soccerbotcomp.rsg

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

    ; {{{ BEGIN --- Left Lower Arm --- ;

    ; (1) Define Position 
    (def $LeftLowerArmPosX $LeftUpperArmPosX)
    (def $LeftLowerArmPosY $LeftUpperArmPosY)
    (def $LeftLowerArmPosZ (eval $LeftUpperArmPosZ -
				    (eval $UpperarmHeight / 2.0) -
				    $ElbowRadius -
				    (eval $LowerarmHeight / 2.0)
			       )
     )

    ; (2) Attach Left Lower Arm
    (nd Transform

	; basic configuration
	(setName leftlowerarm)
        (setLocalPos $LeftLowerArmPosX $LeftLowerArmPosY $LeftLowerArmPosZ)
        
        (importScene rsg/agent/soccerbotleftlowerarmcomp.rsg matDarkGrey matGrey)
    
        (nd HingeJoint
            (attach ../boxBody ../../leftupperarm/boxBody)
            (setAnchor 0 0 (eval $LowerarmHeight / 2.0))   
            (setAxis 0) ; move around x-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName laj4))

            ; install an effector to control the joint motors
            (nd HingeEffector (setName lae4))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Lae4Min)
	    ;(setHighStopDeg 0 $Lae4Max)
        )
    )
    ; }}} END 

    ; {{{ BEGIN --- Right Lower Arm --- ;

    ; (1) Define Position
    (def $RightLowerArmPosX $RightUpperArmPosX)
    (def $RightLowerArmPosY $RightUpperArmPosY)
    (def $RightLowerArmPosZ (eval $RightUpperArmPosZ -
				    (eval $UpperarmHeight / 2.0) -
				    $ElbowRadius -
				    (eval $LowerarmHeight / 2.0)
			       )
     )

    ; (2) Attach Right Lower Arm
    (nd Transform
        (setName rightlowerarm)
        (setLocalPos $RightLowerArmPosX $RightLowerArmPosY $RightLowerArmPosZ)

        (importScene rsg/agent/soccerbotrightlowerarmcomp.rsg matDarkGrey matGrey)

        ; install hinge joint to connect to the upper arm
        (nd HingeJoint
            (attach ../boxBody ../../rightupperarm/boxBody)
            (setAnchor 0 0 (eval $LowerarmHeight / 2.0))   
            (setAxis 0) ; move around x-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName raj4))

            ; install an effector to control the joint motors
            (nd HingeEffector (setName rae4))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Rae4Min)
	    ;(setHighStopDeg 0 $Rae4Max)
        )

     )

     ; }}} END




    ;;; -------------------------------------
    ;;; LEGS
    ;;; -------------------------------------
    
    (def $LeftHipPosX (eval $LowerTorsoPosX - (eval $LowerTorsoLength / 4.0) - 0.06))
    (def $LeftHipPosY $LowerTorsoPosY)
    (def $LeftHipPosZ (eval $LowerTorsoPosZ - (eval $LowerTorsoHeight / 2.0 ) - (eval $HipHeight / 2.0)))

    (def $RightHipPosX (eval $LowerTorsoPosX + (eval $LowerTorsoLength / 4.0) + 0.06))
    (def $RightHipPosY $LowerTorsoPosY)
    (def $RightHipPosZ (eval $LowerTorsoPosZ - (eval $LowerTorsoHeight / 2.0) - (eval $HipHeight / 2.0 )))

    ; left hip
    (nd Transform
        (setName lefthip)
        (setLocalPos $LeftHipPosX $LeftHipPosY $LeftHipPosZ)
        (importScene rsg/boxspheres/box.rsg $HipLength $HipWidth $HipHeight $HipMass matDarkGrey)

        ; install hinge joint to connect to the torso
        (nd HingeJoint
            (attach ../boxBody ../../body/boxBody)
            (setAnchor 0 0 (eval $HipHeight * 0.5))   
            (setAxis 2) ; move around z-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName llj1))

            ; install an effector to control the joint motors
            (nd HingeEffector (setName lle1))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Lle1Min)
	    ;(setHighStopDeg 0 $Lle1Max)
        )
    )

    ; right hip
    (nd Transform
        (setName righthip)
        (setLocalPos $RightHipPosX $RightHipPosY $RightHipPosZ)
        (importScene rsg/boxspheres/box.rsg $HipLength $HipWidth $HipHeight $HipMass matDarkGrey)

        ; install hinge joint to connect to the torso
        (nd HingeJoint
            (attach ../boxBody ../../body/boxBody)
            (setAnchor 0 0 (eval $HipHeight * 0.5))   
            (setAxis 2) ; move around z-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName rlj1))

            ; install an effector to control the joint motors
            (nd HingeEffector (setName rle1))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Rle1Min)
	    ;(setHighStopDeg 0 $Rle1Max)
        )
    )

