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
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room73b2-tray-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5
))
(defmethod room73b2-tray-object
(:init
(&rest args &key (name "room73b2-tray") (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 :room73b2-tray-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 150.0 200.0 15.0) (float-vector -150.0 200.0 15.0) (float-vector -150.0 -200.0 15.0) (float-vector 150.0 -200.0 15.0)))
(instance face :init :vertices (list (float-vector -150.0 200.0 5.0) (float-vector 150.0 200.0 5.0) (float-vector 150.0 -200.0 5.0) (float-vector -150.0 -200.0 5.0)))
(instance face :init :vertices (list (float-vector 150.0 200.0 15.0) (float-vector 150.0 200.0 5.0) (float-vector -150.0 200.0 5.0) (float-vector -150.0 200.0 15.0)))
(instance face :init :vertices (list (float-vector 150.0 -200.0 15.0) (float-vector 150.0 -200.0 5.0) (float-vector 150.0 200.0 5.0) (float-vector 150.0 200.0 15.0)))
(instance face :init :vertices (list (float-vector -150.0 -200.0 15.0) (float-vector -150.0 -200.0 5.0) (float-vector 150.0 -200.0 5.0) (float-vector 150.0 -200.0 15.0)))
(instance face :init :vertices (list (float-vector -150.0 200.0 15.0) (float-vector -150.0 200.0 5.0) (float-vector -150.0 -200.0 5.0) (float-vector -150.0 -200.0 15.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 150.0 205.0 37.5) (float-vector -150.0 205.0 37.5) (float-vector -150.0 195.0 37.5) (float-vector 150.0 195.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 205.0 7.5) (float-vector 150.0 205.0 7.5) (float-vector 150.0 195.0 7.5) (float-vector -150.0 195.0 7.5)))
(instance face :init :vertices (list (float-vector 150.0 205.0 37.5) (float-vector 150.0 205.0 7.5) (float-vector -150.0 205.0 7.5) (float-vector -150.0 205.0 37.5)))
(instance face :init :vertices (list (float-vector 150.0 195.0 37.5) (float-vector 150.0 195.0 7.5) (float-vector 150.0 205.0 7.5) (float-vector 150.0 205.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 195.0 37.5) (float-vector -150.0 195.0 7.5) (float-vector 150.0 195.0 7.5) (float-vector 150.0 195.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 205.0 37.5) (float-vector -150.0 205.0 7.5) (float-vector -150.0 195.0 7.5) (float-vector -150.0 195.0 37.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 150.0 -195.0 37.5) (float-vector -150.0 -195.0 37.5) (float-vector -150.0 -205.0 37.5) (float-vector 150.0 -205.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 -195.0 7.5) (float-vector 150.0 -195.0 7.5) (float-vector 150.0 -205.0 7.5) (float-vector -150.0 -205.0 7.5)))
(instance face :init :vertices (list (float-vector 150.0 -195.0 37.5) (float-vector 150.0 -195.0 7.5) (float-vector -150.0 -195.0 7.5) (float-vector -150.0 -195.0 37.5)))
(instance face :init :vertices (list (float-vector 150.0 -205.0 37.5) (float-vector 150.0 -205.0 7.5) (float-vector 150.0 -195.0 7.5) (float-vector 150.0 -195.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 -205.0 37.5) (float-vector -150.0 -205.0 7.5) (float-vector 150.0 -205.0 7.5) (float-vector 150.0 -205.0 37.5)))
(instance face :init :vertices (list (float-vector -150.0 -195.0 37.5) (float-vector -150.0 -195.0 7.5) (float-vector -150.0 -205.0 7.5) (float-vector -150.0 -205.0 37.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 155.0 200.0 37.5) (float-vector 145.0 200.0 37.5) (float-vector 145.0 -200.0 37.5) (float-vector 155.0 -200.0 37.5)))
(instance face :init :vertices (list (float-vector 145.0 200.0 7.5) (float-vector 155.0 200.0 7.5) (float-vector 155.0 -200.0 7.5) (float-vector 145.0 -200.0 7.5)))
(instance face :init :vertices (list (float-vector 155.0 200.0 37.5) (float-vector 155.0 200.0 7.5) (float-vector 145.0 200.0 7.5) (float-vector 145.0 200.0 37.5)))
