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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass akiba-desk-object
:super cascaded-link
:slots (sensors
))
(defmethod akiba-desk-object
(:init
(&rest args &key (name "akiba-desk") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
)
(send-super* :init :name name args)
;; definition of link
;; definition of :akiba-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 350.0 700.0 730.0) (float-vector -350.0 700.0 730.0) (float-vector -350.0 -700.0 730.0) (float-vector 350.0 -700.0 730.0)))
(instance face :init :vertices (list (float-vector -350.0 700.0 700.0) (float-vector 350.0 700.0 700.0) (float-vector 350.0 -700.0 700.0) (float-vector -350.0 -700.0 700.0)))
(instance face :init :vertices (list (float-vector 350.0 700.0 730.0) (float-vector 350.0 700.0 700.0) (float-vector -350.0 700.0 700.0) (float-vector -350.0 700.0 730.0)))
(instance face :init :vertices (list (float-vector 350.0 -700.0 730.0) (float-vector 350.0 -700.0 700.0) (float-vector 350.0 700.0 700.0) (float-vector 350.0 700.0 730.0)))
(instance face :init :vertices (list (float-vector -350.0 -700.0 730.0) (float-vector -350.0 -700.0 700.0) (float-vector 350.0 -700.0 700.0) (float-vector 350.0 -700.0 730.0)))
(instance face :init :vertices (list (float-vector -350.0 700.0 730.0) (float-vector -350.0 700.0 700.0) (float-vector -350.0 -700.0 700.0) (float-vector -350.0 -700.0 730.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -315.0 670.0 695.0) (float-vector 315.0 670.0 695.0) (float-vector 315.0 670.0 1145.0) (float-vector -315.0 670.0 1145.0))
:holes (list
(instance hole :init :vertices (list (float-vector -280.0 670.0 725.0) (float-vector -280.0 670.0 1115.0) (float-vector 280.0 670.0 1115.0) (float-vector 280.0 670.0 725.0)))
))
(instance face :init :vertices (list (float-vector 315.0 710.0 695.0) (float-vector 315.0 710.0 1145.0) (float-vector 315.0 670.0 1145.0) (float-vector 315.0 670.0 695.0)))
(instance face :init :vertices (list (float-vector -315.0 710.0 695.0) (float-vector -315.0 710.0 1145.0) (float-vector 315.0 710.0 1145.0) (float-vector 315.0 710.0 695.0))
:holes (list
(instance hole :init :vertices (list (float-vector 280.0 710.0 725.0) (float-vector 280.0 710.0 1115.0) (float-vector -280.0 710.0 1115.0) (float-vector -280.0 710.0 725.0)))
))
(instance face :init :vertices (list (float-vector -315.0 670.0 1145.0) (float-vector 315.0 670.0 1145.0) (float-vector 315.0 710.0 1145.0) (float-vector -315.0 710.0 1145.0)))
(instance face :init :vertices (list (float-vector -315.0 710.0 695.0) (float-vector 315.0 710.0 695.0) (float-vector 315.0 670.0 695.0) (float-vector -315.0 670.0 695.0)))
(instance face :init :vertices (list (float-vector -315.0 670.0 695.0) (float-vector -315.0 670.0 1145.0) (float-vector -315.0 710.0 1145.0) (float-vector -315.0 710.0 695.0)))
(instance face :init :vertices (list (float-vector 280.0 670.0 725.0) (float-vector 280.0 670.0 1115.0) (float-vector 280.0 710.0 1115.0) (float-vector 280.0 710.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 710.0 1115.0) (float-vector 280.0 710.0 1115.0) (float-vector 280.0 670.0 1115.0) (float-vector -280.0 670.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 710.0 725.0) (float-vector -280.0 710.0 1115.0) (float-vector -280.0 670.0 1115.0) (float-vector -280.0 670.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 670.0 725.0) (float-vector 280.0 670.0 725.0) (float-vector 280.0 710.0 725.0) (float-vector -280.0 710.0 725.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -280.0 708.0 1115.0) (float-vector -280.0 672.0 1115.0) (float-vector 280.0 672.0 1115.0) (float-vector 280.0 708.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 672.0 725.0) (float-vector -280.0 708.0 725.0) (float-vector 280.0 708.0 725.0) (float-vector 280.0 672.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 708.0 1115.0) (float-vector -280.0 708.0 725.0) (float-vector -280.0 672.0 725.0) (float-vector -280.0 672.0 1115.0)))
