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<?xml version="1.0"?>
<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<include>
<name>p_control</name>
<pose>-2 -2 0 0 0 0</pose>
<uri>model://mass_on_rails</uri>
<plugin name="init_joint_control" filename="libJointControlPlugin.so">
<controller type="position">
<joint>joint</joint>
<target>1</target>
<pid_gains>10 0 0</pid_gains>
</controller>
</plugin>
</include>
<include>
<name>pd_control</name>
<pose>0 0 0 0 0 0</pose>
<uri>model://mass_on_rails</uri>
<plugin name="init_joint_control" filename="libJointControlPlugin.so">
<controller type="position">
<joint>joint</joint>
<target>1</target>
<pid_gains>10 0 2</pid_gains>
</controller>
</plugin>
</include>
<include>
<name>pid_control</name>
<pose>2 2 0 0 0 0</pose>
<uri>model://mass_on_rails</uri>
<plugin name="init_joint_control" filename="libJointControlPlugin.so">
<controller type="position">
<joint>joint</joint>
<target>1</target>
<pid_gains>10 1 2</pid_gains>
</controller>
</plugin>
</include>
</world>
</sdf>
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