[Euslisp-commit] SF.net SVN: euslisp:[653] trunk/EusLisp/models

[<sn...@us...>]

Revision: 653
          http://sourceforge.net/p/euslisp/code/653
Author:   snozawa
Date:     2013-09-25 09:37:07 +0000 (Wed, 25 Sep 2013)
Log Message:
-----------
add misumi-handrail and darkgoldenrod-stairs

Modified Paths:
--------------
    trunk/EusLisp/models/load-irt-all-objects.l

Added Paths:
-----------
    trunk/EusLisp/models/darkgoldenrod-stairs-object.l
    trunk/EusLisp/models/misumi-handrail-object.l

Added: trunk/EusLisp/models/darkgoldenrod-stairs-object.l
===================================================================
--- trunk/EusLisp/models/darkgoldenrod-stairs-object.l	                        (rev 0)
+++ trunk/EusLisp/models/darkgoldenrod-stairs-object.l	2013-09-25 09:37:07 UTC (rev 653)
@@ -0,0 +1,68 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass darkgoldenrod-stairs-object
+  :super cascaded-link
+  :slots (sensors
+         ))
+(defmethod darkgoldenrod-stairs-object
+  (:init
+   (&rest args &key (name "darkgoldenrod-stairs") (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 :stairs-link
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 1200.0 300.0 410.0) (float-vector 900.0 300.0 410.0) (float-vector 900.0 -300.0 410.0) (float-vector 1200.0 -300.0 410.0)))
+         (instance face :init :vertices (list (float-vector 900.0 300.0 410.0) (float-vector 900.0 300.0 310.0) (float-vector 900.0 -300.0 310.0) (float-vector 900.0 -300.0 410.0)))
+         (instance face :init :vertices (list (float-vector 300.0 -300.0 210.0) (float-vector 300.0 300.0 210.0) (float-vector 300.0 300.0 110.0) (float-vector 300.0 -300.0 110.0)))
+         (instance face :init :vertices (list (float-vector 300.0 -300.0 210.0) (float-vector 600.0 -300.0 210.0) (float-vector 600.0 300.0 210.0) (float-vector 300.0 300.0 210.0)))
+         (instance face :init :vertices (list (float-vector 600.0 300.0 210.0) (float-vector 600.0 300.0 310.0) (float-vector 900.0 300.0 310.0) (float-vector 900.0 300.0 410.0) (float-vector 1200.0 300.0 410.0) (float-vector 1200.0 300.0 510.0) (float-vector 1600.0 300.0 510.0) (float-vector 1600.0 300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 0.0 300.0 110.0) (float-vector 300.0 300.0 110.0) (float-vector 300.0 300.0 210.0)))
+         (instance face :init :vertices (list (float-vector 1600.0 -300.0 0.0) (float-vector 0.0 -300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 1600.0 300.0 0.0)))
+         (instance face :init :vertices (list (float-vector 0.0 300.0 110.0) (float-vector 0.0 -300.0 110.0) (float-vector 300.0 -300.0 110.0) (float-vector 300.0 300.0 110.0)))
+         (instance face :init :vertices (list (float-vector 0.0 -300.0 0.0) (float-vector 0.0 -300.0 110.0) (float-vector 0.0 300.0 110.0) (float-vector 0.0 300.0 0.0)))
+         (instance face :init :vertices (list (float-vector 900.0 -300.0 310.0) (float-vector 600.0 -300.0 310.0) (float-vector 600.0 -300.0 210.0) (float-vector 300.0 -300.0 210.0) (float-vector 300.0 -300.0 110.0) (float-vector 0.0 -300.0 110.0) (float-vector 0.0 -300.0 0.0) (float-vector 1600.0 -300.0 0.0) (float-vector 1600.0 -300.0 510.0) (float-vector 1200.0 -300.0 510.0) (float-vector 1200.0 -300.0 410.0) (float-vector 900.0 -300.0 410.0)))
+         (instance face :init :vertices (list (float-vector 600.0 300.0 310.0) (float-vector 600.0 -300.0 310.0) (float-vector 900.0 -300.0 310.0) (float-vector 900.0 300.0 310.0)))
+         (instance face :init :vertices (list (float-vector 600.0 -300.0 310.0) (float-vector 600.0 300.0 310.0) (float-vector 600.0 300.0 210.0) (float-vector 600.0 -300.0 210.0)))
+         (instance face :init :vertices (list (float-vector 1200.0 300.0 510.0) (float-vector 1200.0 300.0 410.0) (float-vector 1200.0 -300.0 410.0) (float-vector 1200.0 -300.0 510.0)))
+         (instance face :init :vertices (list (float-vector 1600.0 -300.0 0.0) (float-vector 1600.0 300.0 0.0) (float-vector 1600.0 300.0 510.0) (float-vector 1600.0 -300.0 510.0)))
+         (instance face :init :vertices (list (float-vector 1600.0 300.0 510.0) (float-vector 1200.0 300.0 510.0) (float-vector 1200.0 -300.0 510.0) (float-vector 1600.0 -300.0 510.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :darkgoldenrod)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :stairs-link :weight 5000 :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))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (: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 darkgoldenrod-stairs (&rest args) (instance* darkgoldenrod-stairs-object :init args))
+;; (format *error-output* "(instance darkgoldenrod-stairs-object :init) for generating model~%")

