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
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass sharp-iron-object
:super cascaded-link
:slots (sensors
))
(defmethod sharp-iron-object
(:init
(&rest args &key (name "sharp-iron") (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 :sharp-iron-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 57.0 130.0 0.0) (float-vector 62.0 130.0 100.0) (float-vector -38.0 130.0 100.0) (float-vector -33.0 130.0 0.0) (float-vector -28.0 130.0 -50.0) (float-vector -18.0 130.0 -80.0) (float-vector -8.0 130.0 -90.0) (float-vector 2.0 130.0 -95.0) (float-vector 12.0 130.0 -100.0) (float-vector 22.0 130.0 -95.0) (float-vector 32.0 130.0 -90.0) (float-vector 42.0 130.0 -80.0) (float-vector 52.0 130.0 -50.0)))
(instance face :init :vertices (list (float-vector 62.0 135.0 100.0) (float-vector 57.0 135.0 0.0) (float-vector 52.0 135.0 -50.0) (float-vector 42.0 135.0 -80.0) (float-vector 32.0 135.0 -90.0) (float-vector 22.0 135.0 -95.0) (float-vector 12.0 135.0 -100.0) (float-vector 2.0 135.0 -95.0) (float-vector -8.0 135.0 -90.0) (float-vector -18.0 135.0 -80.0) (float-vector -28.0 135.0 -50.0) (float-vector -33.0 135.0 0.0) (float-vector -38.0 135.0 100.0)))
(instance face :init :vertices (list (float-vector 57.0 130.0 0.0) (float-vector 57.0 135.0 0.0) (float-vector 62.0 135.0 100.0) (float-vector 62.0 130.0 100.0)))
(instance face :init :vertices (list (float-vector 52.0 130.0 -50.0) (float-vector 52.0 135.0 -50.0) (float-vector 57.0 135.0 0.0) (float-vector 57.0 130.0 0.0)))
(instance face :init :vertices (list (float-vector 42.0 130.0 -80.0) (float-vector 42.0 135.0 -80.0) (float-vector 52.0 135.0 -50.0) (float-vector 52.0 130.0 -50.0)))
(instance face :init :vertices (list (float-vector 32.0 130.0 -90.0) (float-vector 32.0 135.0 -90.0) (float-vector 42.0 135.0 -80.0) (float-vector 42.0 130.0 -80.0)))
(instance face :init :vertices (list (float-vector 22.0 130.0 -95.0) (float-vector 22.0 135.0 -95.0) (float-vector 32.0 135.0 -90.0) (float-vector 32.0 130.0 -90.0)))
(instance face :init :vertices (list (float-vector 12.0 130.0 -100.0) (float-vector 12.0 135.0 -100.0) (float-vector 22.0 135.0 -95.0) (float-vector 22.0 130.0 -95.0)))
(instance face :init :vertices (list (float-vector 2.0 130.0 -95.0) (float-vector 2.0 135.0 -95.0) (float-vector 12.0 135.0 -100.0) (float-vector 12.0 130.0 -100.0)))
(instance face :init :vertices (list (float-vector -8.0 130.0 -90.0) (float-vector -8.0 135.0 -90.0) (float-vector 2.0 135.0 -95.0) (float-vector 2.0 130.0 -95.0)))
(instance face :init :vertices (list (float-vector -18.0 130.0 -80.0) (float-vector -18.0 135.0 -80.0) (float-vector -8.0 135.0 -90.0) (float-vector -8.0 130.0 -90.0)))
(instance face :init :vertices (list (float-vector -28.0 130.0 -50.0) (float-vector -28.0 135.0 -50.0) (float-vector -18.0 135.0 -80.0) (float-vector -18.0 130.0 -80.0)))
(instance face :init :vertices (list (float-vector -33.0 130.0 0.0) (float-vector -33.0 135.0 0.0) (float-vector -28.0 135.0 -50.0) (float-vector -28.0 130.0 -50.0)))
