660 lines
17 KiB
Plaintext
660 lines
17 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="RoboCup 09 SPL Field">
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<static>true</static>
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<link name="field">
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<pose>0 0 0.01 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>7.40 5.40</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="carpet">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>7.40 5.40</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>model://robocup09_spl_field/materials/scripts/</uri>
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<uri>model://robocup09_spl_field/materials/textures/</uri>
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<name>RoboCup/Carpet</name>
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</script>
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</material>
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<visual name="sideline_1">
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<pose>0 2 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>6.05 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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<visual name="sideline_2">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>6.05 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="endline_1">
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<pose>-3 0 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.05 4.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="endline_2">
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<pose>3 0 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.05 4.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="halfway_line">
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<pose>0 0 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.05 4.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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<visual name="area_1_line_y">
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<pose>-2.40 0 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.05 3</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="area_2_line_y">
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<pose>-2.70 1.50 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.65 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="area_3_line_y">
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<pose>-2.70 -1.50 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.65 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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<visual name="area_1_line_b">
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<pose>2.40 0 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.05 3</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="area_2_line_b">
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<pose>2.70 1.50 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.65 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="area_3_line_b">
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<pose>2.70 -1.50 0.011 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>0.65 0.05</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="penalty_b">
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<pose>-1.20 0 0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.0005</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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<visual name="penalty_y">
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<pose>1.20 0 0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.0005</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<visual name="center_point">
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<pose>0 0 0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.0005</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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<visual name="center_circle">
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<pose>0 0 -0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<scale>1 1 0.75</scale>
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<uri>model://robocup09_spl_field/meshes/circle.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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</link>
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<link name="left_post_y">
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<pose>-3 0.7 0.41 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.8</length>
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</cylinder>
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</geometry>
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|
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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|
<radius>0.05</radius>
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<length>0.8</length>
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|
|
</cylinder>
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|
|
</geometry>
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|
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<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
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<name>Gazebo/ZincYellow</name>
|
||
|
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</script>
|
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|
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</material>
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|
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</visual>
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</link>
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|
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|
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<link name="left_support_triangle_y">
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|
|
<pose>-3.043 -0.7 0.01 0 0 -1.5708</pose>
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|
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<collision name="collision">
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|
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<geometry>
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|
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<mesh>
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|
<scale>0.41 0.41 0.41</scale>
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||
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<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
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</mesh>
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|
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</geometry>
|
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|
|
</collision>
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|
|
<visual name="visual">
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<geometry>
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|
|
<mesh>
|
||
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|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
</script>
|
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|
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</material>
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</visual>
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</link>
|
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|
|
|
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|
|
<link name="right_post_y">
|
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|
|
<pose>-3 -0.7 0.41 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder>
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|
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<radius>0.05</radius>
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|
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<length>0.8</length>
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|
|
</cylinder>
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||
|
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</geometry>
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||
|
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</collision>
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|
|
<visual name="visual">
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|
|
<geometry>
|
||
|
|
<cylinder>
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|
|
<radius>0.05</radius>
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|
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<length>0.8</length>
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|
|
</cylinder>
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||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/ZincYellow</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
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||
|
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</link>
|
||
|
|
|
||
|
|
<link name="right_support_triangle_y">
|
||
|
|
<pose>-3.043 0.7 0.01 0 0 -1.5708</pose>
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||
|
|
<collision name="collision">
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||
|
|
<geometry>
|
||
|
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<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
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|
|
</geometry>
|
||
|
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</collision>
|
||
|
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<visual name="visual">
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||
|
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<geometry>
|
||
|
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<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="crossbar_y">
|
||
|
|
<pose>-3 0 0.785 1.5708 1.5708 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
<length>1.4</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
<length>1.4</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/ZincYellow</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="net_y_upper">
|
||
|
|
<pose>-3.055 0 0.610 0 1.5708 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.395 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.395 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://robocup09_spl_field/materials/scripts/</uri>
|
||
|
|
<uri>model://robocup09_spl_field/materials/textures/</uri>
|
||
|
|
<name>RoboCup/Net</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="net_y_lower">
|
||
|
|
<pose>-3.25 0 0.22 0 -0.785 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.55 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.55 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://robocup09_spl_field/materials/scripts/</uri>
|
||
|
|
<uri>model://robocup09_spl_field/materials/textures/</uri>
|
||
|
|
<name>RoboCup/Net</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="left_post_b">
|
||
|
|
<pose>3 0.7 0.4 0.01 0 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.8</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.8</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/SkyBlue</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="left_support_triangle_b">
|
||
|
|
<pose>3.043 -0.7 0.01 0 0 1.5708</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="right_post_b">
|
||
|
|
<pose>3 -0.7 0.41 0 0 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.8</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.05</radius>
|
||
|
|
<length>0.8</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/SkyBlue</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="right_support_triangle_b">
|
||
|
|
<pose>3.043 0.7 0.01 0 0 1.5708</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>0.41 0.41 0.41</scale>
|
||
|
|
<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/White</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="crossbar_b">
|
||
|
|
<pose>3 0 0.785 1.5708 1.5708 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
<length>1.4</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.025</radius>
|
||
|
|
<length>1.4</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/SkyBlue</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="net_b_upper">
|
||
|
|
<pose>3.055 0 0.610 0 1.5708 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.395 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.395 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://robocup09_spl_field/materials/scripts/</uri>
|
||
|
|
<uri>model://robocup09_spl_field/materials/textures/</uri>
|
||
|
|
<name>RoboCup/Net</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<link name="net_b_lower">
|
||
|
|
<pose>3.25 0 0.22 0 0.785 0</pose>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.55 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.55 1.4 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://robocup09_spl_field/materials/scripts/</uri>
|
||
|
|
<uri>model://robocup09_spl_field/materials/textures/</uri>
|
||
|
|
<name>RoboCup/Net</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
</sdf>
|