31 lines
620 B
XML
31 lines
620 B
XML
<?xml version="1.0" ?>
|
|
|
|
<sdf version="1.5">
|
|
<model name="metal_peg_board">
|
|
<include>
|
|
<name>wooden_board</name>
|
|
<uri>model://wooden_board</uri>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
</include>
|
|
|
|
<include>
|
|
<name>peg</name>
|
|
<uri>model://metal_peg</uri>
|
|
<pose>0 0.116 0 0 0 0</pose>
|
|
</include>
|
|
|
|
<joint name="board_peg" type="revolute">
|
|
<parent>wooden_board::base</parent>
|
|
<child>peg::link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<upper>0</upper>
|
|
<lower>0</lower>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
|
|
</model>
|
|
</sdf>
|