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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass uchida-desk-object
:super cascaded-link
:slots (sensors
))
(defmethod uchida-desk-object
(:init
(&rest args &key (name "uchida-desk") (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 :uchida-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 400.0 500.0 690.0) (float-vector -400.0 500.0 690.0) (float-vector -400.0 -500.0 690.0) (float-vector 400.0 -500.0 690.0)))
(instance face :init :vertices (list (float-vector -400.0 500.0 660.0) (float-vector 400.0 500.0 660.0) (float-vector 400.0 -500.0 660.0) (float-vector -400.0 -500.0 660.0)))
(instance face :init :vertices (list (float-vector 400.0 500.0 690.0) (float-vector 400.0 500.0 660.0) (float-vector -400.0 500.0 660.0) (float-vector -400.0 500.0 690.0)))
(instance face :init :vertices (list (float-vector 400.0 -500.0 690.0) (float-vector 400.0 -500.0 660.0) (float-vector 400.0 500.0 660.0) (float-vector 400.0 500.0 690.0)))
(instance face :init :vertices (list (float-vector -400.0 -500.0 690.0) (float-vector -400.0 -500.0 660.0) (float-vector 400.0 -500.0 660.0) (float-vector 400.0 -500.0 690.0)))
(instance face :init :vertices (list (float-vector -400.0 500.0 690.0) (float-vector -400.0 500.0 660.0) (float-vector -400.0 -500.0 660.0) (float-vector -400.0 -500.0 690.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 335.0 480.0 660.0) (float-vector -85.0 480.0 660.0) (float-vector -85.0 430.0 660.0) (float-vector 335.0 430.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 480.0 60.0) (float-vector 335.0 480.0 60.0) (float-vector 335.0 430.0 60.0) (float-vector -85.0 430.0 60.0)))
(instance face :init :vertices (list (float-vector 335.0 480.0 660.0) (float-vector 335.0 480.0 60.0) (float-vector -85.0 480.0 60.0) (float-vector -85.0 480.0 660.0)))
(instance face :init :vertices (list (float-vector 335.0 430.0 660.0) (float-vector 335.0 430.0 60.0) (float-vector 335.0 480.0 60.0) (float-vector 335.0 480.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 430.0 660.0) (float-vector -85.0 430.0 60.0) (float-vector 335.0 430.0 60.0) (float-vector 335.0 430.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 480.0 660.0) (float-vector -85.0 480.0 60.0) (float-vector -85.0 430.0 60.0) (float-vector -85.0 430.0 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 335.0 -150.0 660.0) (float-vector -85.0 -150.0 660.0) (float-vector -85.0 -200.0 660.0) (float-vector 335.0 -200.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 -150.0 60.0) (float-vector 335.0 -150.0 60.0) (float-vector 335.0 -200.0 60.0) (float-vector -85.0 -200.0 60.0)))
(instance face :init :vertices (list (float-vector 335.0 -150.0 660.0) (float-vector 335.0 -150.0 60.0) (float-vector -85.0 -150.0 60.0) (float-vector -85.0 -150.0 660.0)))
(instance face :init :vertices (list (float-vector 335.0 -200.0 660.0) (float-vector 335.0 -200.0 60.0) (float-vector 335.0 -150.0 60.0) (float-vector 335.0 -150.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 -200.0 660.0) (float-vector -85.0 -200.0 60.0) (float-vector 335.0 -200.0 60.0) (float-vector 335.0 -200.0 660.0)))
(instance face :init :vertices (list (float-vector -85.0 -150.0 660.0) (float-vector -85.0 -150.0 60.0) (float-vector -85.0 -200.0 60.0) (float-vector -85.0 -200.0 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 325.0 430.0 530.0) (float-vector 275.0 430.0 530.0) (float-vector 275.0 -150.0 530.0) (float-vector 325.0 -150.0 530.0)))
(instance face :init :vertices (list (float-vector 275.0 430.0 60.0) (float-vector 325.0 430.0 60.0) (float-vector 325.0 -150.0 60.0) (float-vector 275.0 -150.0 60.0)))
(instance face :init :vertices (list (float-vector 325.0 430.0 530.0) (float-vector 325.0 430.0 60.0) (float-vector 275.0 430.0 60.0) (float-vector 275.0 430.0 530.0)))
(instance face :init :vertices (list (float-vector 325.0 -150.0 530.0) (float-vector 325.0 -150.0 60.0) (float-vector 325.0 430.0 60.0) (float-vector 325.0 430.0 530.0)))
