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Quella777
2025-08-25 16:30:02 +08:00
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165
bookshelf/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="bookshelf">
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
</inertial>
<collision name="back">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual1">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="left_side">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual2">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="right_side">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual3">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="bottom">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
</collision>
<visual name="visual4">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="top">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual5">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="low_shelf">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual6">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="high_shelf">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual7">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</gazebo>

165
bookshelf/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="bookshelf">
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
</inertial>
<collision name="back">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual1">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="left_side">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual2">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="right_side">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual3">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="bottom">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
</collision>
<visual name="visual4">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="top">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual5">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="low_shelf">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual6">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="high_shelf">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual7">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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bookshelf/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="bookshelf">
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
</inertial>
<collision name="back">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual1">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="left_side">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual2">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="right_side">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual3">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="bottom">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
</collision>
<visual name="visual4">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="top">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual5">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="low_shelf">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual6">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="high_shelf">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual7">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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bookshelf/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Bookshelf</name>
<version>1.0</version>
<sdf version='1.2'>model-1_2.sdf</sdf>
<sdf version='1.3'>model-1_3.sdf</sdf>
<sdf version='1.4'>model-1_4.sdf</sdf>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A wooden bookshelf.
</description>
</model>

165
bookshelf/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="bookshelf">
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
</inertial>
<collision name="back">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual1">
<pose>0 0.005 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.9 0.01 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="left_side">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual2">
<pose>0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="right_side">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
</collision>
<visual name="visual3">
<pose>-0.45 -0.195 0.6 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.4 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="bottom">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
</collision>
<visual name="visual4">
<pose>0 -0.195 0.03 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.06</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="top">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual5">
<pose>0 -0.195 1.19 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="low_shelf">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual6">
<pose>0 -0.195 0.43 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="high_shelf">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual7">
<pose>0 -0.195 0.8 0 0 0</pose>
<geometry>
<box>
<size>0.88 0.4 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>