_xml: '<gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK6
+    replaced_xml: '<gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      attribute_name: effort
+      attribute_value: 100
+    replaced_attribute_value: 200
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 6.0