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Quella777
2025-08-25 16:30:02 +08:00
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38
robocup09_spl_field/materials/scripts/robocup09_spl_field.material Normal file
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material RoboCup/Net
{
technique
{
pass
{
scene_blend alpha_blend
depth_write off
texture_unit
{
scale 0.1 0.1
texture net.png
filtering trilinear
}
}
}
}
material RoboCup/Carpet
{
technique
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 0.2 0.2 0.2 1.0 12.5
texture_unit
{
scale 0.1 0.1
texture carpet.jpg
filtering trilinear
}
}
}
}

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robocup09_spl_field/meshes/circle.dae Normal file
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robocup09_spl_field/meshes/triangle.dae Normal file
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.69.0 r60991</authoring_tool>
</contributor>
<created>2013-11-05T20:08:05</created>
<modified>2013-11-05T20:08:05</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<YF_dofdist>0</YF_dofdist>
<shiftx>0</shiftx>
<shifty>0</shifty>
</technique>
</extra>
</camera>
</library_cameras>
<library_lights>
<light id="Lamp-light" name="Lamp">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<adapt_thresh>0.000999987</adapt_thresh>
<area_shape>1</area_shape>
<area_size>0.1</area_size>
<area_sizey>0.1</area_sizey>
<area_sizez>1</area_sizez>
<atm_distance_factor>1</atm_distance_factor>
<atm_extinction_factor>1</atm_extinction_factor>
<atm_turbidity>2</atm_turbidity>
<att1>0</att1>
<att2>1</att2>
<backscattered_light>1</backscattered_light>
<bias>1</bias>
<blue>1</blue>
<buffers>1</buffers>
<bufflag>0</bufflag>
<bufsize>2880</bufsize>
<buftype>2</buftype>
<clipend>30.002</clipend>
<clipsta>1.000799</clipsta>
<compressthresh>0.04999995</compressthresh>
<dist sid="blender_dist">29.99998</dist>
<energy sid="blender_energy">1</energy>
<falloff_type>2</falloff_type>
<filtertype>0</filtertype>
<flag>0</flag>
<gamma sid="blender_gamma">1</gamma>
<green>1</green>
<halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
<horizon_brightness>1</horizon_brightness>
<mode>8192</mode>
<ray_samp>1</ray_samp>
<ray_samp_method>1</ray_samp_method>
<ray_samp_type>0</ray_samp_type>
<ray_sampy>1</ray_sampy>
<ray_sampz>1</ray_sampz>
<red>1</red>
<samp>3</samp>
<shadhalostep>0</shadhalostep>
<shadow_b sid="blender_shadow_b">0</shadow_b>
<shadow_g sid="blender_shadow_g">0</shadow_g>
<shadow_r sid="blender_shadow_r">0</shadow_r>
<shadspotsize>45</shadspotsize>
<sky_colorspace>0</sky_colorspace>
<sky_exposure>1</sky_exposure>
<skyblendfac>1</skyblendfac>
<skyblendtype>1</skyblendtype>
<soft>3</soft>
<spotblend>0.15</spotblend>
<spotsize>75</spotsize>
<spread>1</spread>
<sun_brightness>1</sun_brightness>
<sun_effect_type>0</sun_effect_type>
<sun_intensity>1</sun_intensity>
<sun_size>1</sun_size>
<type>0</type>
</technique>
</extra>
</light>
</library_lights>
<library_images/>
<library_effects>
<effect id="Material-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.64 0.64 1</color>
</diffuse>
<specular>
<color sid="specular">0.5 0.5 0.5 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
<extra>
<technique profile="GOOGLEEARTH">
<double_sided>1</double_sided>
</technique>
</extra>
</profile_COMMON>
<extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
</effect>
</library_effects>
<library_materials>
<material id="Material-material" name="Material">
<instance_effect url="#Material-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="18">0.03891557 -0.01713037 0.01018995 0.03891557 -0.9809728 0.01018995 -0.03283983 -0.9809728 0.01018995 -0.03283959 -0.01713019 0.01018995 0.03891581 -0.01713061 0.9740325 -0.03283971 -0.01713031 0.9740325</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="24">0 0 -1 3.73798e-6 1 2.47362e-7 -1 2.39632e-7 -1.54602e-7 1 0 -2.39633e-7 0 -0.7071068 0.7071068 0 0 -1 2.492e-6 1 1.54602e-7 -2.64315e-6 -0.7071069 0.7071067</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist material="Material-material" count="8">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 3 0 4 1 0 1 5 1 3 2 2 2 5 2 1 3 0 3 4 3 2 4 1 4 5 4 1 5 2 5 3 5 0 6 3 6 5 6 1 7 4 7 5 7</p>
</polylist>
</mesh>
<extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material-material" target="#Material-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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robocup09_spl_field/model-1_4.sdf Normal file
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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">
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/SkyBlue</name>
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</material>
</visual>
</link>
<link name="right_support_triangle_b">
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<collision name="collision">
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<visual name="visual">
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<script>
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<link name="crossbar_b">
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<material>
<script>
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<uri>model://robocup09_spl_field/materials/textures/</uri>
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<uri>model://robocup09_spl_field/materials/textures/</uri>
<name>RoboCup/Net</name>
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</material>
</visual>
</link>
</model>
</sdf>

