Quella/gazebo_models
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Quella777
2025-08-25 16:30:02 +08:00
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table/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="table">
<static>true</static>
<link name="link">
<collision name="surface">
<pose>0 0 1.0 0 0 0</pose>
<geometry>
<box>
<size>1.5 0.8 0.03</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual1">
<pose>0 0 1.0 0 0 0</pose>
<geometry>
<box>
<size>1.5 0.8 0.03</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<collision name="front_left_leg">
<pose>0.68 0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="front_left_leg">
<pose>0.68 0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="front_right_leg">
<pose>0.68 -0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="front_right_leg">
<pose>0.68 -0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="back_right_leg">
<pose>-0.68 -0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="back_right_leg">
<pose>-0.68 -0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="back_left_leg">
<pose>-0.68 0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="back_left_leg">
<pose>-0.68 0.38 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>