(instance face :init :vertices (list (float-vector 280.0 708.0 1115.0) (float-vector 280.0 708.0 725.0) (float-vector -280.0 708.0 725.0) (float-vector -280.0 708.0 1115.0)))
(instance face :init :vertices (list (float-vector 280.0 672.0 1115.0) (float-vector 280.0 672.0 725.0) (float-vector 280.0 708.0 725.0) (float-vector 280.0 708.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 672.0 1115.0) (float-vector -280.0 672.0 725.0) (float-vector 280.0 672.0 725.0) (float-vector 280.0 672.0 1115.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -315.0 -710.0 695.0) (float-vector 315.0 -710.0 695.0) (float-vector 315.0 -710.0 1145.0) (float-vector -315.0 -710.0 1145.0))
:holes (list
(instance hole :init :vertices (list (float-vector -280.0 -710.0 725.0) (float-vector -280.0 -710.0 1115.0) (float-vector 280.0 -710.0 1115.0) (float-vector 280.0 -710.0 725.0)))
))
(instance face :init :vertices (list (float-vector 315.0 -670.0 695.0) (float-vector 315.0 -670.0 1145.0) (float-vector 315.0 -710.0 1145.0) (float-vector 315.0 -710.0 695.0)))
(instance face :init :vertices (list (float-vector -315.0 -670.0 695.0) (float-vector -315.0 -670.0 1145.0) (float-vector 315.0 -670.0 1145.0) (float-vector 315.0 -670.0 695.0))
:holes (list
(instance hole :init :vertices (list (float-vector 280.0 -670.0 725.0) (float-vector 280.0 -670.0 1115.0) (float-vector -280.0 -670.0 1115.0) (float-vector -280.0 -670.0 725.0)))
))
(instance face :init :vertices (list (float-vector -315.0 -710.0 1145.0) (float-vector 315.0 -710.0 1145.0) (float-vector 315.0 -670.0 1145.0) (float-vector -315.0 -670.0 1145.0)))
(instance face :init :vertices (list (float-vector -315.0 -670.0 695.0) (float-vector 315.0 -670.0 695.0) (float-vector 315.0 -710.0 695.0) (float-vector -315.0 -710.0 695.0)))
(instance face :init :vertices (list (float-vector -315.0 -710.0 695.0) (float-vector -315.0 -710.0 1145.0) (float-vector -315.0 -670.0 1145.0) (float-vector -315.0 -670.0 695.0)))
(instance face :init :vertices (list (float-vector 280.0 -710.0 725.0) (float-vector 280.0 -710.0 1115.0) (float-vector 280.0 -670.0 1115.0) (float-vector 280.0 -670.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 -670.0 1115.0) (float-vector 280.0 -670.0 1115.0) (float-vector 280.0 -710.0 1115.0) (float-vector -280.0 -710.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 -670.0 725.0) (float-vector -280.0 -670.0 1115.0) (float-vector -280.0 -710.0 1115.0) (float-vector -280.0 -710.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 -710.0 725.0) (float-vector 280.0 -710.0 725.0) (float-vector 280.0 -670.0 725.0) (float-vector -280.0 -670.0 725.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -280.0 -672.0 1115.0) (float-vector -280.0 -708.0 1115.0) (float-vector 280.0 -708.0 1115.0) (float-vector 280.0 -672.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 -708.0 725.0) (float-vector -280.0 -672.0 725.0) (float-vector 280.0 -672.0 725.0) (float-vector 280.0 -708.0 725.0)))
(instance face :init :vertices (list (float-vector -280.0 -672.0 1115.0) (float-vector -280.0 -672.0 725.0) (float-vector -280.0 -708.0 725.0) (float-vector -280.0 -708.0 1115.0)))
(instance face :init :vertices (list (float-vector 280.0 -672.0 1115.0) (float-vector 280.0 -672.0 725.0) (float-vector -280.0 -672.0 725.0) (float-vector -280.0 -672.0 1115.0)))
(instance face :init :vertices (list (float-vector 280.0 -708.0 1115.0) (float-vector 280.0 -708.0 725.0) (float-vector 280.0 -672.0 725.0) (float-vector 280.0 -672.0 1115.0)))
