nao.rsg

rcssserver3d Robocup 3D比赛官方指定平台

; -*- 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