(instance face :init :vertices (list (float-vector -38.0 130.0 100.0) (float-vector -38.0 135.0 100.0) (float-vector -33.0 135.0 0.0) (float-vector -33.0 130.0 0.0)))
(instance face :init :vertices (list (float-vector 62.0 130.0 100.0) (float-vector 62.0 135.0 100.0) (float-vector -38.0 135.0 100.0) (float-vector -38.0 130.0 100.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 62.0 120.0 100.0) (float-vector 62.0 120.0 130.0) (float-vector -38.0 120.0 130.0) (float-vector -38.0 120.0 100.0) (float-vector -33.0 120.0 0.0) (float-vector -28.0 120.0 -50.0) (float-vector -18.0 120.0 -80.0) (float-vector -8.0 120.0 -90.0) (float-vector 2.0 120.0 -95.0) (float-vector 12.0 120.0 -100.0) (float-vector 22.0 120.0 -95.0) (float-vector 32.0 120.0 -90.0) (float-vector 42.0 120.0 -80.0) (float-vector 52.0 120.0 -50.0) (float-vector 57.0 120.0 0.0)))
(instance face :init :vertices (list (float-vector 62.0 130.0 130.0) (float-vector 62.0 130.0 100.0) (float-vector 57.0 130.0 0.0) (float-vector 52.0 130.0 -50.0) (float-vector 42.0 130.0 -80.0) (float-vector 32.0 130.0 -90.0) (float-vector 22.0 130.0 -95.0) (float-vector 12.0 130.0 -100.0) (float-vector 2.0 130.0 -95.0) (float-vector -8.0 130.0 -90.0) (float-vector -18.0 130.0 -80.0) (float-vector -28.0 130.0 -50.0) (float-vector -33.0 130.0 0.0) (float-vector -38.0 130.0 100.0) (float-vector -38.0 130.0 130.0)))
(instance face :init :vertices (list (float-vector 62.0 120.0 100.0) (float-vector 62.0 130.0 100.0) (float-vector 62.0 130.0 130.0) (float-vector 62.0 120.0 130.0)))
(instance face :init :vertices (list (float-vector 57.0 120.0 0.0) (float-vector 57.0 130.0 0.0) (float-vector 62.0 130.0 100.0) (float-vector 62.0 120.0 100.0)))
(instance face :init :vertices (list (float-vector 52.0 120.0 -50.0) (float-vector 52.0 130.0 -50.0) (float-vector 57.0 130.0 0.0) (float-vector 57.0 120.0 0.0)))
(instance face :init :vertices (list (float-vector 42.0 120.0 -80.0) (float-vector 42.0 130.0 -80.0) (float-vector 52.0 130.0 -50.0) (float-vector 52.0 120.0 -50.0)))
(instance face :init :vertices (list (float-vector 32.0 120.0 -90.0) (float-vector 32.0 130.0 -90.0) (float-vector 42.0 130.0 -80.0) (float-vector 42.0 120.0 -80.0)))
(instance face :init :vertices (list (float-vector 22.0 120.0 -95.0) (float-vector 22.0 130.0 -95.0) (float-vector 32.0 130.0 -90.0) (float-vector 32.0 120.0 -90.0)))
(instance face :init :vertices (list (float-vector 12.0 120.0 -100.0) (float-vector 12.0 130.0 -100.0) (float-vector 22.0 130.0 -95.0) (float-vector 22.0 120.0 -95.0)))
(instance face :init :vertices (list (float-vector 2.0 120.0 -95.0) (float-vector 2.0 130.0 -95.0) (float-vector 12.0 130.0 -100.0) (float-vector 12.0 120.0 -100.0)))
(instance face :init :vertices (list (float-vector -8.0 120.0 -90.0) (float-vector -8.0 130.0 -90.0) (float-vector 2.0 130.0 -95.0) (float-vector 2.0 120.0 -95.0)))
(instance face :init :vertices (list (float-vector -18.0 120.0 -80.0) (float-vector -18.0 130.0 -80.0) (float-vector -8.0 130.0 -90.0) (float-vector -8.0 120.0 -90.0)))
(instance face :init :vertices (list (float-vector -28.0 120.0 -50.0) (float-vector -28.0 130.0 -50.0) (float-vector -18.0 130.0 -80.0) (float-vector -18.0 120.0 -80.0)))
