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
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass mug-cup-object
:super cascaded-link
:slots (sensors
handle0
attention0
))
(defmethod mug-cup-object
(:init
(&rest args &key (name "mug-cup") (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 :mug-cup-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 40.0 0.0 0.0) (float-vector 36.9552 -15.3073 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 36.9552 -15.3073 0.0) (float-vector 28.2843 -28.2843 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 28.2843 -28.2843 0.0) (float-vector 15.3073 -36.9552 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 15.3073 -36.9552 0.0) (float-vector -3.626192e-13 -40.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -3.626192e-13 -40.0 0.0) (float-vector -15.3073 -36.9552 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -15.3073 -36.9552 0.0) (float-vector -28.2843 -28.2843 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -28.2843 -28.2843 0.0) (float-vector -36.9552 -15.3073 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -36.9552 -15.3073 0.0) (float-vector -40.0 2.180614e-13 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -40.0 2.180614e-13 0.0) (float-vector -36.9552 15.3073 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -36.9552 15.3073 0.0) (float-vector -28.2843 28.2843 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -28.2843 28.2843 0.0) (float-vector -15.3073 36.9552 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -15.3073 36.9552 0.0) (float-vector 3.797643e-14 40.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 3.797643e-14 40.0 0.0) (float-vector 15.3073 36.9552 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 15.3073 36.9552 0.0) (float-vector 28.2843 28.2843 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 28.2843 28.2843 0.0) (float-vector 36.9552 15.3073 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 36.9552 15.3073 0.0) (float-vector 40.0 0.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 36.9552 -15.3073 95.0) (float-vector 36.9552 -15.3073 0.0) (float-vector 40.0 0.0 0.0) (float-vector 40.0 0.0 95.0)))
(instance face :init :vertices (list (float-vector 28.2843 -28.2843 95.0) (float-vector 28.2843 -28.2843 0.0) (float-vector 36.9552 -15.3073 0.0) (float-vector 36.9552 -15.3073 95.0)))
(instance face :init :vertices (list (float-vector 15.3073 -36.9552 95.0) (float-vector 15.3073 -36.9552 0.0) (float-vector 28.2843 -28.2843 0.0) (float-vector 28.2843 -28.2843 95.0)))
(instance face :init :vertices (list (float-vector -3.626192e-13 -40.0 95.0) (float-vector -3.626192e-13 -40.0 0.0) (float-vector 15.3073 -36.9552 0.0) (float-vector 15.3073 -36.9552 95.0)))
(instance face :init :vertices (list (float-vector -15.3073 -36.9552 95.0) (float-vector -15.3073 -36.9552 0.0) (float-vector -3.626192e-13 -40.0 0.0) (float-vector -3.626192e-13 -40.0 95.0)))
(instance face :init :vertices (list (float-vector -28.2843 -28.2843 95.0) (float-vector -28.2843 -28.2843 0.0) (float-vector -15.3073 -36.9552 0.0) (float-vector -15.3073 -36.9552 95.0)))
(instance face :init :vertices (list (float-vector -36.9552 -15.3073 95.0) (float-vector -36.9552 -15.3073 0.0) (float-vector -28.2843 -28.2843 0.0) (float-vector -28.2843 -28.2843 95.0)))
(instance face :init :vertices (list (float-vector -40.0 2.180614e-13 95.0) (float-vector -40.0 2.180614e-13 0.0) (float-vector -36.9552 -15.3073 0.0) (float-vector -36.9552 -15.3073 95.0)))
(instance face :init :vertices (list (float-vector -36.9552 15.3073 95.0) (float-vector -36.9552 15.3073 0.0) (float-vector -40.0 2.180614e-13 0.0) (float-vector -40.0 2.180614e-13 95.0)))
(instance face :init :vertices (list (float-vector -28.2843 28.2843 95.0) (float-vector -28.2843 28.2843 0.0) (float-vector -36.9552 15.3073 0.0) (float-vector -36.9552 15.3073 95.0)))
