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
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass drcbox-fire-hose-fitting-object
:super cascaded-link
:slots (sensors
handle0 handle1
))
(defmethod drcbox-fire-hose-fitting-object
(:init
(&rest args &key (name "drcbox-fire-hose-fitting") (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 :root-link
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 25.9808 -15.0 27.0) (float-vector 30.0 0.0 27.0) (float-vector 25.9808 15.0 27.0) (float-vector 15.0 25.9808 27.0) (float-vector 0.0 30.0 27.0) (float-vector -15.0 25.9808 27.0) (float-vector -25.9808 15.0 27.0) (float-vector -30.0 2.842171e-14 27.0) (float-vector -25.9808 -15.0 27.0) (float-vector -15.0 -25.9808 27.0) (float-vector 0.0 -30.0 27.0) (float-vector 15.0 -25.9808 27.0)))
(instance face :init :vertices (list (float-vector 30.0 0.0 0.0) (float-vector 25.9808 -15.0 0.0) (float-vector 15.0 -25.9808 0.0) (float-vector 0.0 -30.0 0.0) (float-vector -15.0 -25.9808 0.0) (float-vector -25.9808 -15.0 0.0) (float-vector -30.0 2.842171e-14 0.0) (float-vector -25.9808 15.0 0.0) (float-vector -15.0 25.9808 0.0) (float-vector 0.0 30.0 0.0) (float-vector 15.0 25.9808 0.0) (float-vector 25.9808 15.0 0.0)))
(instance face :init :vertices (list (float-vector 25.9808 -15.0 27.0) (float-vector 25.9808 -15.0 0.0) (float-vector 30.0 0.0 0.0) (float-vector 30.0 0.0 27.0)))
(instance face :init :vertices (list (float-vector 15.0 -25.9808 27.0) (float-vector 15.0 -25.9808 0.0) (float-vector 25.9808 -15.0 0.0) (float-vector 25.9808 -15.0 27.0)))
(instance face :init :vertices (list (float-vector 0.0 -30.0 27.0) (float-vector 0.0 -30.0 0.0) (float-vector 15.0 -25.9808 0.0) (float-vector 15.0 -25.9808 27.0)))
(instance face :init :vertices (list (float-vector -15.0 -25.9808 27.0) (float-vector -15.0 -25.9808 0.0) (float-vector 0.0 -30.0 0.0) (float-vector 0.0 -30.0 27.0)))
(instance face :init :vertices (list (float-vector -25.9808 -15.0 27.0) (float-vector -25.9808 -15.0 0.0) (float-vector -15.0 -25.9808 0.0) (float-vector -15.0 -25.9808 27.0)))
(instance face :init :vertices (list (float-vector -30.0 2.842171e-14 27.0) (float-vector -30.0 2.842171e-14 0.0) (float-vector -25.9808 -15.0 0.0) (float-vector -25.9808 -15.0 27.0)))
(instance face :init :vertices (list (float-vector -25.9808 15.0 27.0) (float-vector -25.9808 15.0 0.0) (float-vector -30.0 2.842171e-14 0.0) (float-vector -30.0 2.842171e-14 27.0)))
(instance face :init :vertices (list (float-vector -15.0 25.9808 27.0) (float-vector -15.0 25.9808 0.0) (float-vector -25.9808 15.0 0.0) (float-vector -25.9808 15.0 27.0)))
(instance face :init :vertices (list (float-vector 0.0 30.0 27.0) (float-vector 0.0 30.0 0.0) (float-vector -15.0 25.9808 0.0) (float-vector -15.0 25.9808 27.0)))
(instance face :init :vertices (list (float-vector 15.0 25.9808 27.0) (float-vector 15.0 25.9808 0.0) (float-vector 0.0 30.0 0.0) (float-vector 0.0 30.0 27.0)))
(instance face :init :vertices (list (float-vector 25.9808 15.0 27.0) (float-vector 25.9808 15.0 0.0) (float-vector 15.0 25.9808 0.0) (float-vector 15.0 25.9808 27.0)))
