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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass itoki-900-slide-shelf-object
:super cascaded-link
:slots (sensors
handle0
joint0 joint1 joint2 ))
(defmethod itoki-900-slide-shelf-object
(:init
(&rest args &key (name "itoki-900-slide-shelf") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2 blink3
)
(send-super* :init :name name args)
;; definition of link
;; definition of :root
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 225.0 450.0 1040.0) (float-vector -225.0 450.0 1040.0) (float-vector -225.0 -450.0 1040.0) (float-vector 225.0 -450.0 1040.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 1020.0) (float-vector 225.0 450.0 1020.0) (float-vector 225.0 -450.0 1020.0) (float-vector -225.0 -450.0 1020.0)))
(instance face :init :vertices (list (float-vector 225.0 450.0 1040.0) (float-vector 225.0 450.0 1020.0) (float-vector -225.0 450.0 1020.0) (float-vector -225.0 450.0 1040.0)))
(instance face :init :vertices (list (float-vector 225.0 -450.0 1040.0) (float-vector 225.0 -450.0 1020.0) (float-vector 225.0 450.0 1020.0) (float-vector 225.0 450.0 1040.0)))
(instance face :init :vertices (list (float-vector -225.0 -450.0 1040.0) (float-vector -225.0 -450.0 1020.0) (float-vector 225.0 -450.0 1020.0) (float-vector 225.0 -450.0 1040.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 1040.0) (float-vector -225.0 450.0 1020.0) (float-vector -225.0 -450.0 1020.0) (float-vector -225.0 -450.0 1040.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 225.0 450.0 20.0) (float-vector -225.0 450.0 20.0) (float-vector -225.0 -450.0 20.0) (float-vector 225.0 -450.0 20.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 0.0) (float-vector 225.0 450.0 0.0) (float-vector 225.0 -450.0 0.0) (float-vector -225.0 -450.0 0.0)))
(instance face :init :vertices (list (float-vector 225.0 450.0 20.0) (float-vector 225.0 450.0 0.0) (float-vector -225.0 450.0 0.0) (float-vector -225.0 450.0 20.0)))
(instance face :init :vertices (list (float-vector 225.0 -450.0 20.0) (float-vector 225.0 -450.0 0.0) (float-vector 225.0 450.0 0.0) (float-vector 225.0 450.0 20.0)))
(instance face :init :vertices (list (float-vector -225.0 -450.0 20.0) (float-vector -225.0 -450.0 0.0) (float-vector 225.0 -450.0 0.0) (float-vector 225.0 -450.0 20.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 20.0) (float-vector -225.0 450.0 0.0) (float-vector -225.0 -450.0 0.0) (float-vector -225.0 -450.0 20.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -205.0 430.0 1020.0) (float-vector -225.0 430.0 1020.0) (float-vector -225.0 -430.0 1020.0) (float-vector -205.0 -430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 430.0 20.0) (float-vector -205.0 430.0 20.0) (float-vector -205.0 -430.0 20.0) (float-vector -225.0 -430.0 20.0)))
(instance face :init :vertices (list (float-vector -205.0 430.0 1020.0) (float-vector -205.0 430.0 20.0) (float-vector -225.0 430.0 20.0) (float-vector -225.0 430.0 1020.0)))
(instance face :init :vertices (list (float-vector -205.0 -430.0 1020.0) (float-vector -205.0 -430.0 20.0) (float-vector -205.0 430.0 20.0) (float-vector -205.0 430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 -430.0 1020.0) (float-vector -225.0 -430.0 20.0) (float-vector -205.0 -430.0 20.0) (float-vector -205.0 -430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 430.0 1020.0) (float-vector -225.0 430.0 20.0) (float-vector -225.0 -430.0 20.0) (float-vector -225.0 -430.0 1020.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 225.0 450.0 1020.0) (float-vector -225.0 450.0 1020.0) (float-vector -225.0 430.0 1020.0) (float-vector 225.0 430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 20.0) (float-vector 225.0 450.0 20.0) (float-vector 225.0 430.0 20.0) (float-vector -225.0 430.0 20.0)))