(instance face :init :vertices (list (float-vector -280.0 -708.0 1115.0) (float-vector -280.0 -708.0 725.0) (float-vector 280.0 -708.0 725.0) (float-vector 280.0 -708.0 1115.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -360.0 690.0 690.0) (float-vector -360.0 -690.0 690.0) (float-vector -360.0 -690.0 1290.0) (float-vector -360.0 690.0 1290.0))
:holes (list
(instance hole :init :vertices (list (float-vector -360.0 655.0 720.0) (float-vector -360.0 655.0 1260.0) (float-vector -360.0 -655.0 1260.0) (float-vector -360.0 -655.0 720.0)))
))
(instance face :init :vertices (list (float-vector -320.0 -690.0 690.0) (float-vector -320.0 -690.0 1290.0) (float-vector -360.0 -690.0 1290.0) (float-vector -360.0 -690.0 690.0)))
(instance face :init :vertices (list (float-vector -320.0 690.0 690.0) (float-vector -320.0 690.0 1290.0) (float-vector -320.0 -690.0 1290.0) (float-vector -320.0 -690.0 690.0))
:holes (list
(instance hole :init :vertices (list (float-vector -320.0 -655.0 720.0) (float-vector -320.0 -655.0 1260.0) (float-vector -320.0 655.0 1260.0) (float-vector -320.0 655.0 720.0)))
))
(instance face :init :vertices (list (float-vector -360.0 690.0 1290.0) (float-vector -360.0 -690.0 1290.0) (float-vector -320.0 -690.0 1290.0) (float-vector -320.0 690.0 1290.0)))
(instance face :init :vertices (list (float-vector -320.0 690.0 690.0) (float-vector -320.0 -690.0 690.0) (float-vector -360.0 -690.0 690.0) (float-vector -360.0 690.0 690.0)))
(instance face :init :vertices (list (float-vector -360.0 690.0 690.0) (float-vector -360.0 690.0 1290.0) (float-vector -320.0 690.0 1290.0) (float-vector -320.0 690.0 690.0)))
(instance face :init :vertices (list (float-vector -360.0 -655.0 720.0) (float-vector -360.0 -655.0 1260.0) (float-vector -320.0 -655.0 1260.0) (float-vector -320.0 -655.0 720.0)))
(instance face :init :vertices (list (float-vector -320.0 655.0 1260.0) (float-vector -320.0 -655.0 1260.0) (float-vector -360.0 -655.0 1260.0) (float-vector -360.0 655.0 1260.0)))
(instance face :init :vertices (list (float-vector -320.0 655.0 720.0) (float-vector -320.0 655.0 1260.0) (float-vector -360.0 655.0 1260.0) (float-vector -360.0 655.0 720.0)))
(instance face :init :vertices (list (float-vector -360.0 655.0 720.0) (float-vector -360.0 -655.0 720.0) (float-vector -320.0 -655.0 720.0) (float-vector -320.0 655.0 720.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -322.0 655.0 1260.0) (float-vector -358.0 655.0 1260.0) (float-vector -358.0 -655.0 1260.0) (float-vector -322.0 -655.0 1260.0)))
(instance face :init :vertices (list (float-vector -358.0 655.0 720.0) (float-vector -322.0 655.0 720.0) (float-vector -322.0 -655.0 720.0) (float-vector -358.0 -655.0 720.0)))
(instance face :init :vertices (list (float-vector -322.0 655.0 1260.0) (float-vector -322.0 655.0 720.0) (float-vector -358.0 655.0 720.0) (float-vector -358.0 655.0 1260.0)))
(instance face :init :vertices (list (float-vector -322.0 -655.0 1260.0) (float-vector -322.0 -655.0 720.0) (float-vector -322.0 655.0 720.0) (float-vector -322.0 655.0 1260.0)))
(instance face :init :vertices (list (float-vector -358.0 -655.0 1260.0) (float-vector -358.0 -655.0 720.0) (float-vector -322.0 -655.0 720.0) (float-vector -322.0 -655.0 1260.0)))
(instance face :init :vertices (list (float-vector -358.0 655.0 1260.0) (float-vector -358.0 655.0 720.0) (float-vector -358.0 -655.0 720.0) (float-vector -358.0 -655.0 1260.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 325.0 665.0 680.0) (float-vector -325.0 665.0 680.0) (float-vector -325.0 275.0 680.0) (float-vector 325.0 275.0 680.0)))
(instance face :init :vertices (list (float-vector -325.0 665.0 0.0) (float-vector 325.0 665.0 0.0) (float-vector 325.0 275.0 0.0) (float-vector -325.0 275.0 0.0)))
(instance face :init :vertices (list (float-vector 325.0 665.0 680.0) (float-vector 325.0 665.0 0.0) (float-vector -325.0 665.0 0.0) (float-vector -325.0 665.0 680.0)))