    (def $LeftThighPosX $LeftHipPosX)
    (def $LeftThighPosY $LeftHipPosY)
    (def $LeftThighPosZ (eval $LeftHipPosZ - (eval $HipHeight / 2.0) - (eval $ThighHeight / 2.0) ))

    (def $RightThighPosX $RightHipPosX)
    (def $RightThighPosY $RightHipPosY)
    (def $RightThighPosZ (eval $RightHipPosZ - (eval $HipHeight / 2.0) - (eval $ThighHeight / 2.0) ))

    ; left thigh
    (nd Transform
        (setName leftthigh)
        (setLocalPos $LeftThighPosX $LeftThighPosY $LeftThighPosZ)
        (importScene rsg/boxspheres/box.rsg $ThighLength $ThighWidth $ThighHeight $ThighMass matDarkGrey)

        ; install hinge joint to connect to the torso
        (nd UniversalJoint
            (attach ../boxBody ../../lefthip/boxBody)
            (setAnchor 0.0 0.0 (eval $ThighHeight / 2.0))   
            (setAxis1 1.0 0.0 0.0) ; move around the x-axis
            (setAxis2 0.0 1.0 0.0) ; move around the y-axis

            ; enable the joint motors
            (setMaxMotorForce 0 100)
            (setMaxMotorForce 1 100)           

            ; install a perceptor
            (nd UniversalJointPerceptor (setName llj2_3))

            ; install an effector to control the joint motors
            (nd UniversalJointEffector (setName lle2_3))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Lle2Min)
	    ;(setHighStopDeg 0 $Lle2Max)
	    ;(setLowStopDeg 1 $Lle3Min)
	    ;(setHighStopDeg 1 $Lle3Max)
        )

        ; attach left knee cylinder (virtual)
	(nd Transform
	      (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
	      (setLocalRotation 0 90 0)
	      (nd CCylinder
		    (setMaterial matRed)
		    (setParams 0.1 (eval $ThighLength - 0.2))
		    )
	      )
    )


    ; right thigh
    (nd Transform
        (setName rightthigh)
        (setLocalPos $RightThighPosX $RightThighPosY $RightThighPosZ)
        (importScene rsg/boxspheres/box.rsg $ThighLength $ThighWidth $ThighHeight $ThighMass matDarkGrey)

        ; install hinge joint to connect to the torso
        (nd UniversalJoint
            (attach ../boxBody ../../righthip/boxBody)
            (setAnchor 0.0 0.0 (eval $ThighHeight / 2.0))   
            (setAxis1 1.0 0.0 0.0) ; move around the x-axis
            (setAxis2 0.0 1.0 0.0) ; move around the y-axis

            ; enable the joint motors
            (setMaxMotorForce 0 100)
            (setMaxMotorForce 1 100)           

            ; install a perceptor
            (nd UniversalJointPerceptor (setName rlj2_3))

            ; install an effector to control the joint motors
            (nd UniversalJointEffector (setName rle2_3))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Rle2Min)
	    ;(setHighStopDeg 0 $Rle2Max)
	    ;(setLowStopDeg 1 $Rle3Min)
	    ;(setHighStopDeg 1 $Rle3Max)

        ; attach left knee cylinder (virtual)
	(nd Transform
	      (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
	      (setLocalRotation 0 90 0)
	      (nd CCylinder
		    (setMaterial matRed)
		    (setParams 0.1 (eval $ThighLength - 0.2))
		    )
	      )
        )
    )

    (def $LeftShankPosX $LeftThighPosX)
    (def $LeftShankPosY $LeftThighPosY)
    (def $LeftShankPosZ (eval $LeftThighPosZ - (eval $ThighHeight / 2.0) - (eval $ShankHeight / 2.0) - 0.05))

    (def $RightShankPosX $RightThighPosX)
    (def $RightShankPosY $RightThighPosY)
    (def $RightShankPosZ (eval $RightThighPosZ - (eval $ThighHeight / 2.0) - (eval $ShankHeight / 2.0) - 0.05))

    ; left shank
    (nd Transform
        (setName leftshank)
        (setLocalPos $LeftShankPosX $LeftShankPosY $LeftShankPosZ)
        (importScene rsg/boxspheres/box.rsg $ShankLength $ShankWidth $ShankHeight $ShankMass matDarkGrey)

        ; install hinge joint to connect to the thigh
        (nd HingeJoint
            (attach ../boxBody ../../leftthigh/boxBody)
            (setAnchor 0.0 0.0 (eval $ShankHeight / 2.0))   
            (setAxis 0) ; move around x-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName llj4)
            )

            ; install an effector to control the joint motors
            (nd HingeEffector (setName lle4))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Lle4Min)
	    ;(setHighStopDeg 0 $Lle4Max)
        )
    )