(instance face :init :vertices (list (float-vector -15.3073 36.9552 95.0) (float-vector -15.3073 36.9552 0.0) (float-vector -28.2843 28.2843 0.0) (float-vector -28.2843 28.2843 95.0)))
(instance face :init :vertices (list (float-vector 3.797643e-14 40.0 95.0) (float-vector 3.797643e-14 40.0 0.0) (float-vector -15.3073 36.9552 0.0) (float-vector -15.3073 36.9552 95.0)))
(instance face :init :vertices (list (float-vector 15.3073 36.9552 95.0) (float-vector 15.3073 36.9552 0.0) (float-vector 3.797643e-14 40.0 0.0) (float-vector 3.797643e-14 40.0 95.0)))
(instance face :init :vertices (list (float-vector 28.2843 28.2843 95.0) (float-vector 28.2843 28.2843 0.0) (float-vector 15.3073 36.9552 0.0) (float-vector 15.3073 36.9552 95.0)))
(instance face :init :vertices (list (float-vector 36.9552 15.3073 95.0) (float-vector 36.9552 15.3073 0.0) (float-vector 28.2843 28.2843 0.0) (float-vector 28.2843 28.2843 95.0)))
(instance face :init :vertices (list (float-vector 40.0 0.0 95.0) (float-vector 40.0 0.0 0.0) (float-vector 36.9552 15.3073 0.0) (float-vector 36.9552 15.3073 95.0)))
(instance face :init :vertices (list (float-vector 35.1074 -14.542 95.0) (float-vector 36.9552 -15.3073 95.0) (float-vector 40.0 0.0 95.0) (float-vector 38.0 0.0 95.0)))
(instance face :init :vertices (list (float-vector 26.8701 -26.8701 95.0) (float-vector 28.2843 -28.2843 95.0) (float-vector 36.9552 -15.3073 95.0) (float-vector 35.1074 -14.542 95.0)))
(instance face :init :vertices (list (float-vector 14.542 -35.1074 95.0) (float-vector 15.3073 -36.9552 95.0) (float-vector 28.2843 -28.2843 95.0) (float-vector 26.8701 -26.8701 95.0)))
(instance face :init :vertices (list (float-vector -3.444883e-13 -38.0 95.0) (float-vector -3.626192e-13 -40.0 95.0) (float-vector 15.3073 -36.9552 95.0) (float-vector 14.542 -35.1074 95.0)))
(instance face :init :vertices (list (float-vector -14.542 -35.1074 95.0) (float-vector -15.3073 -36.9552 95.0) (float-vector -3.626192e-13 -40.0 95.0) (float-vector -3.444883e-13 -38.0 95.0)))
(instance face :init :vertices (list (float-vector -26.8701 -26.8701 95.0) (float-vector -28.2843 -28.2843 95.0) (float-vector -15.3073 -36.9552 95.0) (float-vector -14.542 -35.1074 95.0)))
(instance face :init :vertices (list (float-vector -35.1074 -14.542 95.0) (float-vector -36.9552 -15.3073 95.0) (float-vector -28.2843 -28.2843 95.0) (float-vector -26.8701 -26.8701 95.0)))
(instance face :init :vertices (list (float-vector -38.0 2.071583e-13 95.0) (float-vector -40.0 2.180614e-13 95.0) (float-vector -36.9552 -15.3073 95.0) (float-vector -35.1074 -14.542 95.0)))
(instance face :init :vertices (list (float-vector -35.1074 14.542 95.0) (float-vector -36.9552 15.3073 95.0) (float-vector -40.0 2.180614e-13 95.0) (float-vector -38.0 2.071583e-13 95.0)))
(instance face :init :vertices (list (float-vector -26.8701 26.8701 95.0) (float-vector -28.2843 28.2843 95.0) (float-vector -36.9552 15.3073 95.0) (float-vector -35.1074 14.542 95.0)))
(instance face :init :vertices (list (float-vector -14.542 35.1074 95.0) (float-vector -15.3073 36.9552 95.0) (float-vector -28.2843 28.2843 95.0) (float-vector -26.8701 26.8701 95.0)))
(instance face :init :vertices (list (float-vector 3.607761e-14 38.0 95.0) (float-vector 3.797643e-14 40.0 95.0) (float-vector -15.3073 36.9552 95.0) (float-vector -14.542 35.1074 95.0)))
(instance face :init :vertices (list (float-vector 14.542 35.1074 95.0) (float-vector 15.3073 36.9552 95.0) (float-vector 3.797643e-14 40.0 95.0) (float-vector 3.607761e-14 38.0 95.0)))
(instance face :init :vertices (list (float-vector 26.8701 26.8701 95.0) (float-vector 28.2843 28.2843 95.0) (float-vector 15.3073 36.9552 95.0) (float-vector 14.542 35.1074 95.0)))
(instance face :init :vertices (list (float-vector 35.1074 14.542 95.0) (float-vector 36.9552 15.3073 95.0) (float-vector 28.2843 28.2843 95.0) (float-vector 26.8701 26.8701 95.0)))
