feet_fixed_model.sdf.in

<?xml version='1.0'?>
<sdf version='@ICUB_MODELS_SDF_VERSION@'>
  <model name="iCub_feet_fixed">
    <include>
      <uri>model://@ROBOT_NAME@</uri>
    </include>

    <joint name="fixed_left" type="fixed">
      <parent>world</parent>
      <child>iCub::l_foot</child>
    </joint>

    <joint name="fixed_right" type="fixed">
      <parent>world</parent>
      <child>iCub::r_foot</child>
    </joint>
  </model>
</sdf>