<?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>