(instance face :init :vertices (list (float-vector 225.0 450.0 1020.0) (float-vector 225.0 450.0 20.0) (float-vector -225.0 450.0 20.0) (float-vector -225.0 450.0 1020.0)))
(instance face :init :vertices (list (float-vector 225.0 430.0 1020.0) (float-vector 225.0 430.0 20.0) (float-vector 225.0 450.0 20.0) (float-vector 225.0 450.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 430.0 1020.0) (float-vector -225.0 430.0 20.0) (float-vector 225.0 430.0 20.0) (float-vector 225.0 430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 450.0 1020.0) (float-vector -225.0 450.0 20.0) (float-vector -225.0 430.0 20.0) (float-vector -225.0 430.0 1020.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 225.0 -430.0 1020.0) (float-vector -225.0 -430.0 1020.0) (float-vector -225.0 -450.0 1020.0) (float-vector 225.0 -450.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 -430.0 20.0) (float-vector 225.0 -430.0 20.0) (float-vector 225.0 -450.0 20.0) (float-vector -225.0 -450.0 20.0)))
(instance face :init :vertices (list (float-vector 225.0 -430.0 1020.0) (float-vector 225.0 -430.0 20.0) (float-vector -225.0 -430.0 20.0) (float-vector -225.0 -430.0 1020.0)))
(instance face :init :vertices (list (float-vector 225.0 -450.0 1020.0) (float-vector 225.0 -450.0 20.0) (float-vector 225.0 -430.0 20.0) (float-vector 225.0 -430.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 -450.0 1020.0) (float-vector -225.0 -450.0 20.0) (float-vector 225.0 -450.0 20.0) (float-vector 225.0 -450.0 1020.0)))
(instance face :init :vertices (list (float-vector -225.0 -430.0 1020.0) (float-vector -225.0 -430.0 20.0) (float-vector -225.0 -450.0 20.0) (float-vector -225.0 -450.0 1020.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 145.0 430.0 700.0) (float-vector -205.0 430.0 700.0) (float-vector -205.0 -430.0 700.0) (float-vector 145.0 -430.0 700.0)))
(instance face :init :vertices (list (float-vector -205.0 430.0 680.0) (float-vector 145.0 430.0 680.0) (float-vector 145.0 -430.0 680.0) (float-vector -205.0 -430.0 680.0)))
(instance face :init :vertices (list (float-vector 145.0 430.0 700.0) (float-vector 145.0 430.0 680.0) (float-vector -205.0 430.0 680.0) (float-vector -205.0 430.0 700.0)))
(instance face :init :vertices (list (float-vector 145.0 -430.0 700.0) (float-vector 145.0 -430.0 680.0) (float-vector 145.0 430.0 680.0) (float-vector 145.0 430.0 700.0)))
(instance face :init :vertices (list (float-vector -205.0 -430.0 700.0) (float-vector -205.0 -430.0 680.0) (float-vector 145.0 -430.0 680.0) (float-vector 145.0 -430.0 700.0)))
(instance face :init :vertices (list (float-vector -205.0 430.0 700.0) (float-vector -205.0 430.0 680.0) (float-vector -205.0 -430.0 680.0) (float-vector -205.0 -430.0 700.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 145.0 430.0 360.0) (float-vector -205.0 430.0 360.0) (float-vector -205.0 -430.0 360.0) (float-vector 145.0 -430.0 360.0)))
(instance face :init :vertices (list (float-vector -205.0 430.0 340.0) (float-vector 145.0 430.0 340.0) (float-vector 145.0 -430.0 340.0) (float-vector -205.0 -430.0 340.0)))
(instance face :init :vertices (list (float-vector 145.0 430.0 360.0) (float-vector 145.0 430.0 340.0) (float-vector -205.0 430.0 340.0) (float-vector -205.0 430.0 360.0)))
(instance face :init :vertices (list (float-vector 145.0 -430.0 360.0) (float-vector 145.0 -430.0 340.0) (float-vector 145.0 430.0 340.0) (float-vector 145.0 430.0 360.0)))
(instance face :init :vertices (list (float-vector -205.0 -430.0 360.0) (float-vector -205.0 -430.0 340.0) (float-vector 145.0 -430.0 340.0) (float-vector 145.0 -430.0 360.0)))
