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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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robocup_3Dsim_field/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="robocup_3d_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>30.0 20.0</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="base1">
<pose>0 11 0.001 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>34.0 2.0</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup_3Dsim_field/materials/scripts/</uri>
<uri>model://robocup_3Dsim_field/materials/textures/</uri>
<name>RoboCup/FieldBorder</name>
</script>
</material>
</visual>
<visual name="base2">
<pose>0 -11 0.001 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>34.0 2.0</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup_3Dsim_field/materials/scripts/</uri>
<uri>model://robocup_3Dsim_field/materials/textures/</uri>
<name>RoboCup/FieldBorder</name>
</script>
</material>
</visual>
<visual name="base3">
<pose>16 0 0.001 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>2.0 20.0</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup_3Dsim_field/materials/scripts/</uri>
<uri>model://robocup_3Dsim_field/materials/textures/</uri>
<name>RoboCup/FieldBorder</name>
</script>
</material>
</visual>
<visual name="base4">
<pose>-16 0 0.001 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>2.0 20.0</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup_3Dsim_field/materials/scripts/</uri>
<uri>model://robocup_3Dsim_field/materials/textures/</uri>
<name>RoboCup/FieldBorder</name>
</script>
</material>
</visual>
<visual name="carpet">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>30.0 20.0</size>
</plane>
</geometry>
<material>
<script>
<uri>model://robocup_3Dsim_field/materials/scripts/</uri>
<uri>model://robocup_3Dsim_field/materials/textures/</uri>
<name>RoboCup/Grass</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>