robocup_final.world

<sdf version='1.7'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='RoboCup 14 SPL Field'>
      <static>1</static>
      <link name='field'>
        <pose>0 0 0.01 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>10.4 7.4</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='carpet'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>10.4 7.4</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 3 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>9.05 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 -3 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>9.05 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>-4.5 0 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.05 6.05</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>4.5 0 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.05 6.05</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>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.05 6.05</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_a'>
          <pose>-3.9 0 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.05 2.25</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_a'>
          <pose>-4.2 1.1 0.011 0 -0 0</pose>
          <cast_shadows>0</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_a'>
          <pose>-4.2 -1.1 0.011 0 -0 0</pose>
          <cast_shadows>0</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>3.9 0 0.011 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>0.05 2.25</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>4.2 1.1 0.011 0 -0 0</pose>
          <cast_shadows>0</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>4.2 -1.1 0.011 0 -0 0</pose>
          <cast_shadows>0</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_a'>
          <pose>-3.2 0 0.01 0 -0 0</pose>
          <cast_shadows>0</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_b'>
          <pose>3.2 0 0.01 0 -0 0</pose>
          <cast_shadows>0</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>0</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 0.005 0 -0 0</pose>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <mesh>
              <scale>1 1 0.75</scale>
              <uri>model://robocup14_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>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>522 211000000</sim_time>
      <real_time>8 89357249</real_time>
      <wall_time>1672385503 974785629</wall_time>
      <iterations>8058</iterations>
      <model name='RoboCup 14 SPL Field'>
        <pose>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='field'>
          <pose>0 0 0.01 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='RoboCup_2014_SPL_Goal'>
        <pose>-4.5 0 0 0 0 -3.14159</pose>
        <scale>1 1 1</scale>
        <link name='center_net'>
          <pose>-4.94 -1e-06 0.4 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='center_support_horiz_lower'>
          <pose>-4.94 -1e-06 0.01 3.14159 1.57079 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='center_support_horiz_upper'>
          <pose>-4.94 -1e-06 0.79 3.14159 1.57079 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='crossbar'>
          <pose>-4.5 0 0.85 1.5701 1.57 -3.14149</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_net'>
          <pose>-4.74 -0.800001 0.4 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_post'>
          <pose>-4.5 -0.8 0.45 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_support_horiz_lower'>
          <pose>-4.74 -0.800001 0.01 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_support_horiz_upper'>
          <pose>-4.74 -0.800001 0.79 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_support_vertical'>
          <pose>-4.94 -0.800001 0.4 3.14159 1.57079 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_net'>
          <pose>-4.74 0.799999 0.4 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_post'>
          <pose>-4.5 0.8 0.45 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_support_horiz_lower'>
          <pose>-4.74 0.799999 0.01 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_support_horiz_upper'>
          <pose>-4.74 0.799999 0.79 0 0 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='right_support_vertical'>
          <pose>-4.94 0.799999 0.4 3.14159 1.57079 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='RoboCup_2014_SPL_Goal_clone'>
        <pose>4.5 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='center_net'>
          <pose>4.94 0 0.4 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='center_support_horiz_lower'>
          <pose>4.94 0 0.01 3.14159 1.57079 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
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        <link name='center_support_horiz_upper'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='crossbar'>
          <pose>4.5 0 0.85 1.56994 1.57 -4.5e-05</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_net'>
          <pose>4.74 0.8 0.4 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_post'>
          <pose>4.5 0.8 0.45 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_support_horiz_lower'>
          <pose>4.74 0.8 0.01 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='left_support_horiz_upper'>
          <pose>4.74 0.8 0.79 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='left_support_vertical'>
          <pose>4.94 0.8 0.4 3.14159 1.57079 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='right_net'>
          <pose>4.74 -0.8 0.4 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='right_post'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
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        <link name='right_support_horiz_lower'>
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        <link name='right_support_horiz_upper'>
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        <link name='right_support_vertical'>
          <pose>4.94 -0.8 0.4 3.14159 1.57079 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='WALLS'>
        <pose>0 0.01 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='Wall_15'>
          <pose>0 -3.77 0 0 -0 3.1397</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='Wall_18'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='Wall_20'>
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        <link name='Wall_4'>
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      </model>
      <model name='WALLS2'>
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        <scale>1 1 1</scale>
        <link name='Wall_13'>
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        <link name='Wall_15'>
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          <velocity>0 0 0 0 -0 0</velocity>
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        <link name='Wall_2'>
          <pose>4.873 -0.88 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='Wall_20'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_5'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_6'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='soccer_ball_0'>
        <pose>0 0 0.08999 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='soccer_ball_link'>
          <pose>0 0 0.08999 0 -0 0</pose>
          <velocity>0 0 4.8e-05 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-0.021298 5.9486 5.43917 0 0.977803 -1.53223</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='WALLS'>
      <link name='Wall_15'>
        <pose>0 -3.78 0 0 -0 3.1397</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_15_Visual'>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>10.69 0.15 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_15_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>10.69 0.15 5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='Wall_18'>
        <pose>0 3.78 0 0 0 -0.001898</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_18_Visual'>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>10.69 0.15 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_18_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>10.69 0.15 5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='Wall_20'>
        <pose>-5.27 0.01 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_20_Visual'>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.71 0.15 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_20_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.71 0.15 5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='Wall_4'>
        <pose>5.27 -0.01 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_4_Visual'>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.71 0.15 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_4_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.71 0.15 5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose>0 0.01 0 0 -0 0</pose>
    </model>
    <model name='soccer_ball_0'>
      <link name='soccer_ball_link'>
        <pose>0 0 0 0 -0 0</pose>
        <inertial>
          <mass>0.026</mass>
          <inertia>
            <ixx>1.664e-05</ixx>
            <iyy>1.664e-05</iyy>
            <izz>1.664e-05</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>0.08 0.08 0.08</scale>
              <uri>model://robocup_3Dsim_ball/meshes/ball.dae</uri>
            </mesh>
          </geometry>
          <material>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
          </material>
          <pose>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.08</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>25000</kp>
                <kd>1</kd>
                <max_vel>25</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>25000</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <sensor name='my_contact' type='contact'>
          <update_rate>100</update_rate>
          <always_on>1</always_on>
          <contact>
            <collision>collision</collision>
            <topic>__default_topic__</topic>
          </contact>