(instance face :init :vertices (list (float-vector 30.0 0.0 27.0) (float-vector 30.0 0.0 0.0) (float-vector 25.9808 15.0 0.0) (float-vector 25.9808 15.0 27.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 25.9808 -15.0 87.0) (float-vector 30.0 0.0 87.0) (float-vector 25.9808 15.0 87.0) (float-vector 15.0 25.9808 87.0) (float-vector 0.0 30.0 87.0) (float-vector -15.0 25.9808 87.0) (float-vector -25.9808 15.0 87.0) (float-vector -30.0 2.842171e-14 87.0) (float-vector -25.9808 -15.0 87.0) (float-vector -15.0 -25.9808 87.0) (float-vector 0.0 -30.0 87.0) (float-vector 15.0 -25.9808 87.0)))
(instance face :init :vertices (list (float-vector 30.0 0.0 27.0) (float-vector 25.9808 -15.0 27.0) (float-vector 15.0 -25.9808 27.0) (float-vector 0.0 -30.0 27.0) (float-vector -15.0 -25.9808 27.0) (float-vector -25.9808 -15.0 27.0) (float-vector -30.0 2.842171e-14 27.0) (float-vector -25.9808 15.0 27.0) (float-vector -15.0 25.9808 27.0) (float-vector 0.0 30.0 27.0) (float-vector 15.0 25.9808 27.0) (float-vector 25.9808 15.0 27.0)))
(instance face :init :vertices (list (float-vector 25.9808 -15.0 87.0) (float-vector 25.9808 -15.0 27.0) (float-vector 30.0 0.0 27.0) (float-vector 30.0 0.0 87.0)))
(instance face :init :vertices (list (float-vector 15.0 -25.9808 87.0) (float-vector 15.0 -25.9808 27.0) (float-vector 25.9808 -15.0 27.0) (float-vector 25.9808 -15.0 87.0)))
(instance face :init :vertices (list (float-vector 0.0 -30.0 87.0) (float-vector 0.0 -30.0 27.0) (float-vector 15.0 -25.9808 27.0) (float-vector 15.0 -25.9808 87.0)))
(instance face :init :vertices (list (float-vector -15.0 -25.9808 87.0) (float-vector -15.0 -25.9808 27.0) (float-vector 0.0 -30.0 27.0) (float-vector 0.0 -30.0 87.0)))
(instance face :init :vertices (list (float-vector -25.9808 -15.0 87.0) (float-vector -25.9808 -15.0 27.0) (float-vector -15.0 -25.9808 27.0) (float-vector -15.0 -25.9808 87.0)))
(instance face :init :vertices (list (float-vector -30.0 2.842171e-14 87.0) (float-vector -30.0 2.842171e-14 27.0) (float-vector -25.9808 -15.0 27.0) (float-vector -25.9808 -15.0 87.0)))
(instance face :init :vertices (list (float-vector -25.9808 15.0 87.0) (float-vector -25.9808 15.0 27.0) (float-vector -30.0 2.842171e-14 27.0) (float-vector -30.0 2.842171e-14 87.0)))
(instance face :init :vertices (list (float-vector -15.0 25.9808 87.0) (float-vector -15.0 25.9808 27.0) (float-vector -25.9808 15.0 27.0) (float-vector -25.9808 15.0 87.0)))
(instance face :init :vertices (list (float-vector 0.0 30.0 87.0) (float-vector 0.0 30.0 27.0) (float-vector -15.0 25.9808 27.0) (float-vector -15.0 25.9808 87.0)))
(instance face :init :vertices (list (float-vector 15.0 25.9808 87.0) (float-vector 15.0 25.9808 27.0) (float-vector 0.0 30.0 27.0) (float-vector 0.0 30.0 87.0)))
(instance face :init :vertices (list (float-vector 25.9808 15.0 87.0) (float-vector 25.9808 15.0 27.0) (float-vector 15.0 25.9808 27.0) (float-vector 15.0 25.9808 87.0)))
(instance face :init :vertices (list (float-vector 30.0 0.0 87.0) (float-vector 30.0 0.0 27.0) (float-vector 25.9808 15.0 27.0) (float-vector 25.9808 15.0 87.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 19.9186 32.5407 106.362) (float-vector 23.0 42.5 100.612) (float-vector 19.9186 52.4593 94.8622) (float-vector 11.5 59.75 90.6529) (float-vector 0.0 62.4186 89.1122) (float-vector -11.5 59.75 90.6529) (float-vector -19.9186 52.4593 94.8622) (float-vector -23.0 42.5 100.612) (float-vector -19.9186 32.5407 106.362) (float-vector -11.5 25.25 110.571) (float-vector 0.0 22.5814 112.112) (float-vector 11.5 25.25 110.571)))