Modified: trunk/EusLisp/models/load-irt-all-objects.l
===================================================================
--- trunk/EusLisp/models/load-irt-all-objects.l	2013-08-07 15:21:43 UTC (rev 652)
+++ trunk/EusLisp/models/load-irt-all-objects.l	2013-09-25 09:37:07 UTC (rev 653)
@@ -5,6 +5,12 @@
 ;;
 (provide :irt-all-object "models/load-irt-all-objects.l")
 
+(warning-message 2 "loading misumi-handrail-object.l	(misumi-handrail) for make model~%")
+(load "models/misumi-handrail-object.l")
+
+(warning-message 2 "loading darkgoldenrod-stairs-object.l	(darkgoldenrod-stairs) for make model~%")
+(load "models/darkgoldenrod-stairs-object.l")
+
 (warning-message 2 "loading gifuplastic-720-cart-object.l	(gifuplastic-720-cart) for make model~%")
 (load "models/gifuplastic-720-cart-object.l")
 
@@ -414,4 +420,4 @@
 (load "models/bidirectional-arrow-object.l")
 ;;
 ;;
-(setq *irt-all-objects* '( (bidirectional-arrow) (arrow) (arrow-1000) (askul-gdh-cupboard) (askul-ntr-cupboard) (toshiba-clacio-refrigerator) (hitachi-fiesta-refrigerator) (refrigerator) (toshiba-microwave-oven) (3t-600-clean-locker) (kokuyo-450-locker) (washing-machine) (laundry-machine) (square-600-closet) (plus-900-square-desk) (plus-1700-desk) (plus-1800-desk) (plus-1800w-desk) (plus-2800-desk) (plus-7000-desk) (plus-6200-desk) (uchida-1500-desk) (uchida-1000-desk) (plus-1800-pdesk) (lion-1800-desk) (unknown-1200-desk) (uchida-1800-desk) (uchida-2400-desk) (uchida-monitor-leg) (uchida-desk) (toyama-900-desk) (desk) (askul-1200x700-desk) (askul-1400-desk) (askul-1200-desk) (askul-corner-desk) (askul-2700-desk) (nissen-1100-desk) (karimoku-1200-desk) (kokuyo-600-sidetable) (toyama-900-sidetable) (toyama-1800-sidetable) (fujitsu-42-plasmatv) (hitachi-42-plasmatv) (sharp-52-aquostv) (ideainternational-300-analog-clock) (casio-330-analog-clock) (maruman-55-analog-clock) (docomo-p504is) (sushi-cup) (tognana-pasta-dish) (frying-pan) (iron-table) (blue-clear-cup) (white-bread-salad-dish) (flower-tea-cup-dish) (toshiba-iron) (sharp-iron) (akiba-tv-desk) (akiba-desk) (itoki-900-closet) (itoki-900-shelf) (itoki-900-slide-shelf) (naiki-6door-closet) (bariera-900-left) (bariera-900-middle) (bariera-1200-corner) (bariera-1200-middle) (bariera-1200-middle2) (bariera-1200-middle3) (bariera-1200-right) (bariera-1400-middle) (door) (akiba-door) (akiba-door-window) (akiba-room-door) (coe-sofa2) (coe-sofa) (coe-demospace) (sakae-900-desk) (coe-800-shelf) (coe-1200-shelf) (coe-450-shelf) (coe-corner-shelf) (uchida-shelf-1100) (uchida-shelf-1300) (red-chair0) (trashbox) (coe-stairs) (coe-light) (askul-1600-desk) (fridge) (cupboard) (audio_shelf) (asplund-cabinet-4dan) (asplund-cabinet-4danbase) (shelf) (karimoku-kannonbiraki-cabinet) (tray) (bears-panel) (brown-board) (multibox-shelf) (single-arrow) (cardboard-box) (chair) (kettle) (knife) (sponge) (dining-table) (cup) (mug-cup) (ball) (book) (petbottle) (pockey) (plasmatv) (hrp2-rack) (hrp2-shelf) (coffee-cup-cup) (coffee-cup-saucer) (picaladder) (azuma-broom) (azuma-short-broom) (bamboo-broom) (broom) (elevator_call_panel) (elevator_inside_panel) (elevator_call_panel_eng2) (elevator_inside_panel_eng2) (chessboard-108-9x7) (chessboard-30-7x5) (chessboard-30-6x5) (chessboard-10-3x3) (foldable-desk) (gifuplastic-900-cart) (gifuplastic-720-cart)))
