Read floating base groundtruth

[arntanguy]

This PR connects the following ports to the "FloatingBase" BodySensor:

• basePoseIn
• baseVelIn
• baseAccIn

This allows reading ground-truth floating base information from choreonoid simulation.

Note if you wish to use this for your own robots:

Everything is set-up for the simulations with the JVRC robot provided with this repository. If you wish to obtain grountruth information for your own robot, you will need the following:

• In Virtual-YourRobot-RTC.conf

out-port = waistAbsTransform:PELVIS:ABS_TRANSFORM2
out-port = waistAbsVelocity:PELVIS:ABS_VELOCITY
out-port = waistAbsAcceleration:PELVIS:ABS_ACCELERATION

• In the simulation script sim_mc.py

    connectPorts(rh.port("waistAbsTransform"), mc.port("basePoseIn"))
    connectPorts(rh.port("waistAbsVelocity"), mc.port("baseVelIn"))
    connectPorts(rh.port("waistAbsAcceleration"), mc.port("baseAccIn"))