(instance face :init :vertices (list (float-vector 23.0 35.0 87.6218) (float-vector 19.9186 25.0407 93.3718) (float-vector 11.5 17.75 97.5811) (float-vector 0.0 15.0814 99.1218) (float-vector -11.5 17.75 97.5811) (float-vector -19.9186 25.0407 93.3718) (float-vector -23.0 35.0 87.6218) (float-vector -19.9186 44.9593 81.8718) (float-vector -11.5 52.25 77.6625) (float-vector 0.0 54.9186 76.1218) (float-vector 11.5 52.25 77.6625) (float-vector 19.9186 44.9593 81.8718)))
(instance face :init :vertices (list (float-vector 19.9186 32.5407 106.362) (float-vector 19.9186 25.0407 93.3718) (float-vector 23.0 35.0 87.6218) (float-vector 23.0 42.5 100.612)))
(instance face :init :vertices (list (float-vector 11.5 25.25 110.571) (float-vector 11.5 17.75 97.5811) (float-vector 19.9186 25.0407 93.3718) (float-vector 19.9186 32.5407 106.362)))
(instance face :init :vertices (list (float-vector 0.0 22.5814 112.112) (float-vector 0.0 15.0814 99.1218) (float-vector 11.5 17.75 97.5811) (float-vector 11.5 25.25 110.571)))
(instance face :init :vertices (list (float-vector -11.5 25.25 110.571) (float-vector -11.5 17.75 97.5811) (float-vector 0.0 15.0814 99.1218) (float-vector 0.0 22.5814 112.112)))
(instance face :init :vertices (list (float-vector -19.9186 32.5407 106.362) (float-vector -19.9186 25.0407 93.3718) (float-vector -11.5 17.75 97.5811) (float-vector -11.5 25.25 110.571)))
(instance face :init :vertices (list (float-vector -23.0 42.5 100.612) (float-vector -23.0 35.0 87.6218) (float-vector -19.9186 25.0407 93.3718) (float-vector -19.9186 32.5407 106.362)))
(instance face :init :vertices (list (float-vector -19.9186 52.4593 94.8622) (float-vector -19.9186 44.9593 81.8718) (float-vector -23.0 35.0 87.6218) (float-vector -23.0 42.5 100.612)))
(instance face :init :vertices (list (float-vector -11.5 59.75 90.6529) (float-vector -11.5 52.25 77.6625) (float-vector -19.9186 44.9593 81.8718) (float-vector -19.9186 52.4593 94.8622)))
(instance face :init :vertices (list (float-vector 0.0 62.4186 89.1122) (float-vector 0.0 54.9186 76.1218) (float-vector -11.5 52.25 77.6625) (float-vector -11.5 59.75 90.6529)))
(instance face :init :vertices (list (float-vector 11.5 59.75 90.6529) (float-vector 11.5 52.25 77.6625) (float-vector 0.0 54.9186 76.1218) (float-vector 0.0 62.4186 89.1122)))
(instance face :init :vertices (list (float-vector 19.9186 52.4593 94.8622) (float-vector 19.9186 44.9593 81.8718) (float-vector 11.5 52.25 77.6625) (float-vector 11.5 59.75 90.6529)))
(instance face :init :vertices (list (float-vector 23.0 42.5 100.612) (float-vector 23.0 35.0 87.6218) (float-vector 19.9186 44.9593 81.8718) (float-vector 19.9186 52.4593 94.8622)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 19.9186 -52.4593 94.8622) (float-vector 23.0 -42.5 100.612) (float-vector 19.9186 -32.5407 106.362) (float-vector 11.5 -25.25 110.571) (float-vector 0.0 -22.5814 112.112) (float-vector -11.5 -25.25 110.571) (float-vector -19.9186 -32.5407 106.362) (float-vector -23.0 -42.5 100.612) (float-vector -19.9186 -52.4593 94.8622) (float-vector -11.5 -59.75 90.6529) (float-vector 0.0 -62.4186 89.1122) (float-vector 11.5 -59.75 90.6529)))