(instance face :init :vertices (list (float-vector -205.0 430.0 360.0) (float-vector -205.0 430.0 340.0) (float-vector -205.0 -430.0 340.0) (float-vector -205.0 -430.0 360.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(send (elt bc 1) :set-color :beige)
(send (elt bc 2) :set-color :beige)
(send (elt bc 3) :set-color :beige)
(send (elt bc 4) :set-color :beige)
(send (elt bc 5) :set-color :beige)
(send (elt bc 6) :set-color :beige)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :itoki-900-slide-shelf-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 0.0 0.0) (float-vector -10.0 -286.667 0.0) (float-vector -10.0 -286.667 1000.0) (float-vector -10.0 0.0 1000.0))
:holes (list
(instance hole :init :vertices (list (float-vector -10.0 -50.0 100.0) (float-vector -10.0 -50.0 950.0) (float-vector -10.0 -236.667 950.0) (float-vector -10.0 -236.667 100.0)))
))
(instance face :init :vertices (list (float-vector 10.0 -286.667 0.0) (float-vector 10.0 -286.667 1000.0) (float-vector -10.0 -286.667 1000.0) (float-vector -10.0 -286.667 0.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 -286.667 1000.0) (float-vector 10.0 -286.667 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 10.0 -236.667 100.0) (float-vector 10.0 -236.667 950.0) (float-vector 10.0 -50.0 950.0) (float-vector 10.0 -50.0 100.0)))
))
(instance face :init :vertices (list (float-vector -10.0 0.0 1000.0) (float-vector -10.0 -286.667 1000.0) (float-vector 10.0 -286.667 1000.0) (float-vector 10.0 0.0 1000.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 10.0 -286.667 0.0) (float-vector -10.0 -286.667 0.0) (float-vector -10.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 -236.667 100.0) (float-vector -10.0 -236.667 950.0) (float-vector 10.0 -236.667 950.0) (float-vector 10.0 -236.667 100.0)))
(instance face :init :vertices (list (float-vector 10.0 -50.0 950.0) (float-vector 10.0 -236.667 950.0) (float-vector -10.0 -236.667 950.0) (float-vector -10.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector 10.0 -50.0 100.0) (float-vector 10.0 -50.0 950.0) (float-vector -10.0 -50.0 950.0) (float-vector -10.0 -50.0 100.0)))
(instance face :init :vertices (list (float-vector -10.0 -50.0 100.0) (float-vector -10.0 -236.667 100.0) (float-vector 10.0 -236.667 100.0) (float-vector 10.0 -50.0 100.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 -50.0 950.0) (float-vector -5.0 -50.0 950.0) (float-vector -5.0 -236.667 950.0) (float-vector 5.0 -236.667 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -50.0 100.0) (float-vector 5.0 -50.0 100.0) (float-vector 5.0 -236.667 100.0) (float-vector -5.0 -236.667 100.0)))
(instance face :init :vertices (list (float-vector 5.0 -50.0 950.0) (float-vector 5.0 -50.0 100.0) (float-vector -5.0 -50.0 100.0) (float-vector -5.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector 5.0 -236.667 950.0) (float-vector 5.0 -236.667 100.0) (float-vector 5.0 -50.0 100.0) (float-vector 5.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -236.667 950.0) (float-vector -5.0 -236.667 100.0) (float-vector 5.0 -236.667 100.0) (float-vector 5.0 -236.667 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -50.0 950.0) (float-vector -5.0 -50.0 100.0) (float-vector -5.0 -236.667 100.0) (float-vector -5.0 -236.667 950.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(send (elt bc 1) :set-color :white)
(gl::transparent (elt bc 1) 0.3)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :itoki-900-slide-shelf-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 :itoki-900-slide-shelf-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 0.0 0.0) (float-vector -10.0 -286.667 0.0) (float-vector -10.0 -286.667 1000.0) (float-vector -10.0 0.0 1000.0))
:holes (list
(instance hole :init :vertices (list (float-vector -10.0 -50.0 100.0) (float-vector -10.0 -50.0 950.0) (float-vector -10.0 -236.667 950.0) (float-vector -10.0 -236.667 100.0)))
