; -*- mode: lisp; -*-;; nao robot description file.;(RSG 0 1)(;; The torso parameters;(def $TorsoLength  0.1)(def $TorsoWidth   0.1)(def $TorsoHeight  0.18)(def $TorsoMass    1.2171)(def $TorsoInitX  0)(def $TorsoInitY  -1)(def $TorsoInitZ  1.5)(def $loadObj (eval Nao.UseTexture));;Begin Construct of Nao;(nd Space    (setName spacenao)    (disableInnerCollision true)        ;    ;The torso part    ;    (nd AgentAspect        (setName body)        (setLocalPos $TorsoInitX $TorsoInitY $TorsoInitZ)        (switch $loadObj          (true	    (nd Transform		(setLocalRotation -90 0 180)		(nd StaticMesh            	(load 'models/naobody.obj')            	(setScale $TorsoLength $TorsoLength $TorsoLength)        	)	    )          )                  (false            (importScene rsg/agent/nao/box_appearance.rsg $TorsoLength $TorsoWidth $TorsoHeight matGrey)          )        )        ;(importScene rsg/agent/nao/box_physics.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)        (importScene rsg/agent/nao/box_physics_nocollider.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)        (nd BoxCollider            (setName TorsoCollider)            (setBoxLengths $TorsoLength $TorsoWidth $TorsoHeight)            (importScene rsg/agent/nao/contactjointhandler.rsg)        )	;Install effectors and perceptors        (nd StaticMeshInitEffector)	(nd TimePerceptor)                (nd AgentState            (setName AgentState)            (nd GameStatePerceptor)            (nd HearPerceptor)        )        (nd GyroRatePerceptor (setName torso))	(nd BeamEffector)        (nd SayEffector)	(nd VisionPerceptor            (setSenseMyPos false)            (setStaticSenseAxis false)            (addNoise false))    );end of AgentAspect            ;    ;The neck and head part    ;    (importScene rsg/agent/nao/naoneckhead.rsg $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)        ;    ;The Right Arm    ;    (importScene rsg/agent/nao/naoarm.rsg              1 r              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)    ;    ;The Left Arm    ;    (importScene rsg/agent/nao/naoarm.rsg              -1 l              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)        ;    ;The Right Leg    ;    (importScene rsg/agent/nao/naoleg.rsg              1 r              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)        ;    ;The Left Leg    ;    (importScene rsg/agent/nao/naoleg.rsg              -1 l              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj));end of nd Space);end of RSG 0 1