(instance face :init :vertices (list (float-vector -33.0 120.0 0.0) (float-vector -33.0 130.0 0.0) (float-vector -28.0 130.0 -50.0) (float-vector -28.0 120.0 -50.0)))
(instance face :init :vertices (list (float-vector -38.0 120.0 100.0) (float-vector -38.0 130.0 100.0) (float-vector -33.0 130.0 0.0) (float-vector -33.0 120.0 0.0)))
(instance face :init :vertices (list (float-vector -38.0 120.0 130.0) (float-vector -38.0 130.0 130.0) (float-vector -38.0 130.0 100.0) (float-vector -38.0 120.0 100.0)))
(instance face :init :vertices (list (float-vector 62.0 120.0 130.0) (float-vector 62.0 130.0 130.0) (float-vector -38.0 130.0 130.0) (float-vector -38.0 120.0 130.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 57.0 70.0 -1.421085e-14) (float-vector 62.0 70.0 150.0) (float-vector -38.0 70.0 150.0) (float-vector -38.0 70.0 100.0) (float-vector -33.0 70.0 -1.421085e-14) (float-vector -28.0 70.0 -50.0) (float-vector -18.0 70.0 -80.0) (float-vector -8.0 70.0 -90.0) (float-vector 2.0 70.0 -95.0) (float-vector 12.0 70.0 -100.0) (float-vector 22.0 70.0 -95.0) (float-vector 32.0 70.0 -90.0) (float-vector 42.0 70.0 -80.0) (float-vector 52.0 70.0 -50.0)))
(instance face :init :vertices (list (float-vector 62.0 120.0 150.0) (float-vector 57.0 120.0 0.0) (float-vector 52.0 120.0 -50.0) (float-vector 42.0 120.0 -80.0) (float-vector 32.0 120.0 -90.0) (float-vector 22.0 120.0 -95.0) (float-vector 12.0 120.0 -100.0) (float-vector 2.0 120.0 -95.0) (float-vector -8.0 120.0 -90.0) (float-vector -18.0 120.0 -80.0) (float-vector -28.0 120.0 -50.0) (float-vector -33.0 120.0 0.0) (float-vector -38.0 120.0 100.0) (float-vector -38.0 120.0 150.0)))
(instance face :init :vertices (list (float-vector 57.0 70.0 -1.421085e-14) (float-vector 57.0 120.0 0.0) (float-vector 62.0 120.0 150.0) (float-vector 62.0 70.0 150.0)))
(instance face :init :vertices (list (float-vector 52.0 70.0 -50.0) (float-vector 52.0 120.0 -50.0) (float-vector 57.0 120.0 0.0) (float-vector 57.0 70.0 -1.421085e-14)))
(instance face :init :vertices (list (float-vector 42.0 70.0 -80.0) (float-vector 42.0 120.0 -80.0) (float-vector 52.0 120.0 -50.0) (float-vector 52.0 70.0 -50.0)))
(instance face :init :vertices (list (float-vector 32.0 70.0 -90.0) (float-vector 32.0 120.0 -90.0) (float-vector 42.0 120.0 -80.0) (float-vector 42.0 70.0 -80.0)))
(instance face :init :vertices (list (float-vector 22.0 70.0 -95.0) (float-vector 22.0 120.0 -95.0) (float-vector 32.0 120.0 -90.0) (float-vector 32.0 70.0 -90.0)))
(instance face :init :vertices (list (float-vector 12.0 70.0 -100.0) (float-vector 12.0 120.0 -100.0) (float-vector 22.0 120.0 -95.0) (float-vector 22.0 70.0 -95.0)))
(instance face :init :vertices (list (float-vector 2.0 70.0 -95.0) (float-vector 2.0 120.0 -95.0) (float-vector 12.0 120.0 -100.0) (float-vector 12.0 70.0 -100.0)))
(instance face :init :vertices (list (float-vector -8.0 70.0 -90.0) (float-vector -8.0 120.0 -90.0) (float-vector 2.0 120.0 -95.0) (float-vector 2.0 70.0 -95.0)))
(instance face :init :vertices (list (float-vector -18.0 70.0 -80.0) (float-vector -18.0 120.0 -80.0) (float-vector -8.0 120.0 -90.0) (float-vector -8.0 70.0 -90.0)))
