78 lines
2.2 KiB
XML
78 lines
2.2 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="hand_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_hand_wheel_valve</uri>
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<name>valve_0</name>
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<pose>0.919587 -0.02 0.285 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_1</name>
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<pose>0.919587 -0.02 0.8954 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_2</name>
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<pose>0.919587 -0.02 1.5058 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_3</name>
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<pose>0.919587 -0.02 2.1162 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_4</name>
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<pose>0.614335 -0.02 0.5896 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_5</name>
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<pose>0.614335 -0.02 1.2 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_6</name>
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<pose>0.614335 -0.02 1.8104 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_7</name>
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<pose>0.309083 -0.02 0.285 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_8</name>
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<pose>0.309083 -0.02 0.8954 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_9</name>
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<pose>0.309083 -0.02 1.5058 0 0 0</pose>
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</include>
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<include>
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<uri>model://drc_practice_hand_wheel_valve</uri>
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<name>valve_10</name>
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<pose>0.309083 -0.02 2.1162 0 0 0</pose>
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</include>
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</model>
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</sdf>
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