(instance face :init :vertices (list (float-vector 38.0 0.0 95.0) (float-vector 40.0 0.0 95.0) (float-vector 36.9552 15.3073 95.0) (float-vector 35.1074 14.542 95.0)))
(instance face :init :vertices (list (float-vector 35.1074 -14.542 0.0) (float-vector 35.1074 -14.542 95.0) (float-vector 38.0 0.0 95.0) (float-vector 38.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 26.8701 -26.8701 0.0) (float-vector 26.8701 -26.8701 95.0) (float-vector 35.1074 -14.542 95.0) (float-vector 35.1074 -14.542 0.0)))
(instance face :init :vertices (list (float-vector 14.542 -35.1074 0.0) (float-vector 14.542 -35.1074 95.0) (float-vector 26.8701 -26.8701 95.0) (float-vector 26.8701 -26.8701 0.0)))
(instance face :init :vertices (list (float-vector -3.444883e-13 -38.0 0.0) (float-vector -3.444883e-13 -38.0 95.0) (float-vector 14.542 -35.1074 95.0) (float-vector 14.542 -35.1074 0.0)))
(instance face :init :vertices (list (float-vector -14.542 -35.1074 0.0) (float-vector -14.542 -35.1074 95.0) (float-vector -3.444883e-13 -38.0 95.0) (float-vector -3.444883e-13 -38.0 0.0)))
(instance face :init :vertices (list (float-vector -26.8701 -26.8701 0.0) (float-vector -26.8701 -26.8701 95.0) (float-vector -14.542 -35.1074 95.0) (float-vector -14.542 -35.1074 0.0)))
(instance face :init :vertices (list (float-vector -35.1074 -14.542 0.0) (float-vector -35.1074 -14.542 95.0) (float-vector -26.8701 -26.8701 95.0) (float-vector -26.8701 -26.8701 0.0)))
(instance face :init :vertices (list (float-vector -38.0 2.071583e-13 0.0) (float-vector -38.0 2.071583e-13 95.0) (float-vector -35.1074 -14.542 95.0) (float-vector -35.1074 -14.542 0.0)))
(instance face :init :vertices (list (float-vector -35.1074 14.542 0.0) (float-vector -35.1074 14.542 95.0) (float-vector -38.0 2.071583e-13 95.0) (float-vector -38.0 2.071583e-13 0.0)))
(instance face :init :vertices (list (float-vector -26.8701 26.8701 0.0) (float-vector -26.8701 26.8701 95.0) (float-vector -35.1074 14.542 95.0) (float-vector -35.1074 14.542 0.0)))
(instance face :init :vertices (list (float-vector -14.542 35.1074 0.0) (float-vector -14.542 35.1074 95.0) (float-vector -26.8701 26.8701 95.0) (float-vector -26.8701 26.8701 0.0)))
(instance face :init :vertices (list (float-vector 3.607761e-14 38.0 0.0) (float-vector 3.607761e-14 38.0 95.0) (float-vector -14.542 35.1074 95.0) (float-vector -14.542 35.1074 0.0)))
(instance face :init :vertices (list (float-vector 14.542 35.1074 0.0) (float-vector 14.542 35.1074 95.0) (float-vector 3.607761e-14 38.0 95.0) (float-vector 3.607761e-14 38.0 0.0)))
(instance face :init :vertices (list (float-vector 26.8701 26.8701 0.0) (float-vector 26.8701 26.8701 95.0) (float-vector 14.542 35.1074 95.0) (float-vector 14.542 35.1074 0.0)))
(instance face :init :vertices (list (float-vector 35.1074 14.542 0.0) (float-vector 35.1074 14.542 95.0) (float-vector 26.8701 26.8701 95.0) (float-vector 26.8701 26.8701 0.0)))
(instance face :init :vertices (list (float-vector 38.0 0.0 0.0) (float-vector 38.0 0.0 95.0) (float-vector 35.1074 14.542 95.0) (float-vector 35.1074 14.542 0.0)))
(instance face :init :vertices (list (float-vector 35.1074 -14.542 0.0) (float-vector 38.0 0.0 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 38.0 0.0 0.0) (float-vector 35.1074 14.542 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 35.1074 14.542 0.0) (float-vector 26.8701 26.8701 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 26.8701 26.8701 0.0) (float-vector 14.542 35.1074 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 14.542 35.1074 0.0) (float-vector 3.607761e-14 38.0 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 3.607761e-14 38.0 0.0) (float-vector -14.542 35.1074 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -14.542 35.1074 0.0) (float-vector -26.8701 26.8701 