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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass docomo-p504is-object
:super cascaded-link
:slots (sensors
joint0 ))
(defmethod docomo-p504is-object
(:init
(&rest args &key (name "docomo-p504is") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1
)
(send-super* :init :name name args)
;; definition of link
;; definition of :docomo-p504is-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -70.0 -21.75 8.39711) (float-vector -70.0 -19.5 9.0) (float-vector -70.0 -17.25 8.39711) (float-vector -70.0 -15.6029 6.75) (float-vector -70.0 -15.0 4.5) (float-vector -70.0 -15.6029 2.25) (float-vector -70.0 -17.25 0.602886) (float-vector -70.0 -19.5 5.329071e-15) (float-vector -70.0 -21.75 0.602886) (float-vector -70.0 -23.3971 2.25) (float-vector -70.0 -24.0 4.5) (float-vector -70.0 -23.3971 6.75)))
(instance face :init :vertices (list (float-vector -50.0 -19.5 9.0) (float-vector -50.0 -21.75 8.39711) (float-vector -50.0 -23.3971 6.75) (float-vector -50.0 -24.0 4.5) (float-vector -50.0 -23.3971 2.25) (float-vector -50.0 -21.75 0.602886) (float-vector -50.0 -19.5 8.881784e-16) (float-vector -50.0 -17.25 0.602886) (float-vector -50.0 -15.6029 2.25) (float-vector -50.0 -15.0 4.5) (float-vector -50.0 -15.6029 6.75) (float-vector -50.0 -17.25 8.39711)))
(instance face :init :vertices (list (float-vector -70.0 -21.75 8.39711) (float-vector -50.0 -21.75 8.39711) (float-vector -50.0 -19.5 9.0) (float-vector -70.0 -19.5 9.0)))
(instance face :init :vertices (list (float-vector -70.0 -23.3971 6.75) (float-vector -50.0 -23.3971 6.75) (float-vector -50.0 -21.75 8.39711) (float-vector -70.0 -21.75 8.39711)))
(instance face :init :vertices (list (float-vector -70.0 -24.0 4.5) (float-vector -50.0 -24.0 4.5) (float-vector -50.0 -23.3971 6.75) (float-vector -70.0 -23.3971 6.75)))
(instance face :init :vertices (list (float-vector -70.0 -23.3971 2.25) (float-vector -50.0 -23.3971 2.25) (float-vector -50.0 -24.0 4.5) (float-vector -70.0 -24.0 4.5)))
(instance face :init :vertices (list (float-vector -70.0 -21.75 0.602886) (float-vector -50.0 -21.75 0.602886) (float-vector -50.0 -23.3971 2.25) (float-vector -70.0 -23.3971 2.25)))
(instance face :init :vertices (list (float-vector -70.0 -19.5 5.329071e-15) (float-vector -50.0 -19.5 8.881784e-16) (float-vector -50.0 -21.75 0.602886) (float-vector -70.0 -21.75 0.602886)))
(instance face :init :vertices (list (float-vector -70.0 -17.25 0.602886) (float-vector -50.0 -17.25 0.602886) (float-vector -50.0 -19.5 8.881784e-16) (float-vector -70.0 -19.5 5.329071e-15)))
(instance face :init :vertices (list (float-vector -70.0 -15.6029 2.25) (float-vector -50.0 -15.6029 2.25) (float-vector -50.0 -17.25 0.602886) (float-vector -70.0 -17.25 0.602886)))
(instance face :init :vertices (list (float-vector -70.0 -15.0 4.5) (float-vector -50.0 -15.0 4.5) (float-vector -50.0 -15.6029 2.25) (float-vector -70.0 -15.6029 2.25)))
(instance face :init :vertices (list (float-vector -70.0 -15.6029 6.75) (float-vector -50.0 -15.6029 6.75) (float-vector -50.0 -15.0 4.5) (float-vector -70.0 -15.0 4.5)))
(instance face :init :vertices (list (float-vector -70.0 -17.25 8.39711) (float-vector -50.0 -17.25 8.39711) (float-vector -50.0 -15.6029 6.75) (float-vector -70.0 -15.6029 6.75)))
(instance face :init :vertices (list (float-vector -70.0 -19.5 9.0) (float-vector -50.0 -19.5 9.0) (float-vector -50.0 -17.25 8.39711) (float-vector -70.0 -17.25 8.39711)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 50.0 24.0 9.0) (float-vector -50.0 24.0 9.0) (float-vector -50.0 -24.0 9.0) (float-vector 50.0 -24.0 9.0)))
(instance face :init :vertices (list (float-vector -50.0 24.0 -8.881784e-15) (float-vector 50.0 24.0 -8.881784e-15) (float-vector 50.0 -24.0 -8.881784e-15) (float-vector -50.0 -24.0 -8.881784e-15)))