(instance face :init :vertices (list (float-vector 325.0 275.0 680.0) (float-vector 325.0 275.0 0.0) (float-vector 325.0 665.0 0.0) (float-vector 325.0 665.0 680.0)))
(instance face :init :vertices (list (float-vector -325.0 275.0 680.0) (float-vector -325.0 275.0 0.0) (float-vector 325.0 275.0 0.0) (float-vector 325.0 275.0 680.0)))
(instance face :init :vertices (list (float-vector -325.0 665.0 680.0) (float-vector -325.0 665.0 0.0) (float-vector -325.0 275.0 0.0) (float-vector -325.0 275.0 680.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -325.0 690.0 680.0) (float-vector -355.0 690.0 680.0) (float-vector -355.0 -690.0 680.0) (float-vector -325.0 -690.0 680.0)))
(instance face :init :vertices (list (float-vector -355.0 690.0 100.0) (float-vector -325.0 690.0 100.0) (float-vector -325.0 -690.0 100.0) (float-vector -355.0 -690.0 100.0)))
(instance face :init :vertices (list (float-vector -325.0 690.0 680.0) (float-vector -325.0 690.0 100.0) (float-vector -355.0 690.0 100.0) (float-vector -355.0 690.0 680.0)))
(instance face :init :vertices (list (float-vector -325.0 -690.0 680.0) (float-vector -325.0 -690.0 100.0) (float-vector -325.0 690.0 100.0) (float-vector -325.0 690.0 680.0)))
(instance face :init :vertices (list (float-vector -355.0 -690.0 680.0) (float-vector -355.0 -690.0 100.0) (float-vector -325.0 -690.0 100.0) (float-vector -325.0 -690.0 680.0)))
(instance face :init :vertices (list (float-vector -355.0 690.0 680.0) (float-vector -355.0 690.0 100.0) (float-vector -355.0 -690.0 100.0) (float-vector -355.0 -690.0 680.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -50.0 -660.0 700.0) (float-vector -50.0 -660.0 100.0) (float-vector 350.0 -660.0 70.0) (float-vector 350.0 -660.0 0.0) (float-vector -350.0 -660.0 0.0) (float-vector -350.0 -660.0 700.0)))
(instance face :init :vertices (list (float-vector -50.0 -690.0 100.0) (float-vector -50.0 -690.0 700.0) (float-vector -350.0 -690.0 700.0) (float-vector -350.0 -690.0 0.0) (float-vector 350.0 -690.0 0.0) (float-vector 350.0 -690.0 70.0)))
(instance face :init :vertices (list (float-vector -50.0 -660.0 700.0) (float-vector -50.0 -690.0 700.0) (float-vector -50.0 -690.0 100.0) (float-vector -50.0 -660.0 100.0)))
(instance face :init :vertices (list (float-vector -350.0 -660.0 700.0) (float-vector -350.0 -690.0 700.0) (float-vector -50.0 -690.0 700.0) (float-vector -50.0 -660.0 700.0)))
(instance face :init :vertices (list (float-vector -350.0 -660.0 0.0) (float-vector -350.0 -690.0 0.0) (float-vector -350.0 -690.0 700.0) (float-vector -350.0 -660.0 700.0)))
(instance face :init :vertices (list (float-vector 350.0 -660.0 0.0) (float-vector 350.0 -690.0 0.0) (float-vector -350.0 -690.0 0.0) (float-vector -350.0 -660.0 0.0)))
(instance face :init :vertices (list (float-vector 350.0 -660.0 70.0) (float-vector 350.0 -690.0 70.0) (float-vector 350.0 -690.0 0.0) (float-vector 350.0 -660.0 0.0)))
(instance face :init :vertices (list (float-vector -50.0 -660.0 100.0) (float-vector -50.0 -690.0 100.0) (float-vector 350.0 -690.0 70.0) (float-vector 350.0 -660.0 70.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :orange)
(send (elt bc 1) :set-color :gray60)
(send (elt bc 2) :set-color :mediumseagreen)
(send (elt bc 3) :set-color :gray60)
(send (elt bc 4) :set-color :mediumseagreen)
(send (elt bc 5) :set-color :gray60)
(send (elt bc 6) :set-color :mediumseagreen)
(send (elt bc 7) :set-color :gray60)
(send (elt bc 8) :set-color :gray60)
(send (elt bc 9) :set-color :gray60)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :akiba-desk-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; init-ending
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun akiba-desk (&rest args) (instance* akiba-desk-object :init args))
;; (format *error-output* "(instance akiba-desk-object :init) for generating model~%")
|
