302 lines
7.9 KiB
XML
302 lines
7.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="RoboCup 14 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>10.40 7.40</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>10.40 7.40</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>
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<visual name="sideline_1">
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<pose>0 3 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>9.05 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="sideline_2">
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<pose>0 -3 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>9.05 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>-4.5 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 6.05</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>4.5 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 6.05</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 6.05</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_1_line_a">
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<pose>-3.90 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 2.25</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_a">
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<pose>-4.20 1.10 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_a">
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<pose>-4.20 -1.10 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_1_line_b">
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<pose>3.90 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 2.25</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>4.20 1.10 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>4.20 -1.10 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_a">
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<pose>-3.20 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="penalty_b">
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<pose>3.20 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>
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<visual name="center_circle">
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<pose>0 0 0.005 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://robocup14_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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</model>
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</sdf>
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