1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass askul-2700-desk-object
:super cascaded-link
:slots (sensors
))
(defmethod askul-2700-desk-object
(:init
(&rest args &key (name "askul-2700-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 :askul-2700-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -600.0 -1350.0 700.0) (float-vector 600.0 -1350.0 700.0) (float-vector 600.0 1350.0 700.0) (float-vector -600.0 1350.0 700.0)))
(instance face :init :vertices (list (float-vector 600.0 -1350.0 660.0) (float-vector -600.0 -1350.0 660.0) (float-vector -600.0 1350.0 660.0) (float-vector 600.0 1350.0 660.0)))
(instance face :init :vertices (list (float-vector -600.0 -1350.0 700.0) (float-vector -600.0 -1350.0 660.0) (float-vector 600.0 -1350.0 660.0) (float-vector 600.0 -1350.0 700.0)))
(instance face :init :vertices (list (float-vector -600.0 1350.0 700.0) (float-vector -600.0 1350.0 660.0) (float-vector -600.0 -1350.0 660.0) (float-vector -600.0 -1350.0 700.0)))
(instance face :init :vertices (list (float-vector 600.0 1350.0 700.0) (float-vector 600.0 1350.0 660.0) (float-vector -600.0 1350.0 660.0) (float-vector -600.0 1350.0 700.0)))
(instance face :init :vertices (list (float-vector 600.0 -1350.0 700.0) (float-vector 600.0 -1350.0 660.0) (float-vector 600.0 1350.0 660.0) (float-vector 600.0 1350.0 700.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 530.311 -1267.5 660.0) (float-vector 535.0 -1250.0 660.0) (float-vector 530.311 -1232.5 660.0) (float-vector 517.5 -1219.69 660.0) (float-vector 500.0 -1215.0 660.0) (float-vector 482.5 -1219.69 660.0) (float-vector 469.689 -1232.5 660.0) (float-vector 465.0 -1250.0 660.0) (float-vector 469.689 -1267.5 660.0) (float-vector 482.5 -1280.31 660.0) (float-vector 500.0 -1285.0 660.0) (float-vector 517.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector 535.0 -1250.0 0.0) (float-vector 530.311 -1267.5 0.0) (float-vector 517.5 -1280.31 0.0) (float-vector 500.0 -1285.0 0.0) (float-vector 482.5 -1280.31 0.0) (float-vector 469.689 -1267.5 0.0) (float-vector 465.0 -1250.0 0.0) (float-vector 469.689 -1232.5 0.0) (float-vector 482.5 -1219.69 0.0) (float-vector 500.0 -1215.0 0.0) (float-vector 517.5 -1219.69 0.0) (float-vector 530.311 -1232.5 0.0)))
(instance face :init :vertices (list (float-vector 530.311 -1267.5 660.0) (float-vector 530.311 -1267.5 0.0) (float-vector 535.0 -1250.0 0.0) (float-vector 535.0 -1250.0 660.0)))
(instance face :init :vertices (list (float-vector 517.5 -1280.31 660.0) (float-vector 517.5 -1280.31 0.0) (float-vector 530.311 -1267.5 0.0) (float-vector 530.311 -1267.5 660.0)))
(instance face :init :vertices (list (float-vector 500.0 -1285.0 660.0) (float-vector 500.0 -1285.0 0.0) (float-vector 517.5 -1280.31 0.0) (float-vector 517.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector 482.5 -1280.31 660.0) (float-vector 482.5 -1280.31 0.0) (float-vector 500.0 -1285.0 0.0) (float-vector 500.0 -1285.0 660.0)))
(instance face :init :vertices (list (float-vector 469.689 -1267.5 660.0) (float-vector 469.689 -1267.5 0.0) (float-vector 482.5 -1280.31 0.0) (float-vector 482.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector 465.0 -1250.0 660.0) (float-vector 465.0 -1250.0 0.0) (float-vector 469.689 -1267.5 0.0) (float-vector 469.689 -1267.5 660.0)))
(instance face :init :vertices (list (float-vector 469.689 -1232.5 660.0) (float-vector 469.689 -1232.5 0.0) (float-vector 465.0 -1250.0 0.0) (float-vector 465.0 -1250.0 660.0)))
