// the find
osrf/gazebo_models
Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org
A flat collection of SDF model files for the classic (pre-Ionic) Gazebo simulator — robots, environments, props, and sensor mounts ready to drop into a simulation. It's the model library that shipped with Gazebo 7–11 before OSRF moved to the new gz-sim stack and app.gazebosim.org. If you're running old Gazebo, this is where your models came from.
Breadth is real: 200+ models covering sensors (ASUS Xtion, generic cameras), vehicles (Cessna, ambulance, bus), urban environments (collapsed buildings, cloverleaf interchange), and manipulation objects (coke can, cordless drill, bowl). Multi-version SDF files (model-1_2.sdf through model-1_4.sdf) mean the same model often works across Gazebo versions without manual porting. OSRF authorship means the physics parameters (inertia, collision geometry) are generally sane rather than the garbage you get from random community contributions. The structured layout — one directory per model with model.config plus SDF — is consistent enough that tooling like gazebo_model_database can auto-index it.
This repo is a dead end. Last push July 2024, but active development moved to app.gazebosim.org and gz-sim years ago. If you're starting a new project on Gazebo Harmonic or Garden, these models need updating — the SDFormat syntax has diverged and some physics plugins referenced in older SDFs no longer exist. Mesh quality is uneven: some models have proper collision geometry, others use the visual mesh as the collision shape, which will wreck your physics. No automated testing means broken models accumulate silently — there's no CI checking that any of these actually load. Documentation is two links to tutorials, both pointing to docs that are themselves partially outdated.