(instance face :init :vertices (list (float-vector 50.0 24.0 9.0) (float-vector 50.0 24.0 -8.881784e-15) (float-vector -50.0 24.0 -8.881784e-15) (float-vector -50.0 24.0 9.0)))
(instance face :init :vertices (list (float-vector 50.0 -24.0 9.0) (float-vector 50.0 -24.0 -8.881784e-15) (float-vector 50.0 24.0 -8.881784e-15) (float-vector 50.0 24.0 9.0)))
(instance face :init :vertices (list (float-vector -50.0 -24.0 9.0) (float-vector -50.0 -24.0 -8.881784e-15) (float-vector 50.0 -24.0 -8.881784e-15) (float-vector 50.0 -24.0 9.0)))
(instance face :init :vertices (list (float-vector -50.0 24.0 9.0) (float-vector -50.0 24.0 -8.881784e-15) (float-vector -50.0 -24.0 -8.881784e-15) (float-vector -50.0 -24.0 9.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :whitesmoke)
(send (elt bc 1) :set-color :whitesmoke)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :docomo-p504is-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 :docomo-p504is-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 95.5 24.0 4.5) (float-vector -4.5 24.0 4.5) (float-vector -4.5 -24.0 4.5) (float-vector 95.5 -24.0 4.5)))
(instance face :init :vertices (list (float-vector -4.5 24.0 -4.5) (float-vector 95.5 24.0 -4.5) (float-vector 95.5 -24.0 -4.5) (float-vector -4.5 -24.0 -4.5)))
(instance face :init :vertices (list (float-vector 95.5 24.0 4.5) (float-vector 95.5 24.0 -4.5) (float-vector -4.5 24.0 -4.5) (float-vector -4.5 24.0 4.5)))
(instance face :init :vertices (list (float-vector 95.5 -24.0 4.5) (float-vector 95.5 -24.0 -4.5) (float-vector 95.5 24.0 -4.5) (float-vector 95.5 24.0 4.5)))
(instance face :init :vertices (list (float-vector -4.5 -24.0 4.5) (float-vector -4.5 -24.0 -4.5) (float-vector 95.5 -24.0 -4.5) (float-vector 95.5 -24.0 4.5)))
(instance face :init :vertices (list (float-vector -4.5 24.0 4.5) (float-vector -4.5 24.0 -4.5) (float-vector -4.5 -24.0 -4.5) (float-vector -4.5 -24.0 4.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 85.5 19.0 -4.0) (float-vector 25.5 19.0 -4.0) (float-vector 25.5 -19.0 -4.0) (float-vector 85.5 -19.0 -4.0)))
(instance face :init :vertices (list (float-vector 25.5 19.0 -5.0) (float-vector 85.5 19.0 -5.0) (float-vector 85.5 -19.0 -5.0) (float-vector 25.5 -19.0 -5.0)))
(instance face :init :vertices (list (float-vector 85.5 19.0 -4.0) (float-vector 85.5 19.0 -5.0) (float-vector 25.5 19.0 -5.0) (float-vector 25.5 19.0 -4.0)))
(instance face :init :vertices (list (float-vector 85.5 -19.0 -4.0) (float-vector 85.5 -19.0 -5.0) (float-vector 85.5 19.0 -5.0) (float-vector 85.5 19.0 -4.0)))
(instance face :init :vertices (list (float-vector 25.5 -19.0 -4.0) (float-vector 25.5 -19.0 -5.0) (float-vector 85.5 -19.0 -5.0) (float-vector 85.5 -19.0 -4.0)))
(instance face :init :vertices (list (float-vector 25.5 19.0 -4.0) (float-vector 25.5 19.0 -5.0) (float-vector 25.5 -19.0 -5.0) (float-vector 25.5 -19.0 -4.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
;; paste texture kotaro_head.jpg
(send (elt bc 1) :paste-texture-to-face (elt (send (elt bc 1) :faces)1) :file "models/kotaro_head.jpg")
(send (elt bc 0) :set-color :whitesmoke)
(send (elt bc 1) :set-color :gray20)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :docomo-p504is-bodyset3 :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 blink1 :newcoords (make-coords :pos (float-vector -45.5 0.0 13.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :base-joint
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :base-joint :axis :-y
:min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
;; init-ending
(setq links (list blink0 blink1))
(setq joint-list (list joint0))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:base-joint (&rest args) (forward-message-to joint0 args))
(: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 docomo-p504is (&rest args) (instance* docomo-p504is-object :init args))
;; (format *error-output* "(instance docomo-p504is-object :init) for generating model~%")
|
