[simspark-cvs] simspark/simulations/parts/rsg/agent ball.rsg,NONE,1.1 buggy.rsg,NONE,1.1 flag.rsg,NONE,1.1 leggedsphere.rsg,NONE,1.1 simspark.rsg,NONE,1.1 soccer.rsg,NONE,1.1 soccerplayer.rsg,NONE,1.1

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/simulations/parts/rsg/agent
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15792/agent

Added Files:
	ball.rsg buggy.rsg flag.rsg leggedsphere.rsg simspark.rsg 
	soccer.rsg soccerplayer.rsg 
Log Message:
- added rsg and RoSiML demo files


--- NEW FILE: ball.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 (define $Radius (eval Soccer.BallRadius))
 (define $Material matOrange)
 (define $Density (eval Soccer.BallDensity))

 (node Ball
       (setLocalPos 0 0 0.5)
       (setName Ball)

       (node Sphere
	     (setRadius $Radius)
	     (setMaterial $Material)
	     )

       (node Body
	     (setName physics)
	     (setSphere $Density $Radius)
	     (node DragController
		   (setAngularDrag 0.2)
		   (setLinearDrag 0.4)
		   )
	     )

       (node SphereCollider
	     (setName geometry)
	     (setRadius $Radius)

	     (node ContactJointHandler
		   (setContactBounceMode false)

		   (setContactSlipMode true)
		   (setContactSlip 0.1 0.1)

		   (setContactSoftERPMode true)
		   (setContactSoftERP 0.5)

		   (setContactSoftCFM true)
		   (setContactSoftCFM 0.3)
		   )
	     )

       (node ObjectState
	     (setPerceptName Ball)
	     )
       )
 )

--- NEW FILE: soccer.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
;
; define constants, copy values from the ScriptServer Soccer namespace
;

 (define $FieldLength (eval Soccer.FieldLength))
 (define $FieldWidth  (eval Soccer.FieldWidth))
 (define $BorderExt   (eval Soccer.BorderSize))
 (define $GoalWidth   (eval Soccer.GoalWidth))
 (define $GoalDepth   (eval Soccer.GoalDepth))
 (define $GoalHeight  (eval Soccer.GoalHeight))

; height of the field ground plane
 (define $FieldBaseHeight 4) 

; with of the side boundary
 (define $SideExt 2) 

; height of the side boundary
 (define $SideHeight 1) 

; height of a field line
 (define $LineHeight 0.2)

 (define $FieldMaterial matGreen)
 (define $BorderMaterial matYellow)
 (define $SideMaterial matGrey)
 (define $LineMaterial matWhite)
 (define $GoalMaterial matWhite)

; calc some helper vars
 (define $FieldBase (eval -1 * $FieldBaseHeight / 2.0))
 (define $LineBase 0)
 (define $FieldHalfLength (eval $FieldLength / 2.0))
 (define $FieldHalfWidth  (eval $FieldWidth / 2.0))
 (define $GoalHalfWidth   (eval $GoalWidth / 2.0))
 (define $GoalHalfHeight  (eval $GoalHeight / 2.0))
 (define $GoalHalfDepth   (eval $GoalDepth / 2.0))

 (define $HalfBorderExt   (eval $BorderExt / 2.0))
 (define $BorderLength    (eval $FieldHalfLength + $HalfBorderExt))
 (define $BorderWidth     (eval $FieldHalfWidth + $HalfBorderExt))

 (define $SideLength      (eval $FieldHalfLength + $BorderExt))
 (define $SideWidth       (eval $FieldHalfWidth  + $BorderExt))
 
 (define $LineWidth       (eval $FieldWidth - $LineHeight)) 
 
 (define $BarDiameter     $LineHeight)
 (define $BarRadius       (eval $BarDiameter / 2.0))

;
; construct playing field
;

; add lights
 (node Transform
       (setLocalPos -10 10 10)
       (node Light
	     (setDiffuse 1.0 1.0 1.0 1.0)
	     (setSpecular 0.1 0.1 0.1 1.0)
	     (setAmbient 0.8 0.8 0.8 1.0)
	     )

       )

; add lights
 (node Transform
       (setLocalPos 10 -10 10)
       (node Light
	     (setDiffuse 1.0 1.0 1.0 1.0)
	     (setSpecular 0.1 0.1 0.1 1.0)
	     (setAmbient 0.0 0.0 0.0 1.0)
	     )
       )

