Re: [simspark-devel] Add new robot model

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

Thank you Hedayat for your answer!

After some failures I (hopefully) understood something more about RSG  
format and its functioning and I finally managed to load my model in  
the simulation and move.
These are the infos I collected (please correct me if something wrong):

- there is a strict relation between rsg format and spark framework  
and many expressions are treated as class names and methods  
invocations, so it's a good idea to have a look to the API  
documentation. Using this support the NAO description is quite self  
explanatory.
- it's useful to have the meshes centered in their bounding box to  
make the specification of the collision and phisics volume easier. I  
think it's not possible to specify different position for a mesh and  
its collision bounding box
- the positioning of the models parts are relative to the origin of  
the entire model, so, for example, if you know the position of the arm  
relative to the shoulder and the position of the sholder relative to  
the torso (and the torso is the base element) you have to specify the  
sum of the positions
-rotations are eulerian ZYX
-anchor positions for hinge joints are relative to the child: for  
example to insert a joint between the torso and shoulder you have to  
specify its position relative to the unrotated shoulder origin (the  
original mesh reference frame)
-instead I didn't discovered how the joint rotation axes should be  
fixed. It seems they are not relative to the global frame nor to the  
mesh frame... I had to try different configurations to find the  
correct ones

- there is a useful switch structure:

(switch $variable
   (<value1>
     (<expression for value 1>)
   )
   (<value2>
     (expression for value 2>)
   )
    ...
  )

Now I'm trying to understand why StaticMeshInitEffector node tries to  
plant my model in the ground with a beautiful pike dive as result :) ,  
but I think it is related to the soccer simulation (and NAO  
dimensions). By removing its specification the simulation still runs  
with some warnings.