(instance face :init :vertices (list (float-vector -28.0 70.0 -50.0) (float-vector -28.0 120.0 -50.0) (float-vector -18.0 120.0 -80.0) (float-vector -18.0 70.0 -80.0)))
(instance face :init :vertices (list (float-vector -33.0 70.0 -1.421085e-14) (float-vector -33.0 120.0 0.0) (float-vector -28.0 120.0 -50.0) (float-vector -28.0 70.0 -50.0)))
(instance face :init :vertices (list (float-vector -38.0 70.0 100.0) (float-vector -38.0 120.0 100.0) (float-vector -33.0 120.0 0.0) (float-vector -33.0 70.0 -1.421085e-14)))
(instance face :init :vertices (list (float-vector -38.0 70.0 150.0) (float-vector -38.0 120.0 150.0) (float-vector -38.0 120.0 100.0) (float-vector -38.0 70.0 100.0)))
(instance face :init :vertices (list (float-vector 62.0 70.0 150.0) (float-vector 62.0 120.0 150.0) (float-vector -38.0 120.0 150.0) (float-vector -38.0 70.0 150.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 62.0 70.0 150.0) (float-vector -38.0 70.0 150.0) (float-vector -33.0 50.0 150.0) (float-vector -28.0 35.0 150.0) (float-vector -18.0 15.0 150.0) (float-vector -1.0 -2.842171e-14 150.0) (float-vector 24.0 -2.842171e-14 150.0) (float-vector 42.0 15.0 150.0) (float-vector 52.0 35.0 150.0) (float-vector 57.0 50.0 150.0)))
(instance face :init :vertices (list (float-vector -38.0 70.0 120.0) (float-vector 62.0 70.0 120.0) (float-vector 57.0 50.0 120.0) (float-vector 52.0 35.0 120.0) (float-vector 42.0 15.0 120.0) (float-vector 24.0 -2.842171e-14 120.0) (float-vector -1.0 0.0 120.0) (float-vector -18.0 15.0 120.0) (float-vector -28.0 35.0 120.0) (float-vector -33.0 50.0 120.0)))
(instance face :init :vertices (list (float-vector 62.0 70.0 150.0) (float-vector 62.0 70.0 120.0) (float-vector -38.0 70.0 120.0) (float-vector -38.0 70.0 150.0)))
(instance face :init :vertices (list (float-vector 57.0 50.0 150.0) (float-vector 57.0 50.0 120.0) (float-vector 62.0 70.0 120.0) (float-vector 62.0 70.0 150.0)))
(instance face :init :vertices (list (float-vector 52.0 35.0 150.0) (float-vector 52.0 35.0 120.0) (float-vector 57.0 50.0 120.0) (float-vector 57.0 50.0 150.0)))
(instance face :init :vertices (list (float-vector 42.0 15.0 150.0) (float-vector 42.0 15.0 120.0) (float-vector 52.0 35.0 120.0) (float-vector 52.0 35.0 150.0)))
(instance face :init :vertices (list (float-vector 24.0 -2.842171e-14 150.0) (float-vector 24.0 -2.842171e-14 120.0) (float-vector 42.0 15.0 120.0) (float-vector 42.0 15.0 150.0)))
(instance face :init :vertices (list (float-vector -1.0 -2.842171e-14 150.0) (float-vector -1.0 0.0 120.0) (float-vector 24.0 -2.842171e-14 120.0) (float-vector 24.0 -2.842171e-14 150.0)))
(instance face :init :vertices (list (float-vector -18.0 15.0 150.0) (float-vector -18.0 15.0 120.0) (float-vector -1.0 0.0 120.0) (float-vector -1.0 -2.842171e-14 150.0)))
(instance face :init :vertices (list (float-vector -28.0 35.0 150.0) (float-vector -28.0 35.0 120.0) (float-vector -18.0 15.0 120.0) (float-vector -18.0 15.0 150.0)))
(instance face :init :vertices (list (float-vector -33.0 50.0 150.0) (float-vector -33.0 50.0 120.0) (float-vector -28.0 35.0 120.0) (float-vector -28.0 35.0 150.0)))