(instance face :init :vertices (list (float-vector 23.0 -35.0 87.6218) (float-vector 19.9186 -44.9593 81.8718) (float-vector 11.5 -52.25 77.6625) (float-vector 0.0 -54.9186 76.1218) (float-vector -11.5 -52.25 77.6625) (float-vector -19.9186 -44.9593 81.8718) (float-vector -23.0 -35.0 87.6218) (float-vector -19.9186 -25.0407 93.3718) (float-vector -11.5 -17.75 97.5811) (float-vector 0.0 -15.0814 99.1218) (float-vector 11.5 -17.75 97.5811) (float-vector 19.9186 -25.0407 93.3718)))
(instance face :init :vertices (list (float-vector 19.9186 -52.4593 94.8622) (float-vector 19.9186 -44.9593 81.8718) (float-vector 23.0 -35.0 87.6218) (float-vector 23.0 -42.5 100.612)))
(instance face :init :vertices (list (float-vector 11.5 -59.75 90.6529) (float-vector 11.5 -52.25 77.6625) (float-vector 19.9186 -44.9593 81.8718) (float-vector 19.9186 -52.4593 94.8622)))
(instance face :init :vertices (list (float-vector 0.0 -62.4186 89.1122) (float-vector 0.0 -54.9186 76.1218) (float-vector 11.5 -52.25 77.6625) (float-vector 11.5 -59.75 90.6529)))
(instance face :init :vertices (list (float-vector -11.5 -59.75 90.6529) (float-vector -11.5 -52.25 77.6625) (float-vector 0.0 -54.9186 76.1218) (float-vector 0.0 -62.4186 89.1122)))
(instance face :init :vertices (list (float-vector -19.9186 -52.4593 94.8622) (float-vector -19.9186 -44.9593 81.8718) (float-vector -11.5 -52.25 77.6625) (float-vector -11.5 -59.75 90.6529)))
(instance face :init :vertices (list (float-vector -23.0 -42.5 100.612) (float-vector -23.0 -35.0 87.6218) (float-vector -19.9186 -44.9593 81.8718) (float-vector -19.9186 -52.4593 94.8622)))
(instance face :init :vertices (list (float-vector -19.9186 -32.5407 106.362) (float-vector -19.9186 -25.0407 93.3718) (float-vector -23.0 -35.0 87.6218) (float-vector -23.0 -42.5 100.612)))
(instance face :init :vertices (list (float-vector -11.5 -25.25 110.571) (float-vector -11.5 -17.75 97.5811) (float-vector -19.9186 -25.0407 93.3718) (float-vector -19.9186 -32.5407 106.362)))
(instance face :init :vertices (list (float-vector 0.0 -22.5814 112.112) (float-vector 0.0 -15.0814 99.1218) (float-vector -11.5 -17.75 97.5811) (float-vector -11.5 -25.25 110.571)))
(instance face :init :vertices (list (float-vector 11.5 -25.25 110.571) (float-vector 11.5 -17.75 97.5811) (float-vector 0.0 -15.0814 99.1218) (float-vector 0.0 -22.5814 112.112)))
(instance face :init :vertices (list (float-vector 19.9186 -32.5407 106.362) (float-vector 19.9186 -25.0407 93.3718) (float-vector 11.5 -17.75 97.5811) (float-vector 11.5 -25.25 110.571)))
(instance face :init :vertices (list (float-vector 23.0 -42.5 100.612) (float-vector 23.0 -35.0 87.6218) (float-vector 19.9186 -25.0407 93.3718) (float-vector 19.9186 -32.5407 106.362)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 22.5 -46.25 81.1266) (float-vector 25.9808 -35.0 87.6218) (float-vector 22.5 -23.75 94.117) (float-vector 12.9904 -15.5144 98.8718) (float-vector 0.0 -12.5 100.612) (float-vector -12.9904 -15.5144 98.8718) (float-vector -22.5 -23.75 94.117) (float-vector -25.9808 -35.0 87.6218) (float-vector -22.5 -46.25 81.1266) (float-vector -12.9904 -54.4856 76.3718) (float-vector 0.0 -57.5 74.6314) (float-vector 12.9904 -54.4856 76.3718)))
(instance face :init :vertices (list (float-vector 25.9808 -7.5 39.9904) (float-vector 22.5 -18.75 33.4952) (float-vector 12.9904 -26.9856 28.7404) (float-vector 0.0 -30.0 27.0) (float-vector -12.9904 -26.9856 28.7404) (float-vector -22.5 -18.75 33.4952) (float-vector -25.9808 -7.5 39.9904) (float-vector -22.5 3.75 46.4856) (float-vector -12.9904 11.9856 51.2404) (float-vector 0.0 15.0 52.9808) (float-vector 12.9904 11.9856 51.2404) (float-vector 22.5 3.75 46.4856)))
