51 lines
1.7 KiB
XML
51 lines
1.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<gui fullscreen='0'>
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<plugin name='keyboard' filename='libKeyboardGUIPlugin.so'/>
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</gui>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="simple_arm">
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<include>
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<uri>model://simple_arm</uri>
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</include>
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<plugin name='keystojoints' filename='libKeysToJointsPlugin.so'>
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<!-- 6 -->
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<map key='54' joint='simple_arm::arm_shoulder_pan_joint' scale='0.1' type='velocity' kp='200' ki='0' kd='0'/>
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<!-- y -->
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<map key='121' joint='simple_arm::arm_shoulder_pan_joint' scale='0' type='velocity' kp='200' ki='0' kd='0'/>
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<!-- h -->
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<map key='104' joint='simple_arm::arm_shoulder_pan_joint' scale='-0.1' type='velocity' kp='200' ki='0' kd='0'/>
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<!-- u -->
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<map key='117' joint='simple_arm::arm_elbow_pan_joint' scale='1000' type='force'/>
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<!-- j -->
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<map key='106' joint='simple_arm::arm_elbow_pan_joint' scale='-1000' type='force'/>
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<!-- i -->
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<map key='105' joint='simple_arm::arm_wrist_lift_joint' scale='0.1' type='position' kp='1000' ki='0' kd='10'/>
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<!-- k -->
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<map key='107' joint='simple_arm::arm_wrist_lift_joint' scale='-0.1' type='position' kp='1000' ki='0' kd='10'/>
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<!-- o -->
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<map key='111' joint='simple_arm::arm_wrist_roll_joint' scale='0.3' type='position' kp='1' ki='0' kd='0'/>
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<!-- l -->
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<map key='108' joint='simple_arm::arm_wrist_roll_joint' scale='-0.3' type='position' kp='1' ki='0' kd='0'/>
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</plugin>
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</model>
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</world>
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</sdf>
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