; create the base plane
 (node Transform
       (setLocalPos 0 0 $FieldBase)
       (node Box
	     (setMaterial $FieldMaterial)
	     (setExtents $FieldLength $FieldWidth $FieldBaseHeight)
	     )
       (node PlaneCollider
	     (setParams 0 0 1.0 0)
	     (node ContactJointHandler
		   (setContactBounceMode false)
		   )
	     )
       )
       
; create the left goal
 (node Transform
       (setName GoalBoxL)
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth)) 0 $GoalHalfHeight)
       (node BoxCollider
             (setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
	     (node ContactJointHandler
		    (setContactBounceMode false)
	            )
	     )
       (node RecorderHandler 
             (setName recorder)
	     )  
       )
       
; create the goal bar on top of the goal (left goal)
 (node Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth) + $LineHeight) 
                               0
			       (eval $GoalHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth (eval $GoalWidth - 0.1) $BarDiameter)
	     (setMaterial $GoalMaterial)
	     )
	(node BoxCollider
       	     (setBoxLengths $GoalDepth (eval $GoalWidth - 0.1) $BarDiameter)
	     )     
       
       )   
       
; create the left goal post (left goal)
 (node Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth) + $LineHeight) 
                               (eval -1 * (eval $GoalHalfWidth + $BarRadius))
			       (eval $GoalHalfHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
       (node BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     ) 	     
       
       )  

; create the right goal post (left goal)
 (node Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth) + $LineHeight) 
                               (eval $GoalHalfWidth + $BarRadius)
			       (eval $GoalHalfHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
       (node BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )   

; create the right goal
 (node Transform
       (setName GoalBoxR)
       (setLocalPos (eval $FieldHalfLength + $GoalHalfDepth) 0 $GoalHalfHeight)
       (node BoxCollider
       	     (setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
	     (node ContactJointHandler
		    (setContactBounceMode false)
	            )
	     )
       (node RecorderHandler 
             (setName recorder)
	     )  
       )
       
; create the goal bar on top of the goal (right goal)
 (node Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalHalfDepth) - $LineHeight) 
                               0
			       (eval $GoalHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth (eval $GoalWidth - 0.1) $BarDiameter)
	     (setMaterial $GoalMaterial)
	     )
	(node BoxCollider
       	     (setBoxLengths $GoalDepth (eval $GoalWidth - 0.1) $BarDiameter)
	     )
       
       )   
       
; create the left goal post (right goal)
 (node Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalHalfDepth) - $LineHeight) 
                               (eval -1 * (eval $GoalHalfWidth + $BarRadius))
			       (eval $GoalHalfHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
	(node BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )  

; create the right goal post (right goal)
 (node Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalHalfDepth) - $LineHeight) 
                               (eval $GoalHalfWidth + $BarRadius)
			       (eval $GoalHalfHeight + $BarRadius)
			       )
       (node Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
	(node BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )   




; create left side
 (node Transform
       (setLocalPos (eval -1 * $SideLength) 0 0)
       (node Box
	     (setMaterial $SideMaterial)
	     (setExtents $SideHeight (eval $FieldWidth + 2 * $BorderExt) $SideExt)
	     ) 
       (node PlaneCollider
	     (setParams 1.0 0 0 (eval -1 * $SideLength))
	     )
       )


; create right side
 (node Transform
       (setLocalPos $SideLength 0 0)
       (node Box
	     (setMaterial $SideMaterial)
	     (setExtents $SideHeight (eval $FieldWidth + 2 * $BorderExt) $SideExt)
	     ) 
       (node PlaneCollider
	     (setParams -1.0 0 0 (eval -1 * $SideLength))
	     )
       )


; create back side
 (node Transform
       (setLocalPos 0 $SideWidth 0)
       (node Box
	     (setMaterial $SideMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $SideHeight $SideExt)
	     ) 
       (node PlaneCollider
	     (setParams 0 -1.0 0 (eval -1 * $SideWidth))
	     )
       )

; create front side
 (node Transform
       (setLocalPos 0 (eval -1 * $SideWidth) 0)
       (node Box
	     (setMaterial $SideMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $SideHeight $SideExt)
	     ) 
       (node PlaneCollider
	     (setParams 0 1.0 0 (eval -1 * $SideWidth))
	     )
       )

; create middle line
 (node Transform
       (setLocalPos 0 0 $LineBase)
       (node Box
	     (setExtents $LineHeight $LineWidth $LineHeight)
	     (setMaterial $LineMaterial)
	     )
       )

; create front line
 (node Transform
       (setLocalPos 0 (eval -1 * $FieldHalfWidth) $LineBase)
       (node Box
	     (setExtents $FieldLength $LineHeight $LineHeight)
	     (setMaterial $LineMaterial)
	     )
       )

