Re: [simspark-devel] Add new robot model

[<or...@de...>]

Hi, waiting for an answer to my previus mail I tryed to create my rsg  
file by hand and using the nao rsg as sample. Now the parts of my  
model are shown in the simulation but I have some problems with the  
position and the rotation of the parts each other. Could you explain  
me how setLocalPos and setLocalRotation should be used and what they  
do. For example:

- If I load the torso (which is Z aligned) without transformations it  
appears rotated along Y direction. To make it rotate correctly I have  
to rotate it using

(nd Transform
   (setLocalRotation 90 90 0)
   (nd StaticMesh (load 'models/robovie_x/torso.obj')(setScale  
$Scale_Factor $Scale_Factor $Scale_Factor))
)

- After that I have to connect the right shoulder to the torso. In the  
model the shoulder coordinates (relative to the origin of the torso)  
are:
  X=0 Y=-0.4475 Z=0.00606 with the rotation -99°,0,0. Using these  
values the position and the angle of the shoulder are uncorrect. It  
seems that X and Y are inverted.

Thank you in advance, Alessandro