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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="RoboCup 09 SPL Field">
<static>true</static>
<link name="field">
<pose>0 0 0.01 0 0 0</pose>
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>7.40 5.40</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="carpet">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>7.40 5.40</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup09_spl_field/materials/scripts/</uri>
<uri>model://robocup09_spl_field/materials/textures/</uri>
<name>RoboCup/Carpet</name>
</script>
</material>
</visual>
<visual name="sideline_1">
<pose>0 2 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>6.05 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="sideline_2">
<pose>0 -2 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>6.05 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="endline_1">
<pose>-3 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 4.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="endline_2">
<pose>3 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 4.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="halfway_line">
<pose>0 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 4.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_1_line_y">
<pose>-2.40 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 3</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_2_line_y">
<pose>-2.70 1.50 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.65 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_3_line_y">
<pose>-2.70 -1.50 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.65 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_1_line_b">
<pose>2.40 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 3</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_2_line_b">
<pose>2.70 1.50 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.65 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="area_3_line_b">
<pose>2.70 -1.50 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.65 0.05</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="penalty_b">
<pose>-1.20 0 0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.0005</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="penalty_y">
<pose>1.20 0 0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.0005</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="center_point">
<pose>0 0 0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.0005</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
<visual name="center_circle">
<pose>0 0 -0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<mesh>
<scale>1 1 0.75</scale>
<uri>model://robocup09_spl_field/meshes/circle.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="left_post_y">
<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/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="left_support_triangle_y">
<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_y">
<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/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="right_support_triangle_y">
<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_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>