17
robocup09_spl_field/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>RoboCup 2009 SPL Field</name>
<version>1.0</version>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Carlos Agüero</name>
<email>caguero@osrfoundation.org</email>
</author>
<description>
A RoboCup Standard Platform League field according to 2009 rules.
</description>
</model>

627
robocup09_spl_field/model.sdf Normal file
View File

@@ -0,0 +1,627 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="RoboCup 09 SPL Field">
<static>true</static>
<link name="field">
<pose>0 0 0.01 0 0 0</pose>
<collision name="collision">
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<plane>
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<size>7.40 5.40</size>
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<surface>
<friction>
<ode>
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<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>
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<material>
<script>
<uri>model://robocup09_spl_field/materials/scripts/</uri>
<uri>model://robocup09_spl_field/materials/textures/</uri>
<name>RoboCup/Carpet</name>
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<visual name="sideline_1">
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
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<visual name="endline_1">
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<visual name="halfway_line">
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<script>
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<visual name="area_1_line_b">
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</visual>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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</material>
</visual>
<visual name="penalty_b">
<pose>-1.20 0 0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<cylinder>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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</visual>
<visual name="penalty_y">
<pose>1.20 0 0.01 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<cylinder>
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<script>
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</visual>
<visual name="center_point">
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<cast_shadows>false</cast_shadows>
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<script>
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</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>
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</visual>
</link>
<link name="left_post_y">
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<collision name="collision">
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<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>
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<uri>model://robocup09_spl_field/meshes/triangle.dae</uri>
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</collision>
<visual name="visual">
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<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>
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</collision>
<visual name="visual">
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<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>
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<visual name="visual">
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
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</material>
</visual>
</link>
<link name="crossbar_y">
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<collision name="collision">
<geometry>
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<visual name="visual">
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/ZincYellow</name>
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</material>
</visual>
</link>
<link name="net_y_upper">
<pose>-3.055 0 0.610 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
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</collision>
<visual name="visual">
<geometry>
<box>
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<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>
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<visual name="visual">
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<box>
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<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">
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<collision name="collision">
<geometry>
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<material>
<script>
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<name>Gazebo/SkyBlue</name>
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</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>
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<link name="right_post_b">
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<collision name="collision">
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</link>
<link name="crossbar_b">
<pose>3 0 0.785 1.5708 1.5708 0</pose>
<collision name="collision">
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<script>
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</link>
<link name="net_b_upper">
<pose>3.055 0 0.610 0 1.5708 0</pose>
<collision name="collision">
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<box>
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<material>
<script>
<uri>model://robocup09_spl_field/materials/scripts/</uri>
<uri>model://robocup09_spl_field/materials/textures/</uri>
<name>RoboCup/Net</name>
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</link>
<link name="net_b_lower">
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<collision name="collision">
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</link>
</model>
</sdf>