(instance face :init :vertices (list (float-vector 275.0 -150.0 530.0) (float-vector 275.0 -150.0 60.0) (float-vector 325.0 -150.0 60.0) (float-vector 325.0 -150.0 530.0)))
(instance face :init :vertices (list (float-vector 275.0 430.0 530.0) (float-vector 275.0 430.0 60.0) (float-vector 275.0 -150.0 60.0) (float-vector 275.0 -150.0 530.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 345.0 480.0 60.0) (float-vector -365.0 480.0 60.0) (float-vector -365.0 430.0 60.0) (float-vector 345.0 430.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 480.0 0.0) (float-vector 345.0 480.0 0.0) (float-vector 345.0 430.0 0.0) (float-vector -365.0 430.0 0.0)))
(instance face :init :vertices (list (float-vector 345.0 480.0 60.0) (float-vector 345.0 480.0 0.0) (float-vector -365.0 480.0 0.0) (float-vector -365.0 480.0 60.0)))
(instance face :init :vertices (list (float-vector 345.0 430.0 60.0) (float-vector 345.0 430.0 0.0) (float-vector 345.0 480.0 0.0) (float-vector 345.0 480.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 430.0 60.0) (float-vector -365.0 430.0 0.0) (float-vector 345.0 430.0 0.0) (float-vector 345.0 430.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 480.0 60.0) (float-vector -365.0 480.0 0.0) (float-vector -365.0 430.0 0.0) (float-vector -365.0 430.0 60.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 345.0 -150.0 60.0) (float-vector -365.0 -150.0 60.0) (float-vector -365.0 -200.0 60.0) (float-vector 345.0 -200.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 -150.0 0.0) (float-vector 345.0 -150.0 0.0) (float-vector 345.0 -200.0 0.0) (float-vector -365.0 -200.0 0.0)))
(instance face :init :vertices (list (float-vector 345.0 -150.0 60.0) (float-vector 345.0 -150.0 0.0) (float-vector -365.0 -150.0 0.0) (float-vector -365.0 -150.0 60.0)))
(instance face :init :vertices (list (float-vector 345.0 -200.0 60.0) (float-vector 345.0 -200.0 0.0) (float-vector 345.0 -150.0 0.0) (float-vector 345.0 -150.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 -200.0 60.0) (float-vector -365.0 -200.0 0.0) (float-vector 345.0 -200.0 0.0) (float-vector 345.0 -200.0 60.0)))
(instance face :init :vertices (list (float-vector -365.0 -150.0 60.0) (float-vector -365.0 -150.0 0.0) (float-vector -365.0 -200.0 0.0) (float-vector -365.0 -200.0 60.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -75.0 430.0 10.0) (float-vector -135.0 430.0 10.0) (float-vector -135.0 -480.0 10.0) (float-vector -75.0 -480.0 10.0)))
(instance face :init :vertices (list (float-vector -135.0 430.0 0.0) (float-vector -75.0 430.0 0.0) (float-vector -75.0 -480.0 0.0) (float-vector -135.0 -480.0 0.0)))
(instance face :init :vertices (list (float-vector -75.0 430.0 10.0) (float-vector -75.0 430.0 0.0) (float-vector -135.0 430.0 0.0) (float-vector -135.0 430.0 10.0)))
(instance face :init :vertices (list (float-vector -75.0 -480.0 10.0) (float-vector -75.0 -480.0 0.0) (float-vector -75.0 430.0 0.0) (float-vector -75.0 430.0 10.0)))
(instance face :init :vertices (list (float-vector -135.0 -480.0 10.0) (float-vector -135.0 -480.0 0.0) (float-vector -75.0 -480.0 0.0) (float-vector -75.0 -480.0 10.0)))
(instance face :init :vertices (list (float-vector -135.0 430.0 10.0) (float-vector -135.0 430.0 0.0) (float-vector -135.0 -480.0 0.0) (float-vector -135.0 -480.0 10.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :lightslategray)
(send (elt bc 1) :set-color :lightslategray)
(send (elt bc 2) :set-color :lightslategray)
(send (elt bc 3) :set-color :lightslategray)
(send (elt bc 4) :set-color :darkslategray)
(send (elt bc 5) :set-color :darkslategray)
(send (elt bc 6) :set-color :darkslategray)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :uchida-desk-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 uchida-desk (&rest args) (instance* uchida-desk-object :init args))
;; (format *error-output* "(instance uchida-desk-object :init) for generating model~%")
|