(instance face :init :vertices (list (float-vector -38.0 70.0 150.0) (float-vector -38.0 70.0 120.0) (float-vector -33.0 50.0 120.0) (float-vector -33.0 50.0 150.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 62.0 120.0 130.0) (float-vector 62.0 120.0 150.0) (float-vector -38.0 120.0 150.0) (float-vector -38.0 120.0 130.0)))
(instance face :init :vertices (list (float-vector 62.0 130.0 150.0) (float-vector 62.0 130.0 130.0) (float-vector -38.0 130.0 130.0) (float-vector -38.0 130.0 150.0)))
(instance face :init :vertices (list (float-vector 62.0 120.0 130.0) (float-vector 62.0 130.0 130.0) (float-vector 62.0 130.0 150.0) (float-vector 62.0 120.0 150.0)))
(instance face :init :vertices (list (float-vector -38.0 120.0 130.0) (float-vector -38.0 130.0 130.0) (float-vector 62.0 130.0 130.0) (float-vector 62.0 120.0 130.0)))
(instance face :init :vertices (list (float-vector -38.0 120.0 150.0) (float-vector -38.0 130.0 150.0) (float-vector -38.0 130.0 130.0) (float-vector -38.0 120.0 130.0)))
(instance face :init :vertices (list (float-vector 62.0 120.0 150.0) (float-vector 62.0 130.0 150.0) (float-vector -38.0 130.0 150.0) (float-vector -38.0 120.0 150.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 52.0 70.0 -50.0) (float-vector 57.0 70.0 0.0) (float-vector 41.25 2.842171e-14 17.5) (float-vector 38.0 -2.842171e-14 -15.0)))
(instance face :init :vertices (list (float-vector 42.0 70.0 -80.0) (float-vector 52.0 70.0 -50.0) (float-vector 38.0 -2.842171e-14 -15.0) (float-vector 31.5 0.0 -34.5)))
(instance face :init :vertices (list (float-vector 32.0 70.0 -90.0) (float-vector 42.0 70.0 -80.0) (float-vector 31.5 0.0 -34.5) (float-vector 25.0 0.0 -41.0)))
(instance face :init :vertices (list (float-vector 22.0 70.0 -95.0) (float-vector 32.0 70.0 -90.0) (float-vector 25.0 0.0 -41.0) (float-vector 18.5 0.0 -44.25)))
(instance face :init :vertices (list (float-vector 12.0 70.0 -100.0) (float-vector 22.0 70.0 -95.0) (float-vector 18.5 0.0 -44.25) (float-vector 12.0 0.0 -47.5)))
(instance face :init :vertices (list (float-vector 2.0 70.0 -95.0) (float-vector 12.0 70.0 -100.0) (float-vector 12.0 0.0 -47.5) (float-vector 5.5 0.0 -44.25)))
(instance face :init :vertices (list (float-vector -8.0 70.0 -90.0) (float-vector 2.0 70.0 -95.0) (float-vector 5.5 0.0 -44.25) (float-vector -1.0 0.0 -41.0)))
(instance face :init :vertices (list (float-vector -18.0 70.0 -80.0) (float-vector -8.0 70.0 -90.0) (float-vector -1.0 0.0 -41.0) (float-vector -7.5 0.0 -34.5)))
(instance face :init :vertices (list (float-vector -28.0 70.0 -50.0) (float-vector -18.0 70.0 -80.0) (float-vector -7.5 0.0 -34.5) (float-vector -14.0 0.0 -15.0)))
(instance face :init :vertices (list (float-vector -33.0 70.0 0.0) (float-vector -28.0 70.0 -50.0) (float-vector -14.0 0.0 -15.0) (float-vector -17.25 -2.842171e-14 17.5)))
(instance face :init :vertices (list (float-vector 57.0 70.0 0.0) (float-vector -33.0 70.0 0.0) (float-vector -17.25 -2.842171e-14 17.5) (float-vector 41.25 2.842171e-14 17.5)))