          <plugin name='gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>100.0</updateRate>
            <bumperTopicName>/goal_checker</bumperTopicName>
            <frameName>world</frameName>
          </plugin>
        </sensor>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose>0 0 0.08999 0 -0 0</pose>
    </model>
    <model name='WALLS2'>
      <link name='Wall_13'>
        <pose>-4.87158 0.88 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_13_Visual'>
          <pose>0 0 0.45 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.65 0.15 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_13_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0.45 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.65 0.15 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='Wall_15'>
        <pose>-4.87158 -0.88 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='Wall_15_Visual'>
          <pose>0 0 0.45 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.65 0.15 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
          <transparency>1</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='Wall_15_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0.45 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.65 0.15 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
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        <visual name='visual'>
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            <box>
              <size>0.02 1.58 0.02</size>
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          <material>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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              <size>0.02 1.58 0.02</size>
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                <kp>1e+13</kp>
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        <pose>0 0 0.85 1.56994 1.57 -4.3e-05</pose>
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        <visual name='visual'>
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              <length>1.5</length>
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            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/ZincYellow</name>
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          <pose>0 0 0 0 -0 0</pose>
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              <length>1.5</length>
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                <kp>1e+13</kp>
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          <pose>0.05 0.3 0 0 -0 0</pose>
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            <box>
              <size>0.05 0.5 1.6</size>
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                <mu>1</mu>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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        <pose>0.24 0.8 0.4 0 -0 0</pose>
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        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.01 0.76</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/Net</name>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
              <size>0.38 0.01 0.76</size>
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                <mu>1</mu>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
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              <collide_without_contact>0</collide_without_contact>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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      <link name='left_support_horiz_lower'>
        <pose>0.24 0.8 0.01 0 -0 0</pose>
        <self_collide>0</self_collide>
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        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
              <size>0.38 0.02 0.02</size>
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              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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              <restitution_coefficient>0</restitution_coefficient>
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              <collide_without_contact>0</collide_without_contact>
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              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='left_support_horiz_upper'>
        <pose>0.24 0.8 0.79 0 -0 0</pose>
        <self_collide>0</self_collide>
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        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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          <pose>0 0 0 0 -0 0</pose>
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        <collision name='collision'>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
              <size>0.38 0.02 0.02</size>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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        <pose>0.44 0.8 0.4 3.14159 1.57079 3.14159</pose>
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        <visual name='visual'>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
              <size>0.8 0.02 0.02</size>
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              <ode>
                <mu>1</mu>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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        <pose>0.24 -0.8 0.4 0 -0 0</pose>
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        <kinematic>0</kinematic>
        <visual name='visual'>
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            <box>
              <size>0.38 0.01 0.76</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/Net</name>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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        <gravity>1</gravity>
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          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
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            <ixx>1</ixx>
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        <visual name='visual'>
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              <length>0.9</length>
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          <material>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/ZincYellow</name>
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            <shader type='pixel'>
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        <collision name='collision'>
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          <pose>0 0 0 0 -0 0</pose>
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            <cylinder>
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                <slip2>0</slip2>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='right_support_horiz_lower'>
        <pose>0.24 -0.8 0.01 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
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                </ode>
              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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                <max_vel>0.01</max_vel>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
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          </surface>
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      <link name='right_support_horiz_upper'>
        <pose>0.24 -0.8 0.79 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
                <ode>
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                </ode>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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                <max_vel>0.01</max_vel>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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            </contact>
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      <link name='right_support_vertical'>
        <pose>0.44 -0.8 0.4 3.14159 1.57079 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
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                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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                <max_vel>0.01</max_vel>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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            </contact>
          </surface>
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      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose>4.5 0 0 0 -0 0</pose>
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    <model name='RoboCup_2014_SPL_Goal'>
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        <pose>0 0.8 0.45 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
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          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
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            <ixx>1</ixx>
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        </inertial>
        <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>
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            <shader type='pixel'>
              <normal_map>__default__</normal_map>
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          </material>
          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.9</length>
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          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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                  <slip>0</slip>
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              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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            </contact>
          </surface>
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      <link name='center_net'>
        <pose>0.44 -0 0.4 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
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            <ixx>1</ixx>
