soccerbot.rsg

rcssserver3d Robocup 3D比赛官方指定平台

;;; -------------------------------------
;;; HEAD
;;; -------------------------------------
     (def $HeadPosX $UpperTorsoPosX)
     (def $HeadPosY (eval $UpperTorsoPosY + (eval 0.05 * $scale)))
     (def $HeadPosZ (eval $UpperTorsoPosZ +
			  (eval (eval (eval 0.5 * $UpperTorsoHeight)
				      + (eval 0.1 * $scale))
				+ (eval $HeadRadius / 2.0))))
     (importScene rsg/agent/soccerbot058/head.rsg
		  $HeadPosX $HeadPosY $HeadPosZ
		  $HeadRadius $HeadMass
		  $H1Min $H1Max $H2Min $H2Max)

;;; -------------------------------------
;;; ARMS
;;; -------------------------------------
    
     ;; Shoulder
     (def $LeftShoulderPosX (eval $UpperTorsoPosX -
				  (eval $UpperTorsoLength / 2.0) -
				  (eval $ShoulderLength / 2.0) -
				  (eval $TorsoCylinderLength / 2.0)
				  )
	  )
     (def $LeftShoulderPosY $UpperTorsoPosY)
     (def $LeftShoulderPosZ (eval $UpperTorsoPosZ +
				  (eval $UpperTorsoHeight / 2.0) -
				  (eval $ShoulderHeight / 2.0)
				  )
	  )

     (importScene rsg/agent/soccerbot058/box_with_uj.rsg
		  leftshoulder laj1_2 lae1_2 ../../body/boxBody
		  $LeftShoulderPosX $LeftShoulderPosY $LeftShoulderPosZ
		  $ShoulderLength $ShoulderWidth $ShoulderHeight
		  0.0 0.0 0.0			;; anchor
		  1.0 0.0 0.0 $Lae1Min $Lae1Max ;; x-axis
		  0.0 1.0 0.0 $Lae2Min $Lae2Max ;; y-axis
		  $ShoulderMass matDarkGrey)

     (def $RightShoulderPosX (eval $UpperTorsoPosX +
				   (eval $UpperTorsoPosX - $LeftShoulderPosX)
				   ))
     (def $RightShoulderPosY $LeftShoulderPosY)
     (def $RightShoulderPosZ $LeftShoulderPosZ)

     (importScene rsg/agent/soccerbot058/box_with_uj.rsg
		  rightshoulder raj1_2 rae1_2 ../../body/boxBody
		  $RightShoulderPosX $RightShoulderPosY $RightShoulderPosZ
		  $ShoulderLength $ShoulderWidth $ShoulderHeight
		  0.0 0.0 0.0			;; anchor
		  1.0 0.0 0.0 $Rae1Min $Rae1Max ;; x-axis
		  0.0 1.0 0.0 $Rae2Min $Rae2Max ;; y-axis
		  $ShoulderMass matDarkGrey)

     ;; Upper Arm
     (def $LeftUpperArmPosX $LeftShoulderPosX)
     (def $LeftUpperArmPosY (eval $LeftShoulderPosY))
     (def $LeftUpperArmPosZ (eval $LeftShoulderPosZ
				  - (eval $ShoulderHeight / 2.0)
				  - (eval $UpperarmHeight / 2.0)))
     (importScene rsg/agent/soccerbot058/box_with_hj.rsg
		  leftupperarm laj3 lae3 ../../leftshoulder/boxBody
		  $LeftUpperArmPosX $LeftUpperArmPosY $LeftUpperArmPosZ
		  $UpperarmLength $UpperarmWidth $UpperarmHeight
		  0.0 0.0 (eval $UpperarmHeight / 2.0) ;; anchor
		  0 0 1				       ;; z-axis
		  $Lae3Min $Lae3Max
		  $UpperarmMass matGrey)

     (def $RightUpperArmPosX $RightShoulderPosX)
     (def $RightUpperArmPosY $RightShoulderPosY)
     (def $RightUpperArmPosZ $LeftUpperArmPosZ)
     (importScene rsg/agent/soccerbot058/box_with_hj.rsg
		  rightupperarm raj3 rae3 ../../rightshoulder/boxBody
		  $RightUpperArmPosX $RightUpperArmPosY $RightUpperArmPosZ
		  $UpperarmLength $UpperarmWidth $UpperarmHeight
		  0.0 0.0 (eval $UpperarmHeight / 2.0) ;; anchor
		  0 0 1				       ;; z-axis
		  $Rae3Min $Rae3Max
		  $UpperarmMass matGrey)

