?? nao.rsg
字號:
; -*- 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
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