soccerbot055.rsg

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

	     (setLocalPos (eval -1 * (eval (eval $LowerarmLength / 2.0) - (eval $HandBox1Length / 2.0) - 0.06))
			  0.0
			  (eval -1 * (eval (eval $LowerarmHeight / 2.0) + (eval $HandBox1Height / 2.0)))
	      )
	     (nd Box
		   (setMaterial matGrey)
		   (setExtents $HandBox1Length $HandBox1Width $HandBox1Height)
	     )
	     (nd BoxCollider
		 (setBoxLengths $HandBox1Length $HandBox1Width $HandBox1Height)
		 (nd ContactJointHandler
		     (setContactBounceMode false)

		     (setContactSlipMode true)
		     (setContactSlip 0.1 0.1)

		     (setContactSoftERPMode true)
		     (setContactSoftERP 0.2)

		     (setContactSoftCFM true)
		     (setContactSoftCFM 0.01)

		     )
		 )
        )
	
	(nd Transform
	     (setLocalPos (eval (eval $LowerarmLength / 2.0) - (eval $HandBox2Length / 2.0) - 0.06)
			  0.0
			  (eval -1 * (eval (eval $LowerarmHeight / 2.0) + (eval $HandBox2Height / 2.0)))
	      )
	     (nd Box
		   (setMaterial matGrey)
		   (setExtents $HandBox2Length $HandBox2Width $HandBox2Height)
	     )
	)

	(nd Transform
	     (setLocalPos (eval (eval $LowerarmLength / 2.0) - (eval $HandBox3Length / 2.0) - 0.06)
			  0.0
			  (eval -1 * (eval (eval $LowerarmHeight / 2.0) + $HandBox2Height + (eval $HandBox3Height / 2.0)))
	      )
	     (nd Box
		   (setMaterial matGrey)
		   (setExtents $HandBox3Length $HandBox3Width $HandBox3Width)
	     )
	)
    )

    ; right lower arm
    (nd Transform
        (setName rightlowerarm)
        (setLocalPos $RightLowerArmPosX $RightLowerArmPosY $RightLowerArmPosZ)
	;(setLocalRotation 0 0 180)
        (importScene rsg/boxspheres/box.rsg $LowerarmLength $LowerarmWidth $LowerarmHeight $LowerarmMass matDarkGrey)

        ; 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)
            )
        )

	; static hand
	(nd Transform
	      (setLocalRotation 0 0 180)

	      (nd Transform
		    (setLocalPos (eval -1 * (eval (eval $LowerarmLength / 2.0) - (eval $HandBox1Length / 2.0) - 0.06))
				 0.0
				 (eval -1 * (eval (eval $LowerarmHeight / 2.0) + (eval $HandBox1Height / 2.0)))
		    )
		    (nd Box
			  (setMaterial matGrey)
			  (setExtents $HandBox1Length $HandBox1Width $HandBox1Height)
		    )
		    (nd BoxCollider
			(setBoxLengths $HandBox1Length $HandBox1Width $HandBox1Height)
			(nd ContactJointHandler
			    (setContactBounceMode false)

			    (setContactSlipMode true)
			    (setContactSlip 0.1 0.1)

			    (setContactSoftERPMode true)
			    (setContactSoftERP 0.2)

			    (setContactSoftCFM true)
			    (setContactSoftCFM 0.01)

			    )
			)
	       )
	
	      (nd Transform
		    (setLocalPos (eval (eval $LowerarmLength / 2.0) - (eval $HandBox2Length / 2.0) - 0.06)
				 0.0
				 (eval -1 * (eval (eval $LowerarmHeight / 2.0) + (eval $HandBox2Height / 2.0)))
	            )
		    (nd Box
			  (setMaterial matGrey)
			  (setExtents $HandBox2Length $HandBox2Width $HandBox2Height)
	            )
	      )

	      (nd Transform
		    (setLocalPos (eval (eval $LowerarmLength / 2.0) - (eval $HandBox3Length / 2.0) - 0.06)
				 0.0
				 (eval -1 * (eval (eval $LowerarmHeight / 2.0) + $HandBox2Height + (eval $HandBox3Height / 2.0)))
	            )
		    (nd Box
			  (setMaterial matGrey)
			  (setExtents $HandBox3Length $HandBox3Width $HandBox3Width)
	            )
	      )
	 )
    )

    ;;; -------------------------------------
    ;;; LEGS
    ;;; -------------------------------------
    
    (def $LeftHipPosX (eval $TorsoPosX - (eval $TorsoBox1Length / 4.0) - 0.06))
    (def $LeftHipPosY $TorsoPosY)
    (def $LeftHipPosZ (eval $TorsoPosZ - (eval $TorsoBox1Height / 2.0) - (eval $HipHeight / 2.0)))

    (def $RightHipPosX (eval $TorsoPosX + (eval $TorsoBox1Length / 4.0) + 0.06))
    (def $RightHipPosY $TorsoPosY)
    (def $RightHipPosZ (eval $TorsoPosZ - (eval $TorsoBox1Height / 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 / 2.0))   
            (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)
            )
        )
    )

    ; 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 / 2.0))   
            (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)
            )
        )
    )

    (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 matGrey)

        ; 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)
            )
        )
    )

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

        ; 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)
            )
        )
    )

    (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)
            )
        )
    )

    ; 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)
            )
        )
    )

    ; 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)
	)

	(importScene rsg/boxspheres/box_with_handler055.rsg $FootLength $FootWidth $FootHeight $FootMass matGrey)
	
        ; 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)
            )
        )

	; 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)
	)

        (importScene rsg/boxspheres/box_with_handler055.rsg $FootLength $FootWidth $FootHeight $FootMass matGrey)	

        ; 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)
            )

	    
        )

	; 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