338 lines
8.7 KiB
XML
338 lines
8.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="robocup_3d_goal">
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<static>true</static>
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<link name="left_post">
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<pose>0 1.05 0.45 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.9</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/ZincYellow</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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<link name="left_support_horiz_lower">
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<pose>0.30 1.05 0.01 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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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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<link name="left_support_horiz_upper">
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<pose>0.30 1.05 0.79 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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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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<link name="left_support_vertical">
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<pose>0.56 1.05 0.4 0 1.5708 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.80 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.80 0.02 0.02</size>
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</box>
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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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<link name="right_support_horiz_lower">
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<pose>0.30 -1.05 0.01 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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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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<link name="right_support_horiz_upper">
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<pose>0.30 -1.05 0.79 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.02 0.02</size>
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</box>
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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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<link name="right_support_vertical">
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<pose>0.56 -1.05 0.4 0 1.5708 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.80 0.02 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.80 0.02 0.02</size>
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</box>
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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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<link name="center_support_horiz_lower">
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<pose>0.56 0 0.01 0 1.5708 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.02 2.08 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.02 2.08 0.02</size>
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</box>
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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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<link name="center_support_horiz_upper">
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<pose>0.56 0 0.79 0 1.5708 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.02 2.08 0.02</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.02 2.08 0.02</size>
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</box>
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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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<link name="right_post">
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<pose>0 -1.05 0.45 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.9</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.9</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/ZincYellow</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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<link name="crossbar">
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<pose>0 0 0.85 1.57 1.57 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>2.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>2.0</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/ZincYellow</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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<link name="center_net">
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<pose>0.56 0 0.40 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.01 2.1 0.80</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.01 2.1 0.80</size>
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</box>
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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/Net</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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<link name="left_net">
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<pose>0.30 1.05 0.40 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.01 0.76</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.01 0.76</size>
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</box>
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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/Net</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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<link name="right_net">
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<pose>0.30 -1.05 0.40 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.50 0.01 0.76</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.50 0.01 0.76</size>
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</box>
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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/Net</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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