\ No newline at end of file
+(setq *irt-all-objects* '( (bidirectional-arrow) (arrow) (arrow-1000) (askul-gdh-cupboard) (askul-ntr-cupboard) (toshiba-clacio-refrigerator) (hitachi-fiesta-refrigerator) (refrigerator) (toshiba-microwave-oven) (3t-600-clean-locker) (kokuyo-450-locker) (washing-machine) (laundry-machine) (square-600-closet) (plus-900-square-desk) (plus-1700-desk) (plus-1800-desk) (plus-1800w-desk) (plus-2800-desk) (plus-7000-desk) (plus-6200-desk) (uchida-1500-desk) (uchida-1000-desk) (plus-1800-pdesk) (lion-1800-desk) (unknown-1200-desk) (uchida-1800-desk) (uchida-2400-desk) (uchida-monitor-leg) (uchida-desk) (toyama-900-desk) (desk) (askul-1200x700-desk) (askul-1400-desk) (askul-1200-desk) (askul-corner-desk) (askul-2700-desk) (nissen-1100-desk) (karimoku-1200-desk) (kokuyo-600-sidetable) (toyama-900-sidetable) (toyama-1800-sidetable) (fujitsu-42-plasmatv) (hitachi-42-plasmatv) (sharp-52-aquostv) (ideainternational-300-analog-clock) (casio-330-analog-clock) (maruman-55-analog-clock) (docomo-p504is) (sushi-cup) (tognana-pasta-dish) (frying-pan) (iron-table) (blue-clear-cup) (white-bread-salad-dish) (flower-tea-cup-dish) (toshiba-iron) (sharp-iron) (akiba-tv-desk) (akiba-desk) (itoki-900-closet) (itoki-900-shelf) (itoki-900-slide-shelf) (naiki-6door-closet) (bariera-900-left) (bariera-900-middle) (bariera-1200-corner) (bariera-1200-middle) (bariera-1200-middle2) (bariera-1200-middle3) (bariera-1200-right) (bariera-1400-middle) (door) (akiba-door) (akiba-door-window) (akiba-room-door) (coe-sofa2) (coe-sofa) (coe-demospace) (sakae-900-desk) (coe-800-shelf) (coe-1200-shelf) (coe-450-shelf) (coe-corner-shelf) (uchida-shelf-1100) (uchida-shelf-1300) (red-chair0) (trashbox) (coe-stairs) (coe-light) (askul-1600-desk) (fridge) (cupboard) (audio_shelf) (asplund-cabinet-4dan) (asplund-cabinet-4danbase) (shelf) (karimoku-kannonbiraki-cabinet) (tray) (bears-panel) (brown-board) (multibox-shelf) (single-arrow) (cardboard-box) (chair) (kettle) (knife) (sponge) (dining-table) (cup) (mug-cup) (ball) (book) (petbottle) (pockey) (plasmatv) (hrp2-rack) (hrp2-shelf) (coffee-cup-cup) (coffee-cup-saucer) (picaladder) (azuma-broom) (azuma-short-broom) (bamboo-broom) (broom) (elevator_call_panel) (elevator_inside_panel) (elevator_call_panel_eng2) (elevator_inside_panel_eng2) (chessboard-108-9x7) (chessboard-30-7x5) (chessboard-30-6x5) (chessboard-10-3x3) (foldable-desk) (gifuplastic-900-cart) (gifuplastic-720-cart) (darkgoldenrod-stairs) (misumi-handrail)))
\ No newline at end of file

