face object added for face detection

Author: andoniroldan

worlds/nao_robocup.wbt

@@ -55,3 +55,110 @@ DEF Blue5 NaoV6 {
     jerseyColor 0 0.75 1
   }
 }
+
+#VRML_SIM R2022b utf8
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "../protos/SPL_Field.proto"
+EXTERNPROTO "../protos/SPL_Ball.proto"
+EXTERNPROTO "../protos/NaoV6.proto"
+EXTERNPROTO "../protos/NaoJersey.proto"
+WorldInfo {
+  info [
+    "Simulation of the Robocup Standard Platform League"
+  ]
+  title "Robocup"
+  basicTimeStep 12
+  defaultDamping Damping {
+    linear 0.3
+    angular 0.75
+  }
+  contactProperties [
+    ContactProperties {
+      material1 "NAO foot material"
+      coulombFriction [
+        7
+      ]
+      bounce 0.3
+      bounceVelocity 0.003
+      bumpSound ""
+      rollSound ""
+      slideSound ""
+    }
+  ]
+}
+Viewpoint {
+  orientation -0.4 0.4 0.8 1.77
+  position 0 -10 13
+  followType "Pan and Tilt Shot"
+}
+TexturedBackground {
+  texture "stadium"
+}
+TexturedBackgroundLight {
+  texture "stadium"
+}
+SPL_Field {
+}
+SPL_Ball {
+}
+DEF Blue5 NaoV6 {
+  translation -0.75 3.1 0.334
+  rotation 0 0 1 -1.57
+  name "Blue5"
+  jersey NaoJersey {
+    jerseyTexture [
+      "../protos/textures/nao_jersey_dark_5.png"
+    ]
+    jerseyColor 0 0.75 1
+  }
+}
+
+Solid {
+  translation 0 0 0
+  children [
+    Shape {
+      appearance PBRAppearance {
+        baseColorMap ImageTexture {
+          url ["https://e7.pngegg.com/pngimages/942/789/png-clipart-adobe-creative-cloud-adobe-bridge-face-gimp-recruiter-face-photography.png"]
+        }
+        transparency 0
+        metalness 0
+        roughness 1
+      }
+      geometry IndexedFaceSet {
+        coord Coordinate {
+          point [
+            0.25 -0.05 0,  -0.25 -0.05 0,  -0.25 -0.05 0.5,  0.25 -0.05 0.5,
+            0.25 0.05 0,  -0.25 0.05 0,  -0.25 0.05 0.5,  0.25 0.05 0.5
+          ]
+        }
+        coordIndex [
+          0, 1, 2, 3, -1,
+          4, 5, 6, 7, -1,
+          0, 1, 5, 4, -1,
+          1, 2, 6, 5, -1,
+          2, 3, 7, 6, -1,
+          3, 0, 4, 7, -1
+        ]
+        texCoord TextureCoordinate {
+          point [
+            0 0, 1 0, 1 1, 0 1,
+            0 0, 1 0, 1 1, 0 1
+          ]
+        }
+        texCoordIndex [ 
+          0, 1, 2, 3, -1, 
+          0, 1, 2, 3, -1,
+          0, 1, 2, 3, -1,
+          0, 1, 2, 3, -1,
+          0, 1, 2, 3, -1,
+          0, 1, 2, 3, -1
+        ]
+      }
+    }
+  ]
+  boundingObject Box {
+    size 0.5 0.1 0.5
+  }
+}