; create back line
 (node Transform
       (setLocalPos 0 $FieldHalfWidth $LineBase)
       (node Box
	     (setExtents $FieldLength $LineHeight $LineHeight)
	     (setMaterial $LineMaterial)
	     )
       )

; create left line
 (node Transform
       (setLocalPos (eval -1 * $FieldHalfLength) 0 $LineBase)
       (node Box
	     (setExtents $LineHeight $LineWidth $LineHeight)
	     (setMaterial $LineMaterial)
	     )
       )

; create right line
 (node Transform
       (setLocalPos $FieldHalfLength 0 $LineBase)
       (node Box
	     (setExtents $LineHeight $LineWidth $LineHeight)
	     (setMaterial $LineMaterial)
	     )
       )

; create left outer field
 (node Transform
       (setLocalPos (eval -1 * $BorderLength) 0 $FieldBase)
       (node Box
	     (setMaterial $BorderMaterial)
	     (setExtents $BorderExt $FieldWidth $FieldBaseHeight)
	     )
       )

; create right outer field
 (node Transform
       (setLocalPos $BorderLength 0 $FieldBase)
       (node Box
	     (setMaterial $BorderMaterial)
	     (setExtents $BorderExt $FieldWidth $FieldBaseHeight)
	     )
       )

; create front outer field
 (node Transform
       (setLocalPos 0 (eval -1 * $BorderWidth) $FieldBase)
       (node Box
	     (setMaterial $BorderMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $BorderExt $FieldBaseHeight)
	     )
       )

; create back outer field
 (node Transform
       (setLocalPos 0 $BorderWidth $FieldBase)
       (node Box
	     (setMaterial $BorderMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $BorderExt $FieldBaseHeight)
	     )
       )

;;
;; add flags
;;

; mark the soccer field with 4 field flags
 (importScene rsg/agent/flag.rsg 
	      (eval -1 * $FieldHalfLength)  
	      $FieldHalfWidth
	      0 
	      Flag_1_l matRed
	      )

 (importScene rsg/agent/flag.rsg 
	      (eval -1 * $FieldHalfLength) 
	      (eval -1 * $FieldHalfWidth)
	      0
	      Flag_2_l matRed
	      )

 (importScene rsg/agent/flag.rsg 
	      $FieldHalfLength 
	      $FieldHalfWidth 
	      0 
	      Flag_1_r matBlue
	      )

 (importScene rsg/agent/flag.rsg 
	      $FieldHalfLength 
	      (eval -1 * $FieldHalfWidth) 
	      0 
	      Flag_2_r matBlue
	      )
	      
	      
  ; mark the left goal
 (importScene rsg/agent/flag.rsg
	      (eval -1 * $FieldHalfLength)
	      (eval -1 * $GoalHalfWidth)
	      0
	      Goal_1_l matRed
	      )

 (importScene rsg/agent/flag.rsg
	      (eval -1 * $FieldHalfLength)
	      $GoalHalfWidth
	      0
	      Goal_2_l matRed
	      )

; mark the right goal
 (importScene rsg/agent/flag.rsg
	      $FieldHalfLength
	      (eval -1 * $GoalHalfWidth)
	      0
	      Goal_1_r matBlue
	      )

 (importScene rsg/agent/flag.rsg
	      $FieldHalfLength
	      $GoalHalfWidth
	      0
	      Goal_2_r matBlue
	      )	      

;;
;; add the ball
;;
 (importScene rsg/agent/ball.rsg)

 )

--- NEW FILE: simspark.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
; add lights
 (node Transform
       (setLocalPos -10 10 10)
       (node Light
	     (setDiffuse 1.0 1.0 1.0 1.0)
	     (setSpecular 0.1 0.1 0.1 1.0)
	     (setAmbient 0.5 0.5 0.5 1.0)
	     )
       )

; create the arena
(node Transform
      (setLocalPos 0 0 -2)
      (importScene rsg/boxspheres/arena.rsg)
      )
)
--- NEW FILE: soccerplayer.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 ; create the torso
 (node AgentAspect
       (setName torso)
       (setLocalPos 0 0 0.5)
       (importScene rsg/boxspheres/box.rsg 1.3 1 1 5 matRed)

       ; install a perceptor to receive the current simulation time
       (node TimePerceptor)

       ; install a node holding agent state data
       (node AgentState
	     (setName AgentState)
	     )

       ; install a perceptor to receive info about ball and player positions
       (node VisionPerceptor
	     (setSenseMyPos false)
	     (setStaticSenseAxis false)
	     (addNoise false)
	     )

