foot.rsg

rcssserver3d Robocup 3D比赛官方指定平台

;; -*- mode: lisp; -*-

(RSG 0 1)
(
  (templ $name $perceptorName $effectorName $frpName $attach
	 $x $y $z
	 $lenX $lenY $lenZ
	 $anchorX $anchorY $anchorZ
	 $axis1X $axis1Y $axis1Z $minDeg1 $maxDeg1
	 $axis2X $axis2Y $axis2Z $minDeg2 $maxDeg2
	 $ankLenX $ankLenY $ankLenZ
	 $totalMass $material)

  (nd Transform
        (setName $name)
        (setLocalPos $x $y $z)
	
	;; install FRP
        (nd ForceResistancePerceptor
	    (setName $frpName)
	    )

        (importScene rsg/agent/soccerbot058/box_with_handler.rsg
		     $lenX $lenY $lenZ
		     $totalMass $material)

        ;; install universal joint
	(importScene rsg/agent/nao/universaljoint.rsg
		     $perceptorName $effectorName
		     ../boxBody  $attach
		     $anchorX    $anchorY   $anchorZ
		     $axis1X     $axis1Y    $axis1Z
		     $axis2X     $axis2Y    $axis2Z
		     $minDeg1    $maxDeg1
		     $minDeg2    $maxDeg2)

;;; 	(nd ObjectState
;;;             (setID $name)
;;;             )

	;; static box at the back of the foot
        (nd Transform
	    (setLocalPos 0.0
			 (eval -1 * (eval (eval $lenY / 2.0)
					  - (eval $ankLenY / 2.0)))
			 (eval (eval $lenZ / 2.0) + (eval $ankLenZ / 2.0))
			 )
	    (nd Box
		(setMaterial matGrey)
		(setExtents $ankLenX $ankLenY $ankLenZ)
		)
	    )
        )
)