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Quella777
2025-08-25 16:30:02 +08:00
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337
robocup_3Dsim_goal/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="robocup_3d_goal">
<static>true</static>
<link name="left_post">
<pose>0 1.05 0.45 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</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_horiz_lower">
<pose>0.30 1.05 0.01 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="left_support_horiz_upper">
<pose>0.30 1.05 0.79 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="left_support_vertical">
<pose>0.56 1.05 0.4 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_horiz_lower">
<pose>0.30 -1.05 0.01 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_horiz_upper">
<pose>0.30 -1.05 0.79 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_vertical">
<pose>0.56 -1.05 0.4 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="center_support_horiz_lower">
<pose>0.56 0 0.01 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="center_support_horiz_upper">
<pose>0.56 0 0.79 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_post">
<pose>0 -1.05 0.45 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="crossbar">
<pose>0 0 0.85 1.57 1.57 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>2.0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>2.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="center_net">
<pose>0.56 0 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.01 2.1 0.80</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 2.1 0.80</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_net">
<pose>0.30 1.05 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.01 0.76</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.01 0.76</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="right_net">
<pose>0.30 -1.05 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.01 0.76</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.01 0.76</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>

17
robocup_3Dsim_goal/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>RoboCup 3D Simulator Goal</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 3D Simulator League goal according to 2014 rules.
</description>
</model>

337
robocup_3Dsim_goal/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="robocup_3d_goal">
<static>true</static>
<link name="left_post">
<pose>0 1.05 0.45 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</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_horiz_lower">
<pose>0.30 1.05 0.01 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="left_support_horiz_upper">
<pose>0.30 1.05 0.79 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="left_support_vertical">
<pose>0.56 1.05 0.4 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_horiz_lower">
<pose>0.30 -1.05 0.01 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_horiz_upper">
<pose>0.30 -1.05 0.79 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_support_vertical">
<pose>0.56 -1.05 0.4 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.80 0.02 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="center_support_horiz_lower">
<pose>0.56 0 0.01 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="center_support_horiz_upper">
<pose>0.56 0 0.79 0 1.5708 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 2.08 0.02</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/White</name>
</script>
</material>
</visual>
</link>
<link name="right_post">
<pose>0 -1.05 0.45 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="crossbar">
<pose>0 0 0.85 1.57 1.57 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>2.0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.05</radius>
<length>2.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/ZincYellow</name>
</script>
</material>
</visual>
</link>
<link name="center_net">
<pose>0.56 0 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.01 2.1 0.80</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 2.1 0.80</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_net">
<pose>0.30 1.05 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.01 0.76</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.01 0.76</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="right_net">
<pose>0.30 -1.05 0.40 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.50 0.01 0.76</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.50 0.01 0.76</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>