(instance face :init :vertices (list (float-vector -33.0 70.0 0.0) (float-vector 57.0 70.0 0.0) (float-vector 52.0 70.0 -50.0) (float-vector 42.0 70.0 -80.0) (float-vector 32.0 70.0 -90.0) (float-vector 22.0 70.0 -95.0) (float-vector 12.0 70.0 -100.0) (float-vector 2.0 70.0 -95.0) (float-vector -8.0 70.0 -90.0) (float-vector -18.0 70.0 -80.0) (float-vector -28.0 70.0 -50.0)))
(instance face :init :vertices (list (float-vector -17.25 -2.842171e-14 17.5) (float-vector -14.0 0.0 -15.0) (float-vector -7.5 0.0 -34.5) (float-vector -1.0 0.0 -41.0) (float-vector 5.5 0.0 -44.25) (float-vector 12.0 0.0 -47.5) (float-vector 18.5 0.0 -44.25) (float-vector 25.0 0.0 -41.0) (float-vector 31.5 0.0 -34.5) (float-vector 38.0 -2.842171e-14 -15.0) (float-vector 41.25 2.842171e-14 17.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0718 -8.0 -16.0) (float-vector 4.0 -8.0 -20.0) (float-vector 5.0718 -8.0 -24.0) (float-vector 8.0 -8.0 -26.9282) (float-vector 12.0 -8.0 -28.0) (float-vector 16.0 -8.0 -26.9282) (float-vector 18.9282 -8.0 -24.0) (float-vector 20.0 -8.0 -20.0) (float-vector 18.9282 -8.0 -16.0) (float-vector 16.0 -8.0 -13.0718) (float-vector 12.0 -8.0 -12.0) (float-vector 8.0 -8.0 -13.0718)))
(instance face :init :vertices (list (float-vector 4.0 0.0 -20.0) (float-vector 5.0718 0.0 -16.0) (float-vector 8.0 0.0 -13.0718) (float-vector 12.0 0.0 -12.0) (float-vector 16.0 0.0 -13.0718) (float-vector 18.9282 0.0 -16.0) (float-vector 20.0 0.0 -20.0) (float-vector 18.9282 0.0 -24.0) (float-vector 16.0 0.0 -26.9282) (float-vector 12.0 0.0 -28.0) (float-vector 8.0 0.0 -26.9282) (float-vector 5.0718 0.0 -24.0)))
(instance face :init :vertices (list (float-vector 5.0718 -8.0 -16.0) (float-vector 5.0718 0.0 -16.0) (float-vector 4.0 0.0 -20.0) (float-vector 4.0 -8.0 -20.0)))
(instance face :init :vertices (list (float-vector 8.0 -8.0 -13.0718) (float-vector 8.0 0.0 -13.0718) (float-vector 5.0718 0.0 -16.0) (float-vector 5.0718 -8.0 -16.0)))
(instance face :init :vertices (list (float-vector 12.0 -8.0 -12.0) (float-vector 12.0 0.0 -12.0) (float-vector 8.0 0.0 -13.0718) (float-vector 8.0 -8.0 -13.0718)))
(instance face :init :vertices (list (float-vector 16.0 -8.0 -13.0718) (float-vector 16.0 0.0 -13.0718) (float-vector 12.0 0.0 -12.0) (float-vector 12.0 -8.0 -12.0)))
(instance face :init :vertices (list (float-vector 18.9282 -8.0 -16.0) (float-vector 18.9282 0.0 -16.0) (float-vector 16.0 0.0 -13.0718) (float-vector 16.0 -8.0 -13.0718)))
(instance face :init :vertices (list (float-vector 20.0 -8.0 -20.0) (float-vector 20.0 0.0 -20.0) (float-vector 18.9282 0.0 -16.0) (float-vector 18.9282 -8.0 -16.0)))
(instance face :init :vertices (list (float-vector 18.9282 -8.0 -24.0) (float-vector 18.9282 0.0 -24.0) (float-vector 20.0 0.0 -20.0) (float-vector 20.0 -8.0 -20.0)))
(instance face :init :vertices (list (float-vector 16.0 -8.0 -26.9282) (float-vector 16.0 0.0 -26.9282) (float-vector 18.9282 0.0 -24.0) (float-vector 18.9282 -8.0 -24.0)))
(instance face :init :vertices (list (float-vector 12.0 -8.0 -28.0) (float-vector 12.0 0.0 -28.0) (float-vector 16.0 0.0 -26.9282) (float-vector 16.0 -8.0 -26.9282)))