))
(instance face :init :vertices (list (float-vector 10.0 -286.667 0.0) (float-vector 10.0 -286.667 1000.0) (float-vector -10.0 -286.667 1000.0) (float-vector -10.0 -286.667 0.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 -286.667 1000.0) (float-vector 10.0 -286.667 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 10.0 -236.667 100.0) (float-vector 10.0 -236.667 950.0) (float-vector 10.0 -50.0 950.0) (float-vector 10.0 -50.0 100.0)))
))
(instance face :init :vertices (list (float-vector -10.0 0.0 1000.0) (float-vector -10.0 -286.667 1000.0) (float-vector 10.0 -286.667 1000.0) (float-vector 10.0 0.0 1000.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 10.0 -286.667 0.0) (float-vector -10.0 -286.667 0.0) (float-vector -10.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 -236.667 100.0) (float-vector -10.0 -236.667 950.0) (float-vector 10.0 -236.667 950.0) (float-vector 10.0 -236.667 100.0)))
(instance face :init :vertices (list (float-vector 10.0 -50.0 950.0) (float-vector 10.0 -236.667 950.0) (float-vector -10.0 -236.667 950.0) (float-vector -10.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector 10.0 -50.0 100.0) (float-vector 10.0 -50.0 950.0) (float-vector -10.0 -50.0 950.0) (float-vector -10.0 -50.0 100.0)))
(instance face :init :vertices (list (float-vector -10.0 -50.0 100.0) (float-vector -10.0 -236.667 100.0) (float-vector 10.0 -236.667 100.0) (float-vector 10.0 -50.0 100.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 -50.0 950.0) (float-vector -5.0 -50.0 950.0) (float-vector -5.0 -236.667 950.0) (float-vector 5.0 -236.667 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -50.0 100.0) (float-vector 5.0 -50.0 100.0) (float-vector 5.0 -236.667 100.0) (float-vector -5.0 -236.667 100.0)))
(instance face :init :vertices (list (float-vector 5.0 -50.0 950.0) (float-vector 5.0 -50.0 100.0) (float-vector -5.0 -50.0 100.0) (float-vector -5.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector 5.0 -236.667 950.0) (float-vector 5.0 -236.667 100.0) (float-vector 5.0 -50.0 100.0) (float-vector 5.0 -50.0 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -236.667 950.0) (float-vector -5.0 -236.667 100.0) (float-vector 5.0 -236.667 100.0) (float-vector 5.0 -236.667 950.0)))
(instance face :init :vertices (list (float-vector -5.0 -50.0 950.0) (float-vector -5.0 -50.0 100.0) (float-vector -5.0 -236.667 100.0) (float-vector -5.0 -236.667 950.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(send (elt bc 1) :set-color :white)
(gl::transparent (elt bc 1) 0.3)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :itoki-900-slide-shelf-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 :itoki-900-slide-shelf-bodyset4
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 286.667 0.0) (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 1000.0) (float-vector -10.0 286.667 1000.0))
:holes (list
(instance hole :init :vertices (list (float-vector -10.0 236.667 100.0) (float-vector -10.0 236.667 950.0) (float-vector -10.0 50.0 950.0) (float-vector -10.0 50.0 100.0)))
))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 10.0 286.667 0.0) (float-vector 10.0 286.667 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 10.0 50.0 100.0) (float-vector 10.0 50.0 950.0) (float-vector 10.0 236.667 950.0) (float-vector 10.0 236.667 100.0)))
))
(instance face :init :vertices (list (float-vector -10.0 286.667 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 286.667 1000.0)))
(instance face :init :vertices (list (float-vector 10.0 286.667 0.0) (float-vector 10.0 0.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -10.0 286.667 0.0)))
