<robot
  name="frc_2014_field">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.069834 0.89354 0.25445"
        rpy="0 0 0" />
      <mass
        value="455.59" />
      <inertia
        ixx="21044"
        ixy="-24.831"
        ixz="230.5"
        iyy="25083"
        iyz="18.626"
        izz="4574.6" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/base_link_col.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="White_zone">
    <inertial>
      <origin
        xyz="0 0.009525 -0.0163956999984019"
        rpy="0 0 0" />
      <mass
        value="13.121810401488" />
      <inertia
        ixx="78.8770251386208"
        ixy="0"
        ixz="-8.15158311221845E-14"
        iyy="172.254067260159"
        iyz="-2.10669517132047E-18"
        izz="93.3771303055716" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/White_zone.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/White_zone.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="White_zone_fix"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="White_zone" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="Blue_zone">
    <inertial>
      <origin
        xyz="-0.163169003062132 0.871785175886823 -5.16270364515671"
        rpy="0 0 0" />
      <mass
        value="188.209895789408" />
      <inertia
        ixx="13754.0318439735"
        ixy="24.7855254618397"
        ixz="-399.568011299058"
        iyy="14229.1175500156"
        iyz="-107.653712175495"
        izz="653.151428711642" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Blue_zone.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Blue_zone_col.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Blue_zone_fix"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="Blue_zone" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="Red_Zone">
    <inertial>
      <origin
        xyz="0.16317059903516 0.871785175886823 5.16270364515671"
        rpy="0 0 0" />
      <mass
        value="188.209895789408" />
      <inertia
        ixx="13754.0318439736"
        ixy="-24.7855254618398"
        ixz="-399.568011299057"
        iyy="14229.1175500156"
        iyz="107.653712175495"
        izz="653.151428711642" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Red_Zone.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Red_Zone_col.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Red_zone_fix"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="Red_Zone" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="Carpet">
    <inertial>
      <origin
        xyz="0 0.003175 0"
        rpy="0 0 0" />
      <mass
        value="1309.7" />
      <inertia
        ixx="55522"
        ixy="0"
        ixz="0"
        iyy="64648"
        iyz="0"
        izz="9125.3" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Carpet.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://frc_2014_field/meshes/Carpet.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Carpet_fix"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="Carpet" />
    <axis
      xyz="0 0 0" />
  </joint>

<gazebo reference="base_link">
    <material>Gazebo/Grey</material>
  </gazebo>

<gazebo reference="Carpet">
    <material>Gazebo/Grey</material>
  </gazebo>

<gazebo reference="White_zone">
    <material>Gazebo/White</material>
  </gazebo>

<gazebo reference="Red_Zone">
    <material>Gazebo/Red</material>
  </gazebo>

<gazebo reference="Blue_zone">
    <material>Gazebo/Blue</material>
  </gazebo>

</robot>