       ; install a kick effector
       (node KickEffector
	     (setKickMargin 2)
	     (setForceFactor 0.7)
	     (setTorqueFactor 0.1)
	     (setNoiseParams 0.4 0.02 0.9 4.5)
	     (setSteps 10)
	     (setMaxPower 100.0)
	     (setAngleRange 0.0 50.0)
	     )

       ; install a beam effector
       (node BeamEffector)

       (node Transform
	     (setLocalPos 0 0.5 0.6)
	     (node Box
		   (setMaterial matBlue)
		   (setExtents 1 0.1 0.2)
		   )
	     )

       (node Transform
	     (setLocalPos 0 0.1 0.6)
	     (node Box
		   (setMaterial matBlue)
		   (setExtents 0.1 0.8 0.2)
		   )
	     )
       )

 ; install the left tire
 (node Transform
       (setName leftTire)
       (setLocalPos -0.6 0.5 0.5)
       (importScene rsg/boxspheres/sphere.rsg 0.51 2 matWhite)
       (node Transform
	     (setLocalRotation 0 0 180)

	     ; install the joint
	     (node Hinge2Joint
		   (attach ../../sphereBody ../../../torso/boxBody)
		   (setAnchor 0 0 0)

		   ; enable the joint motor
		   (setMaxMotorForce 1 4000)

		   ; install a perceptor to measure the tire movement
		   (node Hinge2Perceptor
			 (setName ltp)
			 )

		   ; install an effector to control the joint motor
		   (node Hinge2Effector
			 (setName lte)
			 )
		   )

	     ; add some boxes to visualize the tire spin
	     (node Box
		   (setExtents 1.1 0.1 0.1)
		   (setMaterial matBlue)
		   )

	     (node Box
		   (setExtents 0.1 1.1 0.1)
		   (setMaterial matRed)
		   )

	     (node Box
		   (setExtents 0.1 0.1 1.1)
		   (setMaterial matYellow)
		   )	     
	     )
       )

 ; install the right tire
 (node Transform
       (setName rightTire)
       (setLocalPos 0.6 0.5 0.5)
       (importScene rsg/boxspheres/sphere.rsg 0.51 2 matWhite)
       (node Transform
	     (setLocalRotation 0 0 180)

	     ; install the joint
	     (node Hinge2Joint
		   (attach ../../sphereBody ../../../torso/boxBody)
		   (setAnchor 0 0 0)

		   ; enable the joint motor
		   (setMaxMotorForce 1 4000)

		   ; install a perceptor to measure the tire movement
		   (node Hinge2Perceptor
			 (setName rtp)
			 )

		   ; install an effector to control the joint motor
		   (node Hinge2Effector
			 (setName rte)
			 )
		   )

	     ; add some boxes to visualize the tire spin
	     (node Box
		   (setExtents 1.1 0.1 0.1)
		   (setMaterial matBlue)
		   )

	     (node Box
		   (setExtents 0.1 1.1 0.1)
		   (setMaterial matRed)
		   )

	     (node Box
		   (setExtents 0.1 0.1 1.1)
		   (setMaterial matYellow)
		   )

	     )
       )

 ; install passive back tire
 (node Transform
       (setName backTire)
       (setLocalPos 0 -0.55 0.5)
       (importScene rsg/boxspheres/sphere.rsg 0.51 2 matGrey)
	; install the joint
       (node Hinge2Joint
	     (attach ../sphereBody ../../torso/boxBody)
	     (setAnchor 0 0 0)
	     )
       ) 
)
--- NEW FILE: leggedsphere.rsg ---
; -*- mode: lisp; -*-

;
; sphere with two legs (5DOF/leg)
;

(RubySceneGraph 0 1)
( 
    ; create the sphere
    (node Transform
        (setName body)
        (setLocalPos 0 0 3)
        (importScene rsg/boxspheres/sphere.rsg 1.25 0.75 matRed)
        )

    ; attach left thigh
    (node Transform
        (setName leftthigh)
        (setLocalPos 1.25 0 2.25)
        (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)

        ; install the joint to connect to the body
        (node UniversalJoint
            (attach ../boxBody ../../body/sphereBody)
            (setAnchor 0 0 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 lefthip)
            )

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

    ; attach left shank
    (node Transform
        (setName leftshank)
        (setLocalPos 1.25 0 1)
        (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)

        ; install the joint to connect to the body
        (node HingeJoint
            (attach ../boxBody ../../leftthigh/boxBody)
            (setAnchor 0 0 0)
            (setAxis 0) ; move around the x-axis

            ; enable the joint motor
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (node HingePerceptor
                (setName leftknee)
            )

            ; install an effector to control the joint motor
            (node HingeEffector
                (setName lke)
            )
        )
    )

