From 653890491c3b1c24ce6bda22a3da99d5df6cd124 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Wed, 23 Aug 2023 16:48:10 +0300
Subject: [PATCH] add ft sensor plugin to sdf

---
 rbs_simulation/worlds/mir.sdf | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/rbs_simulation/worlds/mir.sdf b/rbs_simulation/worlds/mir.sdf
index d658131..30eccd0 100644
--- a/rbs_simulation/worlds/mir.sdf
+++ b/rbs_simulation/worlds/mir.sdf
@@ -12,7 +12,8 @@
     <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
     <plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
         <render_engine>ogre2</render_engine>
-      </plugin>  
+      </plugin>
+    <plugin name='ignition::gazebo::systems::ForceTorque' filename='ignition-gazebo-forcetorque-system'/>
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
@@ -54,7 +55,7 @@
         <real_time_factor>true</real_time_factor>
         <iterations>true</iterations>
         </plugin>
-              <plugin filename="ImageDisplay" name="Image Display 3">
+              <!-- <plugin filename="ImageDisplay" name="Image Display 3">
         <ignition-gui>
           <title>RGBD: image</title>
           <property key="state" type="string">floating</property>
@@ -76,7 +77,7 @@
         </ignition-gui>
         <topic>rgbd_camera/depth_image</topic>
         <topic_picker>false</topic_picker>
-      </plugin>
+      </plugin> -->
       </gui> 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
@@ -264,7 +265,7 @@
       <pose>-0.9 0 0.6250 0 0 0</pose>
     </include> -->
 
-    <model name="camera">
+    <!-- <model name="camera">
         <static>1</static>
         <pose>-2.0 -0.55 1.44 0 0.44 0.44</pose>
         <link name="link">
@@ -309,7 +310,7 @@
             <topic>camera</topic>
           </sensor>
         </link>
-      </model>
+      </model> -->
 
       <!-- <model name="rgbd_camera">
       <static>1</static>