(instance face :init :vertices (list (float-vector 482.5 -1219.69 660.0) (float-vector 482.5 -1219.69 0.0) (float-vector 469.689 -1232.5 0.0) (float-vector 469.689 -1232.5 660.0)))
(instance face :init :vertices (list (float-vector 500.0 -1215.0 660.0) (float-vector 500.0 -1215.0 0.0) (float-vector 482.5 -1219.69 0.0) (float-vector 482.5 -1219.69 660.0)))
(instance face :init :vertices (list (float-vector 517.5 -1219.69 660.0) (float-vector 517.5 -1219.69 0.0) (float-vector 500.0 -1215.0 0.0) (float-vector 500.0 -1215.0 660.0)))
(instance face :init :vertices (list (float-vector 530.311 -1232.5 660.0) (float-vector 530.311 -1232.5 0.0) (float-vector 517.5 -1219.69 0.0) (float-vector 517.5 -1219.69 660.0)))
(instance face :init :vertices (list (float-vector 535.0 -1250.0 660.0) (float-vector 535.0 -1250.0 0.0) (float-vector 530.311 -1232.5 0.0) (float-vector 530.311 -1232.5 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 530.311 1232.5 660.0) (float-vector 535.0 1250.0 660.0) (float-vector 530.311 1267.5 660.0) (float-vector 517.5 1280.31 660.0) (float-vector 500.0 1285.0 660.0) (float-vector 482.5 1280.31 660.0) (float-vector 469.689 1267.5 660.0) (float-vector 465.0 1250.0 660.0) (float-vector 469.689 1232.5 660.0) (float-vector 482.5 1219.69 660.0) (float-vector 500.0 1215.0 660.0) (float-vector 517.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector 535.0 1250.0 0.0) (float-vector 530.311 1232.5 0.0) (float-vector 517.5 1219.69 0.0) (float-vector 500.0 1215.0 0.0) (float-vector 482.5 1219.69 0.0) (float-vector 469.689 1232.5 0.0) (float-vector 465.0 1250.0 0.0) (float-vector 469.689 1267.5 0.0) (float-vector 482.5 1280.31 0.0) (float-vector 500.0 1285.0 0.0) (float-vector 517.5 1280.31 0.0) (float-vector 530.311 1267.5 0.0)))
(instance face :init :vertices (list (float-vector 530.311 1232.5 660.0) (float-vector 530.311 1232.5 0.0) (float-vector 535.0 1250.0 0.0) (float-vector 535.0 1250.0 660.0)))
(instance face :init :vertices (list (float-vector 517.5 1219.69 660.0) (float-vector 517.5 1219.69 0.0) (float-vector 530.311 1232.5 0.0) (float-vector 530.311 1232.5 660.0)))
(instance face :init :vertices (list (float-vector 500.0 1215.0 660.0) (float-vector 500.0 1215.0 0.0) (float-vector 517.5 1219.69 0.0) (float-vector 517.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector 482.5 1219.69 660.0) (float-vector 482.5 1219.69 0.0) (float-vector 500.0 1215.0 0.0) (float-vector 500.0 1215.0 660.0)))
(instance face :init :vertices (list (float-vector 469.689 1232.5 660.0) (float-vector 469.689 1232.5 0.0) (float-vector 482.5 1219.69 0.0) (float-vector 482.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector 465.0 1250.0 660.0) (float-vector 465.0 1250.0 0.0) (float-vector 469.689 1232.5 0.0) (float-vector 469.689 1232.5 660.0)))
(instance face :init :vertices (list (float-vector 469.689 1267.5 660.0) (float-vector 469.689 1267.5 0.0) (float-vector 465.0 1250.0 0.0) (float-vector 465.0 1250.0 660.0)))
(instance face :init :vertices (list (float-vector 482.5 1280.31 660.0) (float-vector 482.5 1280.31 0.0) (float-vector 469.689 1267.5 0.0) (float-vector 469.689 1267.5 660.0)))
(instance face :init :vertices (list (float-vector 500.0 1285.0 660.0) (float-vector 500.0 1285.0 0.0) (float-vector 482.5 1280.31 0.0) (float-vector 482.5 1280.31 660.0)))
(instance face :init :vertices (list (float-vector 517.5 1280.31 660.0) (float-vector 517.5 1280.31 0.0) (float-vector 500.0 1285.0 0.0) (float-vector 500.0 1285.0 660.0)))