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -26.8701 26.8701 0.0) (float-vector -35.1074 14.542 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -35.1074 14.542 0.0) (float-vector -38.0 2.071583e-13 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -38.0 2.071583e-13 0.0) (float-vector -35.1074 -14.542 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -35.1074 -14.542 0.0) (float-vector -26.8701 -26.8701 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -26.8701 -26.8701 0.0) (float-vector -14.542 -35.1074 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -14.542 -35.1074 0.0) (float-vector -3.444883e-13 -38.0 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -3.444883e-13 -38.0 0.0) (float-vector 14.542 -35.1074 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 14.542 -35.1074 0.0) (float-vector 26.8701 -26.8701 0.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 26.8701 -26.8701 0.0) (float-vector 35.1074 -14.542 0.0) (float-vector 0.0 0.0 2.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 70.0 77.0) (float-vector 5.0 70.0 17.0) (float-vector 5.0 40.0 17.0) (float-vector 5.0 40.0 12.0) (float-vector 5.0 75.0 12.0) (float-vector 5.0 75.0 82.0) (float-vector 5.0 40.0 82.0) (float-vector 5.0 40.0 77.0)))
(instance face :init :vertices (list (float-vector 6.661338e-15 70.0 17.0) (float-vector -6.661338e-15 70.0 77.0) (float-vector -6.661338e-15 40.0 77.0) (float-vector -7.771561e-15 40.0 82.0) (float-vector -7.771561e-15 75.0 82.0) (float-vector 7.771561e-15 75.0 12.0) (float-vector 7.771561e-15 40.0 12.0) (float-vector 6.661338e-15 40.0 17.0)))
(instance face :init :vertices (list (float-vector 5.0 70.0 77.0) (float-vector -6.661338e-15 70.0 77.0) (float-vector 6.661338e-15 70.0 17.0) (float-vector 5.0 70.0 17.0)))
(instance face :init :vertices (list (float-vector 5.0 40.0 77.0) (float-vector -6.661338e-15 40.0 77.0) (float-vector -6.661338e-15 70.0 77.0) (float-vector 5.0 70.0 77.0)))
(instance face :init :vertices (list (float-vector 5.0 40.0 82.0) (float-vector -7.771561e-15 40.0 82.0) (float-vector -6.661338e-15 40.0 77.0) (float-vector 5.0 40.0 77.0)))
(instance face :init :vertices (list (float-vector 5.0 75.0 82.0) (float-vector -7.771561e-15 75.0 82.0) (float-vector -7.771561e-15 40.0 82.0) (float-vector 5.0 40.0 82.0)))
(instance face :init :vertices (list (float-vector 5.0 75.0 12.0) (float-vector 7.771561e-15 75.0 12.0) (float-vector -7.771561e-15 75.0 82.0) (float-vector 5.0 75.0 82.0)))
(instance face :init :vertices (list (float-vector 5.0 40.0 12.0) (float-vector 7.771561e-15 40.0 12.0) (float-vector 7.771561e-15 75.0 12.0) (float-vector 5.0 75.0 12.0)))
(instance face :init :vertices (list (float-vector 5.0 40.0 17.0) (float-vector 6.661338e-15 40.0 17.0) (float-vector 7.771561e-15 40.0 12.0) (float-vector 5.0 40.0 12.0)))
(instance face :init :vertices (list (float-vector 5.0 70.0 17.0) (float-vector 6.661338e-15 70.0 17.0) (float-vector 6.661338e-15 40.0 17.0) (float-vector 5.0 40.0 17.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :mug-cup-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
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 60.0 47.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0)) :name "handle0"))
(send blink0 :assoc handle0)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 145.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "attention0"))
(send blink0 :assoc attention0)
;; 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) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:attention (&rest args) (forward-message-to-all (list attention0) args))
(:attention-attention0 (&rest args) (forward-message-to attention0 args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun mug-cup (&rest args) (instance* mug-cup-object :init args))
;; (format *error-output* "(instance mug-cup-object :init) for generating model~%")
|
