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