fixed_model.sdf.in

<?xml version='1.0'?>
<sdf version='@ICUB_MODELS_SDF_VERSION@'>
  <model name="iCub_fixed">
    <include>
      <uri>model://@ROBOT_NAME@</uri>
      <pose>0.0 0 1.0 0 0 3.14</pose>
    </include>

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