(instance face :init :vertices (list (float-vector 8.0 -8.0 -26.9282) (float-vector 8.0 0.0 -26.9282) (float-vector 12.0 0.0 -28.0) (float-vector 12.0 -8.0 -28.0)))
(instance face :init :vertices (list (float-vector 5.0718 -8.0 -24.0) (float-vector 5.0718 0.0 -24.0) (float-vector 8.0 0.0 -26.9282) (float-vector 8.0 -8.0 -26.9282)))
(instance face :init :vertices (list (float-vector 4.0 -8.0 -20.0) (float-vector 4.0 0.0 -20.0) (float-vector 5.0718 0.0 -24.0) (float-vector 5.0718 -8.0 -24.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.0 0.0 120.0) (float-vector 24.0 -2.842171e-14 120.0) (float-vector 23.0 10.0 120.0) (float-vector 22.0 20.0 120.0) (float-vector 18.0 27.0 120.0) (float-vector 12.0 30.0 120.0) (float-vector 6.0 27.0 120.0) (float-vector 2.0 20.0 120.0) (float-vector 1.0 10.0 120.0)))
(instance face :init :vertices (list (float-vector 24.0 -2.842171e-14 0.0) (float-vector 0.0 0.0 0.0) (float-vector 1.0 10.0 0.0) (float-vector 2.0 20.0 -7.105427e-15) (float-vector 6.0 27.0 0.0) (float-vector 12.0 30.0 0.0) (float-vector 18.0 27.0 0.0) (float-vector 22.0 20.0 -7.105427e-15) (float-vector 23.0 10.0 0.0)))
(instance face :init :vertices (list (float-vector 0.0 0.0 120.0) (float-vector 0.0 0.0 0.0) (float-vector 24.0 -2.842171e-14 0.0) (float-vector 24.0 -2.842171e-14 120.0)))
(instance face :init :vertices (list (float-vector 1.0 10.0 120.0) (float-vector 1.0 10.0 0.0) (float-vector 0.0 0.0 0.0) (float-vector 0.0 0.0 120.0)))
(instance face :init :vertices (list (float-vector 2.0 20.0 120.0) (float-vector 2.0 20.0 -7.105427e-15) (float-vector 1.0 10.0 0.0) (float-vector 1.0 10.0 120.0)))
(instance face :init :vertices (list (float-vector 6.0 27.0 120.0) (float-vector 6.0 27.0 0.0) (float-vector 2.0 20.0 -7.105427e-15) (float-vector 2.0 20.0 120.0)))
(instance face :init :vertices (list (float-vector 12.0 30.0 120.0) (float-vector 12.0 30.0 0.0) (float-vector 6.0 27.0 0.0) (float-vector 6.0 27.0 120.0)))
(instance face :init :vertices (list (float-vector 18.0 27.0 120.0) (float-vector 18.0 27.0 0.0) (float-vector 12.0 30.0 0.0) (float-vector 12.0 30.0 120.0)))
(instance face :init :vertices (list (float-vector 22.0 20.0 120.0) (float-vector 22.0 20.0 -7.105427e-15) (float-vector 18.0 27.0 0.0) (float-vector 18.0 27.0 120.0)))
(instance face :init :vertices (list (float-vector 23.0 10.0 120.0) (float-vector 23.0 10.0 0.0) (float-vector 22.0 20.0 -7.105427e-15) (float-vector 22.0 20.0 120.0)))
(instance face :init :vertices (list (float-vector 24.0 -2.842171e-14 120.0) (float-vector 24.0 -2.842171e-14 0.0) (float-vector 23.0 10.0 0.0) (float-vector 23.0 10.0 120.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :mistyrose4)
(send (elt bc 1) :set-color :black)
(send (elt bc 2) :set-color :pink)
(send (elt bc 3) :set-color :pink)
(send (elt bc 4) :set-color :pink)
(send (elt bc 5) :set-color :pink)
(send (elt bc 6) :set-color :pink)
(send (elt bc 7) :set-color :pink)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :sharp-iron-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 sharp-iron (&rest args) (instance* sharp-iron-object :init args))
;; (format *error-output* "(instance sharp-iron-object :init) for generating model~%")
|