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            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.01 1.6 0.8</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>
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            <shader type='pixel'>
              <normal_map>__default__</normal_map>
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            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
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            <emissive>0 0 0 1</emissive>
          </material>
          <pose>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.01 1.6 0.8</size>
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          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
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              <collide_bitmask>1</collide_bitmask>
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                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='center_support_horiz_lower'>
        <pose>0.44 -0 0.01 3.14159 1.57079 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
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        <visual name='visual'>
          <geometry>
            <box>
              <size>0.02 1.58 0.02</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 1.58 0.02</size>
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          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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                <max_vel>0.01</max_vel>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='center_support_horiz_upper'>
        <pose>0.44 -0 0.79 3.14159 1.57079 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.02 1.58 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 1.58 0.02</size>
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          <surface>
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              <ode>
                <mu>1</mu>
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                <fdir1>0 0 0</fdir1>
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                <coefficient>1</coefficient>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
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              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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          </surface>
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      <link name='crossbar'>
        <pose>0 0 0.85 1.57006 1.57 5.8e-05</pose>
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        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
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            <ixx>1</ixx>
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        <visual name='visual'>
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              <length>1.5</length>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/ZincYellow</name>
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            <shader type='pixel'>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision_1'>
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          <max_contacts>10</max_contacts>
          <pose>-0.01 0.3 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.5 1.6</size>
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          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <fdir1>0 0 0</fdir1>
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              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
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            <cylinder>
              <radius>0.05</radius>
              <length>1.5</length>
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                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>1</restitution_coefficient>
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              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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        <pose>0.24 0.8 0.4 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.01 0.76</size>
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          </geometry>
          <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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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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            <box>
              <size>0.38 0.01 0.76</size>
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                <mu>1</mu>
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              <restitution_coefficient>0</restitution_coefficient>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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              <bullet>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='left_support_horiz_lower'>
        <pose>0.24 0.8 0.01 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              <restitution_coefficient>0</restitution_coefficient>
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              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='left_support_horiz_upper'>
        <pose>0.24 0.8 0.79 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='left_support_vertical'>
        <pose>0.44 0.8 0.4 3.14159 1.57079 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
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          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
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              <torsional>
                <coefficient>1</coefficient>
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                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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          </surface>
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      <link name='right_net'>
        <pose>0.24 -0.8 0.4 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.01 0.76</size>
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          </geometry>
          <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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            <shader type='pixel'/>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.01 0.76</size>
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              <ode>
                <mu>1</mu>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
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            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
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                <kp>1e+13</kp>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='right_post'>
        <pose>-0 -0.8 0.45 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <inertial>
          <mass>1</mass>
          <pose>0 0 0 0 -0 0</pose>
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            <ixx>1</ixx>
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            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
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        <visual name='visual'>
          <geometry>
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              <length>0.9</length>
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          <material>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/ZincYellow</name>
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            <shader type='pixel'>
              <normal_map>__default__</normal_map>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.9</length>
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          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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                <fdir1>0 0 0</fdir1>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              <restitution_coefficient>1</restitution_coefficient>
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              <collide_without_contact>0</collide_without_contact>
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              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='right_support_horiz_lower'>
        <pose>0.24 -0.8 0.01 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
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          <pose>0 0 0 0 -0 0</pose>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <surface>
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              <ode>
                <mu>1</mu>
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                <fdir1>0 0 0</fdir1>
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                <coefficient>1</coefficient>
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                <use_patch_radius>1</use_patch_radius>
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              <collide_bitmask>1</collide_bitmask>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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              <bullet>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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      <link name='right_support_horiz_upper'>
        <pose>0.24 -0.8 0.79 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <material>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.38 0.02 0.02</size>
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          <surface>
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                <fdir1>0 0 0</fdir1>
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                <coefficient>1</coefficient>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='right_support_vertical'>
        <pose>0.44 -0.8 0.4 3.14159 1.57079 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/White</name>
            </script>
            <shader type='pixel'/>
          </material>
          <pose>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.8 0.02 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose>-4.5 -0 -0 0 0 -3.14159</pose>
    </model>
  </world>
</sdf>