     ;; Lower Arm
     (def $LeftLowerArmPosX $LeftUpperArmPosX)
     (def $LeftLowerArmPosY $LeftUpperArmPosY)
     (def $LeftLowerArmPosZ (eval $LeftUpperArmPosZ
				  - (eval $UpperarmHeight / 2.0)
				  - $ElbowRadius
				  - (eval $LowerarmHeight / 2.0)))
    
     (importScene rsg/agent/soccerbot058/lowerarm.rsg
		  lhand laj4 lae4 ../../leftupperarm/boxBody
		  $LeftLowerArmPosX $LeftLowerArmPosY $LeftLowerArmPosZ
		  $LowerarmLength $LowerarmWidth $LowerarmHeight $LowerarmMass
		  $HandBox1Length $HandBox1Width $HandBox1Height $HandBox1Mass
		  $HandBox2Length $HandBox2Width $HandBox2Height
		  $HandBox3Length $HandBox3Width $HandBox3Height $HandBox3Mass
		  0 0 (eval $LowerarmHeight / 2.0) ;; anchor
		  1 0 0				   ;; x-axis
		  $Lae4Min $Lae4Max
		  $ElbowRadius $ElbowLength matDarkGrey matGrey 1 $scale)

     (def $RightLowerArmPosX $RightUpperArmPosX)
     (def $RightLowerArmPosY $RightUpperArmPosY)
     (def $RightLowerArmPosZ $LeftLowerArmPosZ)
     (importScene rsg/agent/soccerbot058/lowerarm.rsg
		  rhand raj4 rae4 ../../rightupperarm/boxBody
		  $RightLowerArmPosX $RightLowerArmPosY $RightLowerArmPosZ
		  $LowerarmLength $LowerarmWidth $LowerarmHeight $LowerarmMass
		  $HandBox1Length $HandBox1Width $HandBox1Height $HandBox1Mass
		  $HandBox2Length $HandBox2Width $HandBox2Height
		  $HandBox3Length $HandBox3Width $HandBox3Height $HandBox3Mass
		  0 0 (eval $LowerarmHeight / 2.0) ;; anchor
		  1 0 0				   ;; x-axis
		  $Rae4Min $Rae4Max
		  $ElbowRadius $ElbowLength matDarkGrey matGrey -1 $scale)

;;; -------------------------------------
;;; LEGS
;;; -------------------------------------
     ;; hip
     (def $LeftHipPosX
	  (eval $LowerTorsoPosX - (eval $LowerTorsoLength / 4.0)
		- (eval 0.06 * $scale)))
     (def $LeftHipPosY $LowerTorsoPosY)
     (def $LeftHipPosZ
	  (eval $LowerTorsoPosZ - (eval $LowerTorsoHeight / 2.0 )
		- (eval $HipHeight / 2.0)))
     (def $HipAnchorZ (eval $HipHeight * 0.5))
     (importScene rsg/agent/soccerbot058/box_with_hj.rsg
		  lefthip llj1 lle1 ../../body/boxBody
		  $LeftHipPosX $LeftHipPosY $LeftHipPosZ
		  $HipLength $HipWidth $HipHeight
		  0 0 $HipAnchorZ ;; anchor
		  0 0 1		  ;; z-axis
		  $Lle1Min $Lle1Max
		  $HipMass matDarkGrey)

     (def $RightHipPosX
	  (eval $LowerTorsoPosX + (eval $LowerTorsoLength / 4.0)
		+ (eval 0.06 * $scale)))
     (def $RightHipPosY $LowerTorsoPosY)
     (def $RightHipPosZ $LeftHipPosZ)
     (importScene rsg/agent/soccerbot058/box_with_hj.rsg
		  righthip rlj1 rle1 ../../body/boxBody
		  $RightHipPosX $RightHipPosY $RightHipPosZ
		  $HipLength $HipWidth $HipHeight
		  0 0 $HipAnchorZ     ;; anchor
		  0 0 1		      ;; z-axis
		  $Rle1Min $Rle1Max
		  $HipMass matDarkGrey)

     ;; thigh
     (def $LeftThighPosX $LeftHipPosX)
     (def $LeftThighPosY $LeftHipPosY)
     (def $LeftThighPosZ (eval $LeftHipPosZ
			       - (eval $HipHeight / 2.0)
			       - (eval $ThighHeight / 2.0) ))
     (def $ThighAnchorZ (eval $ThighHeight / 2.0))
     (importScene rsg/agent/soccerbot058/box_with_uj.rsg
		  leftthigh llj2_3 lle2_3 ../../lefthip/boxBody
		  $LeftThighPosX $LeftThighPosY $LeftThighPosZ
		  $ThighLength $ThighWidth $ThighHeight
		  0.0 0.0 $ThighAnchorZ		;; anchor
		  1.0 0.0 0.0 $Lle2Min $Lle2Max ;; x-axis
		  0.0 1.0 0.0 $Lle3Min $Lle3Max ;; y-axis
		  $ThighMass matDarkGrey)

