363 lines
10 KiB
XML
363 lines
10 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.6">
|
|
<world name="default">
|
|
|
|
<gravity>0 0 0</gravity>
|
|
<gui fullscreen='0'>
|
|
<plugin name='keyboard' filename='libKeyboardGUIPlugin.so'/>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>4.5 0 11 0.000361 1.57 1.57036</pose>
|
|
</camera>
|
|
</gui>
|
|
|
|
<include>
|
|
<uri>model://sun</uri>
|
|
</include>
|
|
|
|
<model name='position_teleop'>
|
|
<pose>0 0 0.03 -1.57 -0 0</pose>
|
|
<link name='link_1'>
|
|
<pose>0 0.02141 0 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>10</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<lighting>1</lighting>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/White</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name='link_2'>
|
|
<pose>-0 -0.03 -0.25 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Red</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='joint' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_2</child>
|
|
<pose>0 0 0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<plugin name='keystojoints' filename='libKeysToJointsPlugin.so'>
|
|
<!-- u -->
|
|
<map key='117' joint='joint' scale='-0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
<!-- j -->
|
|
<map key='106' joint='joint' scale='0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
</plugin>
|
|
</model>
|
|
|
|
<model name='velocity_teleop'>
|
|
<pose>3 0 0.03 -1.57 -0 0</pose>
|
|
<link name='link_1'>
|
|
<pose>0 0.02141 0 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>10</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<lighting>1</lighting>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/White</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name='link_2'>
|
|
<pose>-0 -0.03 -0.25 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Green</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='joint' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_2</child>
|
|
<pose>0 0 0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<plugin name='keystojoints' filename='libKeysToJointsPlugin.so'>
|
|
<!-- 8 -->
|
|
<map key='56' joint='joint' scale='-0.3' type='velocity' kp='200' ki='0' kd='0'/>
|
|
<!-- i -->
|
|
<map key='105' joint='joint' scale='0' type='velocity' kp='200' ki='0' kd='0'/>
|
|
<!-- k -->
|
|
<map key='107' joint='joint' scale='0.3' type='velocity' kp='200' ki='0' kd='0'/>
|
|
</plugin>
|
|
</model>
|
|
|
|
<model name='force_teleop'>
|
|
<pose>6 0 0.03 -1.57 -0 0</pose>
|
|
<link name='link_1'>
|
|
<pose>0 0.02141 0 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>10</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<lighting>1</lighting>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/White</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name='link_2'>
|
|
<pose>-0 -0.03 -0.25 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Blue</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='joint' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_2</child>
|
|
<pose>0 0 0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<plugin name='keystojoints' filename='libKeysToJointsPlugin.so'>
|
|
<!-- o -->
|
|
<map key='111' joint='joint' scale='-1000' type='force'/>
|
|
<!-- l -->
|
|
<map key='108' joint='joint' scale='1000' type='force'/>
|
|
</plugin>
|
|
</model>
|
|
|
|
<model name='multiple_teleop'>
|
|
<pose>9 0 0.03 -1.57 -0 0</pose>
|
|
<link name='link_1'>
|
|
<pose>0 0.02141 0 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>10</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<lighting>1</lighting>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/White</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<pose>0 0 0 1.57 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<radius>0.5</radius>
|
|
<length>0.02</length>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name='link_2'>
|
|
<pose>-0 -0.03 -0.25 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Yellow</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name='link_3'>
|
|
<pose>-0 -0.07 -0.25 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Orange</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.057867 0.042821 0.5</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='joint_2' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_2</child>
|
|
<pose>0 0 0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
</axis>
|
|
</joint>
|
|
<joint name='joint_3' type='revolute'>
|
|
<parent>link_1</parent>
|
|
<child>link_3</child>
|
|
<pose>0 0 0.25 0 -0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
</axis>
|
|
</joint>
|
|
|
|
<plugin name='keystojoints' filename='libKeysToJointsPlugin.so'>
|
|
<!-- p -->
|
|
<map key='112' joint='joint_2' scale='-0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
<!-- ; -->
|
|
<map key='59' joint='joint_2' scale='0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
|
|
<!-- p -->
|
|
<map key='112' joint='joint_3' scale='0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
<!-- ; -->
|
|
<map key='59' joint='joint_3' scale='-0.1' type='position' kp='100' ki='0' kd='10'/>
|
|
</plugin>
|
|
</model>
|
|
</world>
|
|
</sdf>
|