naoneckhead.rsg

rcssserver3d Robocup 3D比赛官方指定平台

; -*- mode: lisp; -*-

(RSG 0 1)
(
    (templ $Torso_X $Torso_Y $Torso_Z $loadObj)
    
    ;
    ;neck parameter
    ;
    (def $Neck_X        $Torso_X)
    (def $Neck_Y        $Torso_Y)
    (def $Neck_Z        (eval $Torso_Z + 0.09))
    (def $Neck_Radius   0.015)
    (def $Neck_Length   0.08)
    (def $Neck_Mass     0.050)
    
    
    ;
    ;head parameter
    ;
    (def $Head_X        $Neck_X)
    (def $Head_Y        $Neck_Y)
    (def $Head_Z        (eval $Neck_Z + 0.065))
    (def $Head_Radius   0.065)
    (def $Head_Mass     0.350)
    
    ;
    ;Head effector 1 parameter
    ;
    (def $he1_min -120)
    (def $he1_max 120)
    
    ;
    ;Head effector 2 parameter
    ;
    (def $he2_min -45)
    (def $he2_max 45)
    
    ;
    ;Begin construct neck
    ;
    (nd Transform
        (setName neck)
        (setLocalPos $Neck_X $Neck_Y $Neck_Z)
        
        (importScene rsg/agent/nao/ccylinder_appearance.rsg $Neck_Radius $Neck_Length matDarkGrey)
        (importScene rsg/agent/nao/ccylinder_physics.rsg    $Neck_Radius $Neck_Length $Neck_Mass)
        
        (importScene rsg/agent/nao/hingejoint.rsg 
                            hj1 he1
                            ../ccylinderBody ../../body/boxBody
                            0 0 0
                            0 0 1
                            $he1_min $he1_max)
    )

    ;
    ;Begin construct head
    ;     
    (nd Transform
        (setName head)
        (setLocalPos $Head_X $Head_Y $Head_Z)

        (switch $loadObj
           (true
             (nd Transform
               (setLocalRotation -90 0 180)
               (nd StaticMesh
	          (load 'models/naohead.obj')
	          (setScale 0.1 0.1 0.1)
               )
             )
           )
	
           (false
             (importScene rsg/agent/nao/sphere_appearance.rsg $Head_Radius matRed)
           )
        )
        (importScene rsg/agent/nao/sphere_physics.rsg $Head_Radius $Head_Mass)
        
        (importScene rsg/agent/nao/hingejoint.rsg
                              hj2 he2
                              ../sphereBody ../../neck/ccylinderBody 
                              ;../boxBody ../../body/boxBody
                              0 0 -0.005
                              1 0 0
                              $he2_min $he2_max)
 
        ;(nd Camera)

        ;(nd RestrictedVisionPerceptor
        ;    (setViewCones 120 120)
        ;    (setSenseMyPos false)
	;    (setStaticSenseAxis false)
        ;    (addNoise true)
	;    (setInterval 3)
        ;)

        ;(nd ObjectState
        ;    (setID head)
        ;)
    )
)