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Quella777
2025-08-25 16:30:02 +08:00
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robocup14_spl_field/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="RoboCup 14 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>10.40 7.40</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>10.40 7.40</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 3 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>9.05 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 -3 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>9.05 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>-4.5 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 6.05</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>4.5 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 6.05</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 6.05</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_a">
<pose>-3.90 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 2.25</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_a">
<pose>-4.20 1.10 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_a">
<pose>-4.20 -1.10 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>3.90 0 0.011 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>0.05 2.25</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>4.20 1.10 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>4.20 -1.10 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_a">
<pose>-3.20 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_b">
<pose>3.20 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 0.005 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<mesh>
<scale>1 1 0.75</scale>
<uri>model://robocup14_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>
</model>
</sdf>