hoap2.rsg

ROBOCUP 仿真3D server 源码

    (define $RightLowerArmPosX $RightUpperArmPosX)
    (define $RightLowerArmPosY $RightUpperArmPosY)
    (define $RightLowerArmPosZ (eval $RightUpperArmPosZ -
				    (eval $UpperarmHeight / 2.0) -
				    $ElbowRadius -
				    (eval $LowerarmHeight / 2.0)
			       )
     )

    ; left lower arm
    (node Transform
        (setName leftlowerarm)
        (setLocalPos $LeftLowerArmPosX $LeftLowerArmPosY $LeftLowerArmPosZ)
        (importScene rsg/boxspheres/box.rsg $LowerarmLength $LowerarmWidth $LowerarmHeight $LowerarmMass matGrey)

        ; install hinge joint to connect to the upper arm
        (node 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
            (node HingePerceptor
                (setName larm_joint_4)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName larm_eff_4)
            )
        )

	; static hand
	(node 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)))
	      )
	     (node Box
		   (setMaterial matGrey)
		   (setExtents $HandBox1Length $HandBox1Width $HandBox1Height)
	     )	     
        )
	
	(node 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)))
	      )
	     (node Box
		   (setMaterial matGrey)
		   (setExtents $HandBox2Length $HandBox2Width $HandBox2Height)
	     )
	)

	(node 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)))
	      )
	     (node Box
		   (setMaterial matGrey)
		   (setExtents $HandBox3Length $HandBox3Width $HandBox3Width)
	     )
	)
    )

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

        ; install hinge joint to connect to the upper arm
        (node 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
            (node HingePerceptor
                (setName rarm_joint_4)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName rarm_eff_4)
            )
        )

	; static hand
	(node Transform
	      (setLocalRotation 0 0 180)
	      
	      (node 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)))
				 )
		    (node Box
			  (setMaterial matGrey)
			  (setExtents $HandBox1Length $HandBox1Width $HandBox1Height)
			  )	     
		    )
	      
	      (node 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)))
				 )
		    (node Box
			  (setMaterial matGrey)
			  (setExtents $HandBox2Length $HandBox2Width $HandBox2Height)
			  )
		    )
	      
	      (node 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)))
				 )
		    (node Box
			  (setMaterial matGrey)
			  (setExtents $HandBox3Length $HandBox3Width $HandBox3Width)
			  )
		    )
	)
    )

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

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


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

        ; install hinge joint to connect to the torso
        (node 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
            (node HingePerceptor
                (setName lleg_joint_1)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName lleg_eff_1)
            )
        )
    )

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

        ; install hinge joint to connect to the torso
        (node 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
            (node HingePerceptor
                (setName rleg_joint_1)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName rleg_eff_1)
            )
        )
    )

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

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

    ; left thigh
    (node 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
        (node 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
            (node UniversalJointPerceptor
                (setName lleg_joint_2_3)
            )

            ; install an effector to control the joint motors
            (node UniversalJointEffector
                (setName lleg_eff_2_3)
            )
        )
    )

    ; right thigh
    (node 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
        (node 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
            (node UniversalJointPerceptor
                (setName rleg_joint_2_3)
            )

            ; install an effector to control the joint motors
            (node UniversalJointEffector
                (setName rleg_eff_2_3)
            )
        )
    )

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

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

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

        ; install hinge joint to connect to the thigh
        (node 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
            (node HingePerceptor
                (setName lleg_joint_4)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName lleg_eff_4)
            )
        )
    )

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

        ; install hinge joint to connect to the thigh
        (node 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
            (node HingePerceptor
                (setName rleg_joint_4)
            )

            ; install an effector to control the joint motors
            (node HingeEffector
                (setName rleg_eff_4)
            )
        )
    )

    ; left foot
    (node Transform
        (setName leftfoot)
        (setLocalPos $LeftShankPosX 
		     $LeftShankPosY
		     (eval $LeftShankPosZ - (eval $ShankHeight / 2.0) - (eval $FootHeight / 2.0) - 0.05)
	 )
        (importScene rsg/boxspheres/box.rsg $FootLength $FootWidth $FootHeight $FootMass matGrey)

        ; install hinge joint to connect to the shank
        (node UniversalJoint
            (attach ../boxBody ../../leftshank/boxBody)
            (setAnchor 0.0 0.0 (eval $FootHeight / 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
          (node UniversalJointPerceptor
              (setName lleg_joint_5_6)
         )

            ; install an effector to control the joint motors
            (node UniversalJointEffector
                (setName lleg_eff_5_6)
            )
        )

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

    ; right foot
    (node Transform
        (setName rightfoot)
        (setLocalPos $RightShankPosX 
		     $RightShankPosY
		     (eval $RightShankPosZ - (eval $ShankHeight / 2.0) - (eval $FootHeight / 2.0) - 0.05)
	 )
        (importScene rsg/boxspheres/box.rsg $FootLength $FootWidth $FootHeight $FootMass matGrey)

        ; install hinge joint to connect to the shank
        (node UniversalJoint
            (attach ../boxBody ../../rightshank/boxBody)
            (setAnchor 0.0 0.0 (eval $FootHeight / 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
            (node UniversalJointPerceptor
                (setName rleg_joint_5_6)
            )

            ; install an effector to control the joint motors
            (node UniversalJointEffector
                (setName rleg_eff_5_6)
            )
        )

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

) ; EOF