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Quella777
2025-08-25 16:30:02 +08:00
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152
cabinet/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="cabinet">
<static>true</static>
<link name="cabinet_bottom_plate">
<inertial>
<pose>0 0 -1 0 0 0</pose>
<inertia>
<ixx>2.050000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.050000</iyy>
<iyz>0</iyz>
<izz>2.050000</izz>
</inertia>
<mass>25.000000</mass>
</inertial>
<collision name="cabinet_bottom_plate_geom">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_visual">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</gazebo>

152
cabinet/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="cabinet">
<static>true</static>
<link name="cabinet_bottom_plate">
<inertial>
<pose>0 0 -1 0 0 0</pose>
<inertia>
<ixx>2.050000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.050000</iyy>
<iyz>0</iyz>
<izz>2.050000</izz>
</inertia>
<mass>25.000000</mass>
</inertial>
<collision name="cabinet_bottom_plate_geom">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_visual">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

152
cabinet/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="cabinet">
<static>true</static>
<link name="cabinet_bottom_plate">
<inertial>
<pose>0 0 -1 0 0 0</pose>
<inertia>
<ixx>2.050000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.050000</iyy>
<iyz>0</iyz>
<izz>2.050000</izz>
</inertia>
<mass>25.000000</mass>
</inertial>
<collision name="cabinet_bottom_plate_geom">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_visual">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

19
cabinet/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Cabinet</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 cabinet.
</description>
</model>

152
cabinet/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cabinet">
<static>true</static>
<link name="cabinet_bottom_plate">
<inertial>
<pose>0 0 -1 0 0 0</pose>
<inertia>
<ixx>2.050000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.050000</iyy>
<iyz>0</iyz>
<izz>2.050000</izz>
</inertia>
<mass>25.000000</mass>
</inertial>
<collision name="cabinet_bottom_plate_geom">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_visual">
<pose>0 0 0.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_back_plate">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_back_plate_visual">
<pose>0.235000 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.020000 0.450000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_left_plate">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_left_plate_visual">
<pose>0 0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_middle_plate">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_middle_plate_visual">
<pose>0 0 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_right_plate">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_right_plate_visual">
<pose>0 -0.235000 0.510000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.020000 1.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="cabinet_bottom_plate_geom_cabinet_top_plate">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
</collision>
<visual name="cabinet_bottom_plate_geom_cabinet_top_plate_visual">
<pose>0 0 1.010000 0 0 0</pose>
<geometry>
<box>
<size>0.450000 0.450000 0.020000</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>