(instance face :init :vertices (list (float-vector 155.0 -200.0 37.5) (float-vector 155.0 -200.0 7.5) (float-vector 155.0 200.0 7.5) (float-vector 155.0 200.0 37.5)))
(instance face :init :vertices (list (float-vector 145.0 -200.0 37.5) (float-vector 145.0 -200.0 7.5) (float-vector 155.0 -200.0 7.5) (float-vector 155.0 -200.0 37.5)))
(instance face :init :vertices (list (float-vector 145.0 200.0 37.5) (float-vector 145.0 200.0 7.5) (float-vector 145.0 -200.0 7.5) (float-vector 145.0 -200.0 37.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -145.0 200.0 37.5) (float-vector -155.0 200.0 37.5) (float-vector -155.0 -200.0 37.5) (float-vector -145.0 -200.0 37.5)))
(instance face :init :vertices (list (float-vector -155.0 200.0 7.5) (float-vector -145.0 200.0 7.5) (float-vector -145.0 -200.0 7.5) (float-vector -155.0 -200.0 7.5)))
(instance face :init :vertices (list (float-vector -145.0 200.0 37.5) (float-vector -145.0 200.0 7.5) (float-vector -155.0 200.0 7.5) (float-vector -155.0 200.0 37.5)))
(instance face :init :vertices (list (float-vector -145.0 -200.0 37.5) (float-vector -145.0 -200.0 7.5) (float-vector -145.0 200.0 7.5) (float-vector -145.0 200.0 37.5)))
(instance face :init :vertices (list (float-vector -155.0 -200.0 37.5) (float-vector -155.0 -200.0 7.5) (float-vector -145.0 -200.0 7.5) (float-vector -145.0 -200.0 37.5)))
(instance face :init :vertices (list (float-vector -155.0 200.0 37.5) (float-vector -155.0 200.0 7.5) (float-vector -155.0 -200.0 7.5) (float-vector -155.0 -200.0 37.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :brown)
(send (elt bc 1) :set-color :brown)
(send (elt bc 2) :set-color :brown)
(send (elt bc 3) :set-color :brown)
(send (elt bc 4) :set-color :brown)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room73b2-tray-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 150.0 0.0 30.0) :rot #2f((2.775558e-16 -1.0 -5.551115e-17) (2.775558e-16 -5.551115e-17 1.0) (-1.0 -2.775558e-16 2.775558e-16)) :name ":rarm-handle"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -150.0 0.0 30.0) :rot #2f((2.775558e-16 -1.0 -5.551115e-17) (2.775558e-16 -5.551115e-17 1.0) (-1.0 -2.775558e-16 2.775558e-16)) :name ":larm-handle"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 150.0 -160.0 30.0) :rot #2f((-0.707107 -6.106227e-16 -0.707107) (0.707107 -7.771561e-16 -0.707107) (-5.551115e-17 -1.0 9.992007e-16)) :name "handle2"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 150.0 160.0 30.0) :rot #2f((-0.707107 6.106227e-16 -0.707107) (-0.707107 -6.106227e-16 0.707107) (0.0 1.0 8.326673e-16)) :name "handle3"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -150.0 -160.0 30.0) :rot #2f((0.707107 -5.551115e-16 -0.707107) (0.707107 6.106227e-16 0.707107) (0.0 -1.0 8.326673e-16)) :name "handle4"))
(send blink0 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector -150.0 160.0 30.0) :rot #2f((0.707107 5.551115e-16 -0.707107) (-0.707107 6.106227e-16 -0.707107) (0.0 1.0 8.326673e-16)) :name "handle5"))
(send blink0 :assoc handle5)
;; 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 handle2 handle3 handle4 handle5) args))
(:handle-rarm-handle (&rest args) (forward-message-to handle0 args))
(:handle-larm-handle (&rest args) (forward-message-to handle1 args))
(:handle-handle2 (&rest args) (forward-message-to handle2 args))
(:handle-handle3 (&rest args) (forward-message-to handle3 args))
(:handle-handle4 (&rest args) (forward-message-to handle4 args))
(:handle-handle5 (&rest args) (forward-message-to handle5 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room73b2-tray (&rest args) (instance* room73b2-tray-object :init args))
;; (format *error-output* "(instance room73b2-tray-object :init) for generating model~%")
|