    ; attach left foot
    (node Transform
        (setName leftfoot)
        (setLocalPos 1.25 0 0.125)
        (importScene rsg/boxspheres/box.rsg 1.0 1.25 0.25 1.0 matGrey)

        ; install the joint to connect to the body
        (node UniversalJoint
            (attach ../boxBody ../../leftshank/boxBody)
            (setAnchor 0 0 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 leftankle)
            )

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

    ; attach right thigh
    (node Transform
        (setName rightthigh)
        (setLocalPos -1.25 0 2.25)
        (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)
        (node UniversalJoint
            (attach ../boxBody ../../body/sphereBody)
            (setAnchor 0 0 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 righthip)
            )

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

    ; attach right shank
    (node Transform
        (setName rightshank)
        (setLocalPos -1.25 0 1)
        (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)

        ; install the joint to connect to the body
        (node HingeJoint
            (attach ../boxBody ../../rightthigh/boxBody)
            (setAnchor 0 0 0)
            (setAxis 0) ; move around the x-axis

            ; enable the joint motor
            (setMaxMotorForce 0 100)

            ; install a perceptor
            (node HingePerceptor
                (setName rightknee)
            )

            ; install an effector to control the joint motor
            (node HingeEffector
                (setName rke)
            )
        )
    )

    ; attach right foot
    (node Transform
        (setName rightfoot)
        (setLocalPos -1.25 0 0.125)
        (importScene rsg/boxspheres/box.rsg 1.0 1.25 0.25 1.0 matGrey)

        ; install the joint to connect to the body
        (node UniversalJoint
            (attach ../boxBody ../../rightshank/boxBody)
            (setAnchor 0 0 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 rightankle)
            )

            ; install an effector to control the joint motors
            (node UniversalJointEffector
                (setName rae)
            )
        )
    )
)
--- NEW FILE: buggy.rsg ---
; -*- mode: lisp; -*-

;
; this file constructs a simple buggy, the connected agent controlls
; one joint motor
;


(RubySceneGraph 0 1)
(
 ; install a perceptor to receive the current simulation time
 (node TimePerceptor)

 ; create the char chassis
 (node Transform
       (setName chassis)
       (setLocalPos 0 0 0.5)
       (importScene rsg/boxspheres/box.rsg 1 3 0.8 10 matRed)

       (node Transform
	     (setLocalPos 0 1.3 0.55)
	     (node Box
		   (setMaterial matBlue)
		   (setExtents 1 0.1 0.3)
		   )
	     )
       )

 ; install the left back tire, this tire is used to accelerate
 (node Transform
       (setName leftBack)
       (setLocalPos -0.5 -1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Transform
	     (setLocalRotation 0 180 0)

	     ; install the joint
	     (node Hinge2Joint
		   (attach ../../sphereBody ../../../chassis/boxBody)
		   (setAnchor 0 0 0)

		   ; enable the joint motor
		   (setMaxMotorForce 1 4000)

		   ; install a perceptor to measure the tire movement
		   (node Hinge2Perceptor
			 (setName lb)
			 )

		   ; install an effector to control the joint motor
		   (node Hinge2Effector)
		   )

	     ; add some boxes to visualize the tire spin
	     (node Box
		   (setExtents 1 0.1 0.1)
		   (setMaterial matBlue)
		   )

	     (node Box
		   (setExtents 0.1 1 0.1)
		   (setMaterial matRed)
		   )

	     (node Box
		   (setExtents 0.1 0.1 1)
		   (setMaterial matYellow)
		   )	     
	     )
       )

 ; install remaining passive wheels

 (node Transform
       (setName leftFront)
       (setLocalPos -0.5 +1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       )

 (node Transform
       (setName rightBack)
       (setLocalPos 0.5 -1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Transform
	     (setLocalRotation 0 180 0)
	     (node Hinge2Joint
		   (attach ../../sphereBody ../../../chassis/boxBody)
		   (setAnchor 0 0 0)
		   )
	     )
       )

 (node Transform
       (setName rightFront)
       (setLocalPos 0.5 +1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       ) 
)
--- NEW FILE: flag.rsg ---
; -*- mode: lisp; -*-
;
; create a field flag at ($PosX $PosY $PosZ) named $Name with the
; given $Material
;

(RubySceneGraph 0 1)
(
 (template $PosX $PosY $PosZ $Name $Material)

 (node Transform
       (setLocalPos $PosX $PosY $PosZ)
       (importScene rsg/boxspheres/staticsphere.rsg 1 $Material)

       (node ObjectState
	     (setPerceptName $Name)
	     )
       )
 )