     (def $RightThighPosX $RightHipPosX)
     (def $RightThighPosY $RightHipPosY)
     (def $RightThighPosZ $LeftThighPosZ)
     (importScene rsg/agent/soccerbot058/box_with_uj.rsg
		  rightthigh rlj2_3 rle2_3 ../../righthip/boxBody
		  $RightThighPosX $RightThighPosY $RightThighPosZ
		  $ThighLength $ThighWidth $ThighHeight
		  0.0 0.0 $ThighAnchorZ		;; anchor
		  1.0 0.0 0.0 $Rle2Min $Rle2Max ;; x-axis
		  0.0 1.0 0.0 $Rle3Min $Rle3Max ;; y-axis
		  $ThighMass matDarkGrey)
    
     ;; shank
     (def $LeftShankPosX $LeftThighPosX)
     (def $LeftShankPosY $LeftThighPosY)
     (def $LeftShankPosZ (eval $LeftThighPosZ
			       - (eval $ThighHeight / 2.0)
			       - (eval $ShankHeight / 2.0)
			       - (eval 0.05 * $scale)))
     (def $ShankAnchorZ (eval $ShankHeight * 0.5))
     (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
		  leftshank llj4 lle4 ../../leftthigh/boxBody
		  $LeftShankPosX $LeftShankPosY $LeftShankPosZ
		  $ShankLength $ShankWidth $ShankHeight
		  0 0 $ShankAnchorZ   ;; anchor
		  1 0 0		      ;; x-axis
		  $Lle4Min $Lle4Max
		  $ShankMass matDarkGrey $ElbowRadius $ElbowLength)
    

     (def $RightShankPosX $RightThighPosX)
     (def $RightShankPosY $RightThighPosY)
     (def $RightShankPosZ $LeftShankPosZ)
     (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
		  rightshank rlj4 rle4 ../../rightthigh/boxBody
		  $RightShankPosX $RightShankPosY $RightShankPosZ
		  $ShankLength $ShankWidth $ShankHeight
		  0 0 $ShankAnchorZ   ;; anchor
		  1 0 0		      ;; x-axis
		  $Rle4Min $Rle4Max
		  $ShankMass matDarkGrey $ElbowRadius $ElbowLength)

     ;; foot
     (def $LeftFootPosX $LeftShankPosX)
     (def $LeftFootPosY $LeftShankPosY)
     (def $LeftFootPosZ (eval $LeftShankPosZ
			      - (eval $ShankHeight / 2.0)
			      - (eval $FootHeight / 2.0)
			      - (eval 0.05 * $scale)))
     (def $FootAnchorZ (eval $FootHeight * 3.0))
     (importScene rsg/agent/soccerbot058/foot.rsg
		  lfoot llj5_6 lle5_6 lf ../../leftshank/boxBody
		  $LeftFootPosX $LeftFootPosY $LeftFootPosZ
		  $FootLength $FootWidth $FootHeight
		  0.0 0.0 $FootAnchorZ		;; anchor
		  1.0 0.0 0.0 $Lle5Min $Lle5Max ;; x-axis
		  0.0 1.0 0.0 $Lle6Min $Lle6Max ;; y-axis
		  $AnkleBoxLength $AnkleBoxWidth $AnkleBoxHeight
		  $FootMass matDarkGrey)

     (def $RightFootPosX $RightShankPosX)
     (def $RightFootPosY $RightShankPosY)
     (def $RightFootPosZ $LeftFootPosZ)
     (importScene rsg/agent/soccerbot058/foot.rsg
		  rfoot rlj5_6 rle5_6 rf ../../rightshank/boxBody
		  $RightFootPosX $RightFootPosY $RightFootPosZ
		  $FootLength $FootWidth $FootHeight
		  0.0 0.0 $FootAnchorZ		;; anchor
		  1.0 0.0 0.0 $Rle5Min $Rle5Max ;; x-axis
		  0.0 1.0 0.0 $Rle6Min $Rle6Max ;; y-axis
		  $AnkleBoxLength $AnkleBoxWidth $AnkleBoxHeight
		  $FootMass matDarkGrey)

     ) ;; of space
 )     ;; EOF