(instance face :init :vertices (list (float-vector 530.311 1267.5 660.0) (float-vector 530.311 1267.5 0.0) (float-vector 517.5 1280.31 0.0) (float-vector 517.5 1280.31 660.0)))
(instance face :init :vertices (list (float-vector 535.0 1250.0 660.0) (float-vector 535.0 1250.0 0.0) (float-vector 530.311 1267.5 0.0) (float-vector 530.311 1267.5 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -469.689 1232.5 660.0) (float-vector -465.0 1250.0 660.0) (float-vector -469.689 1267.5 660.0) (float-vector -482.5 1280.31 660.0) (float-vector -500.0 1285.0 660.0) (float-vector -517.5 1280.31 660.0) (float-vector -530.311 1267.5 660.0) (float-vector -535.0 1250.0 660.0) (float-vector -530.311 1232.5 660.0) (float-vector -517.5 1219.69 660.0) (float-vector -500.0 1215.0 660.0) (float-vector -482.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector -465.0 1250.0 0.0) (float-vector -469.689 1232.5 0.0) (float-vector -482.5 1219.69 0.0) (float-vector -500.0 1215.0 0.0) (float-vector -517.5 1219.69 0.0) (float-vector -530.311 1232.5 0.0) (float-vector -535.0 1250.0 0.0) (float-vector -530.311 1267.5 0.0) (float-vector -517.5 1280.31 0.0) (float-vector -500.0 1285.0 0.0) (float-vector -482.5 1280.31 0.0) (float-vector -469.689 1267.5 0.0)))
(instance face :init :vertices (list (float-vector -469.689 1232.5 660.0) (float-vector -469.689 1232.5 0.0) (float-vector -465.0 1250.0 0.0) (float-vector -465.0 1250.0 660.0)))
(instance face :init :vertices (list (float-vector -482.5 1219.69 660.0) (float-vector -482.5 1219.69 0.0) (float-vector -469.689 1232.5 0.0) (float-vector -469.689 1232.5 660.0)))
(instance face :init :vertices (list (float-vector -500.0 1215.0 660.0) (float-vector -500.0 1215.0 0.0) (float-vector -482.5 1219.69 0.0) (float-vector -482.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector -517.5 1219.69 660.0) (float-vector -517.5 1219.69 0.0) (float-vector -500.0 1215.0 0.0) (float-vector -500.0 1215.0 660.0)))
(instance face :init :vertices (list (float-vector -530.311 1232.5 660.0) (float-vector -530.311 1232.5 0.0) (float-vector -517.5 1219.69 0.0) (float-vector -517.5 1219.69 660.0)))
(instance face :init :vertices (list (float-vector -535.0 1250.0 660.0) (float-vector -535.0 1250.0 0.0) (float-vector -530.311 1232.5 0.0) (float-vector -530.311 1232.5 660.0)))
(instance face :init :vertices (list (float-vector -530.311 1267.5 660.0) (float-vector -530.311 1267.5 0.0) (float-vector -535.0 1250.0 0.0) (float-vector -535.0 1250.0 660.0)))
(instance face :init :vertices (list (float-vector -517.5 1280.31 660.0) (float-vector -517.5 1280.31 0.0) (float-vector -530.311 1267.5 0.0) (float-vector -530.311 1267.5 660.0)))
(instance face :init :vertices (list (float-vector -500.0 1285.0 660.0) (float-vector -500.0 1285.0 0.0) (float-vector -517.5 1280.31 0.0) (float-vector -517.5 1280.31 660.0)))
(instance face :init :vertices (list (float-vector -482.5 1280.31 660.0) (float-vector -482.5 1280.31 0.0) (float-vector -500.0 1285.0 0.0) (float-vector -500.0 1285.0 660.0)))
(instance face :init :vertices (list (float-vector -469.689 1267.5 660.0) (float-vector -469.689 1267.5 0.0) (float-vector -482.5 1280.31 0.0) (float-vector -482.5 1280.31 660.0)))