(instance face :init :vertices (list (float-vector 22.5 -46.25 81.1266) (float-vector 22.5 -18.75 33.4952) (float-vector 25.9808 -7.5 39.9904) (float-vector 25.9808 -35.0 87.6218)))
(instance face :init :vertices (list (float-vector 12.9904 -54.4856 76.3718) (float-vector 12.9904 -26.9856 28.7404) (float-vector 22.5 -18.75 33.4952) (float-vector 22.5 -46.25 81.1266)))
(instance face :init :vertices (list (float-vector 0.0 -57.5 74.6314) (float-vector 0.0 -30.0 27.0) (float-vector 12.9904 -26.9856 28.7404) (float-vector 12.9904 -54.4856 76.3718)))
(instance face :init :vertices (list (float-vector -12.9904 -54.4856 76.3718) (float-vector -12.9904 -26.9856 28.7404) (float-vector 0.0 -30.0 27.0) (float-vector 0.0 -57.5 74.6314)))
(instance face :init :vertices (list (float-vector -22.5 -46.25 81.1266) (float-vector -22.5 -18.75 33.4952) (float-vector -12.9904 -26.9856 28.7404) (float-vector -12.9904 -54.4856 76.3718)))
(instance face :init :vertices (list (float-vector -25.9808 -35.0 87.6218) (float-vector -25.9808 -7.5 39.9904) (float-vector -22.5 -18.75 33.4952) (float-vector -22.5 -46.25 81.1266)))
(instance face :init :vertices (list (float-vector -22.5 -23.75 94.117) (float-vector -22.5 3.75 46.4856) (float-vector -25.9808 -7.5 39.9904) (float-vector -25.9808 -35.0 87.6218)))
(instance face :init :vertices (list (float-vector -12.9904 -15.5144 98.8718) (float-vector -12.9904 11.9856 51.2404) (float-vector -22.5 3.75 46.4856) (float-vector -22.5 -23.75 94.117)))
(instance face :init :vertices (list (float-vector 0.0 -12.5 100.612) (float-vector 0.0 15.0 52.9808) (float-vector -12.9904 11.9856 51.2404) (float-vector -12.9904 -15.5144 98.8718)))
(instance face :init :vertices (list (float-vector 12.9904 -15.5144 98.8718) (float-vector 12.9904 11.9856 51.2404) (float-vector 0.0 15.0 52.9808) (float-vector 0.0 -12.5 100.612)))
(instance face :init :vertices (list (float-vector 22.5 -23.75 94.117) (float-vector 22.5 3.75 46.4856) (float-vector 12.9904 11.9856 51.2404) (float-vector 12.9904 -15.5144 98.8718)))
(instance face :init :vertices (list (float-vector 25.9808 -35.0 87.6218) (float-vector 25.9808 -7.5 39.9904) (float-vector 22.5 3.75 46.4856) (float-vector 22.5 -23.75 94.117)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 22.5 23.75 94.117) (float-vector 25.9808 35.0 87.6218) (float-vector 22.5 46.25 81.1266) (float-vector 12.9904 54.4856 76.3718) (float-vector 0.0 57.5 74.6314) (float-vector -12.9904 54.4856 76.3718) (float-vector -22.5 46.25 81.1266) (float-vector -25.9808 35.0 87.6218) (float-vector -22.5 23.75 94.117) (float-vector -12.9904 15.5144 98.8718) (float-vector 0.0 12.5 100.612) (float-vector 12.9904 15.5144 98.8718)))
(instance face :init :vertices (list (float-vector 25.9808 7.5 39.9904) (float-vector 22.5 -3.75 46.4856) (float-vector 12.9904 -11.9856 51.2404) (float-vector 0.0 -15.0 52.9808) (float-vector -12.9904 -11.9856 51.2404) (float-vector -22.5 -3.75 46.4856) (float-vector -25.9808 7.5 39.9904) (float-vector -22.5 18.75 33.4952) (float-vector -12.9904 26.9856 28.7404) (float-vector 0.0 30.0 27.0) (float-vector 12.9904 26.9856 28.7404) (float-vector 22.5 18.75 33.4952)))