(instance face :init :vertices (list (float-vector -10.0 286.667 0.0) (float-vector -10.0 286.667 1000.0) (float-vector 10.0 286.667 1000.0) (float-vector 10.0 286.667 0.0)))
(instance face :init :vertices (list (float-vector -10.0 50.0 100.0) (float-vector -10.0 50.0 950.0) (float-vector 10.0 50.0 950.0) (float-vector 10.0 50.0 100.0)))
(instance face :init :vertices (list (float-vector 10.0 236.667 950.0) (float-vector 10.0 50.0 950.0) (float-vector -10.0 50.0 950.0) (float-vector -10.0 236.667 950.0)))
(instance face :init :vertices (list (float-vector 10.0 236.667 100.0) (float-vector 10.0 236.667 950.0) (float-vector -10.0 236.667 950.0) (float-vector -10.0 236.667 100.0)))
(instance face :init :vertices (list (float-vector -10.0 236.667 100.0) (float-vector -10.0 50.0 100.0) (float-vector 10.0 50.0 100.0) (float-vector 10.0 236.667 100.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 236.667 950.0) (float-vector -5.0 236.667 950.0) (float-vector -5.0 50.0 950.0) (float-vector 5.0 50.0 950.0)))
(instance face :init :vertices (list (float-vector -5.0 236.667 100.0) (float-vector 5.0 236.667 100.0) (float-vector 5.0 50.0 100.0) (float-vector -5.0 50.0 100.0)))
(instance face :init :vertices (list (float-vector 5.0 236.667 950.0) (float-vector 5.0 236.667 100.0) (float-vector -5.0 236.667 100.0) (float-vector -5.0 236.667 950.0)))
(instance face :init :vertices (list (float-vector 5.0 50.0 950.0) (float-vector 5.0 50.0 100.0) (float-vector 5.0 236.667 100.0) (float-vector 5.0 236.667 950.0)))
(instance face :init :vertices (list (float-vector -5.0 50.0 950.0) (float-vector -5.0 50.0 100.0) (float-vector 5.0 50.0 100.0) (float-vector 5.0 50.0 950.0)))
(instance face :init :vertices (list (float-vector -5.0 236.667 950.0) (float-vector -5.0 236.667 100.0) (float-vector -5.0 50.0 100.0) (float-vector -5.0 50.0 950.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(send (elt bc 1) :set-color :white)
(gl::transparent (elt bc 1) 0.3)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :itoki-900-slide-shelf-bodyset4 :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 155.0 -430.0 20.0) :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 blink2 :newcoords (make-coords :pos (float-vector 175.0 143.333 20.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink2)
(send blink3 :newcoords (make-coords :pos (float-vector 195.0 430.0 20.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink3)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :door0
(setq joint0 (instance linear-joint :init
:parent-link blink0 :child-link blink1 :name :door0 :axis (float-vector 0.0 1.0 0.0)
:min 0.0 :max 573.3 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :door1
(setq joint1 (instance linear-joint :init
:parent-link blink0 :child-link blink2 :name :door1 :axis (float-vector 0.0 -1.0 0.0)
:min -286.7 :max 286.7 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :door2
(setq joint2 (instance linear-joint :init
:parent-link blink0 :child-link blink3 :name :door2 :axis (float-vector 0.0 -1.0 0.0)
:min 0.0 :max 573.3 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
(send blink0 :assoc handle0)
;; init-ending
(setq links (list blink0 blink1 blink2 blink3))
(setq joint-list (list joint0 joint1 joint2))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:door0 (&rest args) (forward-message-to joint0 args))
(:door1 (&rest args) (forward-message-to joint1 args))
(:door2 (&rest args) (forward-message-to joint2 args))
(:handle (&rest args) (forward-message-to-all (list handle0) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun itoki-900-slide-shelf (&rest args) (instance* itoki-900-slide-shelf-object :init args))
;; (format *error-output* "(instance itoki-900-slide-shelf-object :init) for generating model~%")
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