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Re: [simspark-devel] Add new robot model
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From: Hedayat V. <hed...@gm...> - 2011-09-26 17:20:37
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<p>Hi Alessandro,</p>
<p>Unfortunately I'm not very familiar with robot design, but about
your particular issue:</p>
<p>Yes, X and Y axis of the field are not aligned with object's
local X and Y axis. Please let us know if you need more info, I
hope that we can ask others who have experience with RSG robot
design. </p>
<p><br>
</p>
<p>Sorry for the late answer ( I hoped that someone can provide a
better answer)</p>
<p>Good luck,</p>
<p>Hedayat<br>
</p>
<p><br>
</p>
<p> </p>
<span id="IDstID">
<style type="text/css">blockquote { /*Tue, 20 Sep 2011 17:11:40 +0200*/ color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;}blockquote blockquote { /*Tue, 20 Sep 2011 17:11:40 +0200*/ color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important}blockquote blockquote blockquote { /*Tue, 20 Sep 2011 17:11:40 +0200*/ color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important}blockquote blockquote blockquote blockquote { /*Tue, 20 Sep 2011 17:11:40 +0200*/ color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important}blockquote blockquote blockquote blockquote blockquote { /*Tue, 20 Sep 2011 17:11:40 +0200*/ color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b><a
clas="" s="moz-txt-link-abbreviated"
href="mailto:or...@de...">or...@de...</a></b></i>
wrote on Tue, 20 Sep 2011 17:11:40 +0200:</span>
<blockquote
cite="mid:201...@ma..."
type="cite">
<pre wrap="">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
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