(instance face :init :vertices (list (float-vector 22.5 23.75 94.117) (float-vector 22.5 -3.75 46.4856) (float-vector 25.9808 7.5 39.9904) (float-vector 25.9808 35.0 87.6218)))
(instance face :init :vertices (list (float-vector 12.9904 15.5144 98.8718) (float-vector 12.9904 -11.9856 51.2404) (float-vector 22.5 -3.75 46.4856) (float-vector 22.5 23.75 94.117)))
(instance face :init :vertices (list (float-vector 0.0 12.5 100.612) (float-vector 0.0 -15.0 52.9808) (float-vector 12.9904 -11.9856 51.2404) (float-vector 12.9904 15.5144 98.8718)))
(instance face :init :vertices (list (float-vector -12.9904 15.5144 98.8718) (float-vector -12.9904 -11.9856 51.2404) (float-vector 0.0 -15.0 52.9808) (float-vector 0.0 12.5 100.612)))
(instance face :init :vertices (list (float-vector -22.5 23.75 94.117) (float-vector -22.5 -3.75 46.4856) (float-vector -12.9904 -11.9856 51.2404) (float-vector -12.9904 15.5144 98.8718)))
(instance face :init :vertices (list (float-vector -25.9808 35.0 87.6218) (float-vector -25.9808 7.5 39.9904) (float-vector -22.5 -3.75 46.4856) (float-vector -22.5 23.75 94.117)))
(instance face :init :vertices (list (float-vector -22.5 46.25 81.1266) (float-vector -22.5 18.75 33.4952) (float-vector -25.9808 7.5 39.9904) (float-vector -25.9808 35.0 87.6218)))
(instance face :init :vertices (list (float-vector -12.9904 54.4856 76.3718) (float-vector -12.9904 26.9856 28.7404) (float-vector -22.5 18.75 33.4952) (float-vector -22.5 46.25 81.1266)))
(instance face :init :vertices (list (float-vector 0.0 57.5 74.6314) (float-vector 0.0 30.0 27.0) (float-vector -12.9904 26.9856 28.7404) (float-vector -12.9904 54.4856 76.3718)))
(instance face :init :vertices (list (float-vector 12.9904 54.4856 76.3718) (float-vector 12.9904 26.9856 28.7404) (float-vector 0.0 30.0 27.0) (float-vector 0.0 57.5 74.6314)))
(instance face :init :vertices (list (float-vector 22.5 46.25 81.1266) (float-vector 22.5 18.75 33.4952) (float-vector 12.9904 26.9856 28.7404) (float-vector 12.9904 54.4856 76.3718)))
(instance face :init :vertices (list (float-vector 25.9808 35.0 87.6218) (float-vector 25.9808 7.5 39.9904) (float-vector 22.5 18.75 33.4952) (float-vector 22.5 46.25 81.1266)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray50)
(send (elt bc 1) :set-color :red)
(send (elt bc 2) :set-color :gray50)
(send (elt bc 3) :set-color :gray50)
(send (elt bc 4) :set-color :red)
(send (elt bc 5) :set-color :red)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root-link :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
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 -42.5 100.612) :rot #2f((-6.938894e-17 -1.110223e-16 1.0) (0.5 0.866025 1.110223e-16) (-0.866025 0.5 1.387779e-17)) :name "handle0"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 0.0 42.5 100.612) :rot #2f((1.526557e-16 0.0 1.0) (-0.5 0.866025 8.326673e-17) (-0.866025 -0.5 1.249001e-16)) :name "handle1"))
(send blink0 :assoc handle1)
;; 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 handle0 handle1) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:handle-handle1 (&rest args) (forward-message-to handle1 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun drcbox-fire-hose-fitting (&rest args) (instance* drcbox-fire-hose-fitting-object :init args))
;; (format *error-output* "(instance drcbox-fire-hose-fitting-object :init) for generating model~%")
|