    ; right shank
    (nd Transform
        (setName rightshank)
        (setLocalPos $RightShankPosX $RightShankPosY $RightShankPosZ)
        (importScene rsg/boxspheres/box.rsg $ShankLength $ShankWidth $ShankHeight $ShankMass matDarkGrey)

        ; install hinge joint to connect to the thigh
        (nd HingeJoint
            (attach ../boxBody ../../rightthigh/boxBody)
            (setAnchor 0.0 0.0 (eval $ShankHeight / 2.0))
            (setAxis 0) ; move around x-axis
            
            ; enable the joint motors
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (nd HingePerceptor (setName rlj4))

            ; install an effector to control the joint motors
            (nd HingeEffector (setName rle4))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Rle4Min)
	    ;(setHighStopDeg 0 $Rle4Max)
        )
    )

    ; left foot
    (nd Transform
        (setName leftfoot)
        (setLocalPos $LeftShankPosX 
		     $LeftShankPosY
		     (eval $LeftShankPosZ - (eval $ShankHeight / 2.0) - (eval $FootHeight / 2.0) - 0.05)
	 )

	; install touch perceptor
	;(nd TouchPerceptor (setName lf))

	; install FRP
	(nd ForceResistancePerceptor
		(setName lf)
	)

	(importScene rsg/boxspheres/box_with_handler.rsg $FootLength $FootWidth $FootHeight $FootMass matDarkGrey)

        ; install hinge joint to connect to the shank
        (nd UniversalJoint
           (attach ../boxBody ../../leftshank/boxBody)
           (setAnchor 0.0 0.0 (eval $FootHeight * 3.0))   
           (setAxis1 1.0 0.0 0.0) ; move around the x-axis
           (setAxis2 0.0 1.0 0.0) ; move around the y-axis

           ; enable the joint motors
           (setMaxMotorForce 0 100)
           (setMaxMotorForce 1 100)           

            ; install a perceptor
            (nd UniversalJointPerceptor (setName llj5_6))

            ; install an effector to control the joint motors
            (nd UniversalJointEffector (setName lle5_6))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Lle5Min)
	    ;(setHighStopDeg 0 $Lle5Max)
	    ;(setLowStopDeg 1 $Lle6Min)
	    ;(setHighStopDeg 1 $Lle6Max)
        )

	; static box at the back of the foot
	(nd Transform
	     (setLocalPos 0.0
			  (eval -1 * (eval (eval $FootWidth / 2.0) - (eval $AnkleBoxWidth / 2.0)))
			  (eval (eval $FootHeight / 2.0) + (eval $AnkleBoxHeight / 2.0))
	      )
	     (nd Box
		   (setMaterial matGrey)
		   (setExtents $AnkleBoxLength $AnkleBoxWidth $AnkleBoxHeight)
	     )
	)
    )

    ; right foot
    (nd Transform
        (setName rightfoot)
        (setLocalPos $RightShankPosX 
		     $RightShankPosY
		     (eval $RightShankPosZ - (eval $ShankHeight / 2.0) - (eval $FootHeight / 2.0) - 0.05)
	 )

        ; install touch perceptor
	;(nd TouchPerceptor (setName rf))

	; install FRP
	(nd ForceResistancePerceptor
		(setName rf)
	)

        (importScene rsg/boxspheres/box_with_handler.rsg $FootLength $FootWidth $FootHeight $FootMass matDarkGrey)
						
        ; install hinge joint to connect to the shank
        (nd UniversalJoint
            (attach ../boxBody ../../rightshank/boxBody)
            (setAnchor 0.0 0.0 (eval $FootHeight * 3.0))   
            (setAxis1 1.0 0.0 0.0) ; move around the x-axis
            (setAxis2 0.0 1.0 0.0) ; move around the y-axis

            ; enable the joint motors
            (setMaxMotorForce 0 100)
            (setMaxMotorForce 1 100)           

            ; install a perceptor
            (nd UniversalJointPerceptor (setName rlj5_6))

            ; install an effector to control the joint motors
            (nd UniversalJointEffector (setName rle5_6))

	    ; set joint stops
	    ;(setLowStopDeg 0 $Rle5Min)
	    ;(setHighStopDeg 0 $Rle5Max)
	    ;(setLowStopDeg 1 $Rle6Min)
	    ;(setHighStopDeg 1 $Rle6Max)
        )

	; static box at the back of the foot
	(nd Transform
	     (setLocalPos 0.0
			  (eval -1 * (eval (eval $FootWidth / 2.0) - (eval $AnkleBoxWidth / 2.0)))
			  (eval (eval $FootHeight / 2.0) + (eval $AnkleBoxHeight / 2.0))
	      )
	     (nd Box
		   (setMaterial matGrey)
		   (setExtents $AnkleBoxLength $AnkleBoxWidth $AnkleBoxHeight)
	     )
	)
    )

) ; of space
) ; EOF