(instance face :init :vertices (list (float-vector -465.0 1250.0 660.0) (float-vector -465.0 1250.0 0.0) (float-vector -469.689 1267.5 0.0) (float-vector -469.689 1267.5 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -469.689 -1267.5 660.0) (float-vector -465.0 -1250.0 660.0) (float-vector -469.689 -1232.5 660.0) (float-vector -482.5 -1219.69 660.0) (float-vector -500.0 -1215.0 660.0) (float-vector -517.5 -1219.69 660.0) (float-vector -530.311 -1232.5 660.0) (float-vector -535.0 -1250.0 660.0) (float-vector -530.311 -1267.5 660.0) (float-vector -517.5 -1280.31 660.0) (float-vector -500.0 -1285.0 660.0) (float-vector -482.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector -465.0 -1250.0 0.0) (float-vector -469.689 -1267.5 0.0) (float-vector -482.5 -1280.31 0.0) (float-vector -500.0 -1285.0 0.0) (float-vector -517.5 -1280.31 0.0) (float-vector -530.311 -1267.5 0.0) (float-vector -535.0 -1250.0 0.0) (float-vector -530.311 -1232.5 0.0) (float-vector -517.5 -1219.69 0.0) (float-vector -500.0 -1215.0 0.0) (float-vector -482.5 -1219.69 0.0) (float-vector -469.689 -1232.5 0.0)))
(instance face :init :vertices (list (float-vector -469.689 -1267.5 660.0) (float-vector -469.689 -1267.5 0.0) (float-vector -465.0 -1250.0 0.0) (float-vector -465.0 -1250.0 660.0)))
(instance face :init :vertices (list (float-vector -482.5 -1280.31 660.0) (float-vector -482.5 -1280.31 0.0) (float-vector -469.689 -1267.5 0.0) (float-vector -469.689 -1267.5 660.0)))
(instance face :init :vertices (list (float-vector -500.0 -1285.0 660.0) (float-vector -500.0 -1285.0 0.0) (float-vector -482.5 -1280.31 0.0) (float-vector -482.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector -517.5 -1280.31 660.0) (float-vector -517.5 -1280.31 0.0) (float-vector -500.0 -1285.0 0.0) (float-vector -500.0 -1285.0 660.0)))
(instance face :init :vertices (list (float-vector -530.311 -1267.5 660.0) (float-vector -530.311 -1267.5 0.0) (float-vector -517.5 -1280.31 0.0) (float-vector -517.5 -1280.31 660.0)))
(instance face :init :vertices (list (float-vector -535.0 -1250.0 660.0) (float-vector -535.0 -1250.0 0.0) (float-vector -530.311 -1267.5 0.0) (float-vector -530.311 -1267.5 660.0)))
(instance face :init :vertices (list (float-vector -530.311 -1232.5 660.0) (float-vector -530.311 -1232.5 0.0) (float-vector -535.0 -1250.0 0.0) (float-vector -535.0 -1250.0 660.0)))
(instance face :init :vertices (list (float-vector -517.5 -1219.69 660.0) (float-vector -517.5 -1219.69 0.0) (float-vector -530.311 -1232.5 0.0) (float-vector -530.311 -1232.5 660.0)))
(instance face :init :vertices (list (float-vector -500.0 -1215.0 660.0) (float-vector -500.0 -1215.0 0.0) (float-vector -517.5 -1219.69 0.0) (float-vector -517.5 -1219.69 660.0)))
(instance face :init :vertices (list (float-vector -482.5 -1219.69 660.0) (float-vector -482.5 -1219.69 0.0) (float-vector -500.0 -1215.0 0.0) (float-vector -500.0 -1215.0 660.0)))
(instance face :init :vertices (list (float-vector -469.689 -1232.5 660.0) (float-vector -469.689 -1232.5 0.0) (float-vector -482.5 -1219.69 0.0) (float-vector -482.5 -1219.69 660.0)))
(instance face :init :vertices (list (float-vector -465.0 -1250.0 660.0) (float-vector -465.0 -1250.0 0.0) (float-vector -469.689 -1232.5 0.0) (float-vector -469.689 -1232.5 660.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :gray70)
(send (elt bc 2) :set-color :gray70)
(send (elt bc 3) :set-color :gray70)
(send (elt bc 4) :set-color :gray70)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :askul-2700-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 askul-2700-desk (&rest args) (instance* askul-2700-desk-object :init args))
;; (format *error-output* "(instance askul-2700-desk-object :init) for generating model~%")
|
