41 lines
1.0 KiB
Plaintext
41 lines
1.0 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="handle_wheel_valve_wall">
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<include>
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<uri>model://drc_practice_valve_wall</uri>
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<name>wall</name>
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<static>false</static>
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</include>
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<joint name="wall-joint" type="revolute">
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<parent>world</parent>
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<child>wall::link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<include>
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<uri>model://drc_practice_handle_wheel_valve</uri>
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<name>valve_0</name>
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<pose>0.614335 -0.0092 0.9 3.14159 0 1.5707</pose>
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</include>
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<joint name="handle-joint" type="revolute">
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<parent>wall::link</parent>
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<child>handle::link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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</model>
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</sdf>
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