Added: trunk/EusLisp/models/misumi-handrail-object.l
===================================================================
--- trunk/EusLisp/models/misumi-handrail-object.l	                        (rev 0)
+++ trunk/EusLisp/models/misumi-handrail-object.l	2013-09-25 09:37:07 UTC (rev 653)
@@ -0,0 +1,84 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass misumi-handrail-object
+  :super cascaded-link
+  :slots (sensors
+         ))
+(defmethod misumi-handrail-object
+  (:init
+   (&rest args &key (name "misumi-handrail") (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 :handrail-link
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -570.0 40.0 800.0) (float-vector 570.0 40.0 800.0) (float-vector 570.0 -40.0 800.0) (float-vector -570.0 -40.0 800.0)))
+         (instance face :init :vertices (list (float-vector 650.0 40.0 800.0) (float-vector 750.0 40.0 800.0) (float-vector 750.0 -40.0 800.0) (float-vector 650.0 -40.0 800.0)))
+         (instance face :init :vertices (list (float-vector -750.0 40.0 800.0) (float-vector -650.0 40.0 800.0) (float-vector -650.0 -40.0 800.0) (float-vector -750.0 -40.0 800.0)))
+         (instance face :init :vertices (list (float-vector 750.0 40.0 880.0) (float-vector -750.0 40.0 880.0) (float-vector -750.0 -40.0 880.0) (float-vector 750.0 -40.0 880.0)))
+         (instance face :init :vertices (list (float-vector 750.0 40.0 800.0) (float-vector 750.0 40.0 880.0) (float-vector 750.0 -40.0 880.0) (float-vector 750.0 -40.0 800.0)))
+         (instance face :init :vertices (list (float-vector -750.0 40.0 880.0) (float-vector -750.0 40.0 800.0) (float-vector -750.0 -40.0 800.0) (float-vector -750.0 -40.0 880.0)))
+         (instance face :init :vertices (list (float-vector -570.0 240.0 0.0) (float-vector -570.0 240.0 80.0) (float-vector -570.0 80.0 80.0) (float-vector -570.0 80.0 0.0)))
+         (instance face :init :vertices (list (float-vector -570.0 240.0 0.0) (float-vector -650.0 240.0 0.0) (float-vector -650.0 240.0 80.0) (float-vector -570.0 240.0 80.0)))
+         (instance face :init :vertices (list (float-vector -570.0 -240.0 0.0) (float-vector -570.0 -240.0 80.0) (float-vector -650.0 -240.0 80.0) (float-vector -650.0 -240.0 0.0)))
+         (instance face :init :vertices (list (float-vector -570.0 -240.0 0.0) (float-vector -570.0 -80.0 0.0) (float-vector -570.0 -80.0 80.0) (float-vector -570.0 -240.0 80.0)))
+         (instance face :init :vertices (list (float-vector -650.0 -240.0 80.0) (float-vector -650.0 -40.0 80.0) (float-vector -650.0 -40.0 800.0) (float-vector -650.0 40.0 800.0) (float-vector -650.0 40.0 80.0) (float-vector -650.0 240.0 80.0) (float-vector -650.0 240.0 0.0) (float-vector -650.0 -240.0 0.0)))
+         (instance face :init :vertices (list (float-vector -570.0 80.0 0.0) (float-vector -370.0 80.0 0.0) (float-vector -370.0 -80.0 0.0) (float-vector -570.0 -80.0 0.0) (float-vector -570.0 -240.0 0.0) (float-vector -650.0 -240.0 0.0) (float-vector -650.0 240.0 0.0) (float-vector -570.0 240.0 0.0)))
+         (instance face :init :vertices (list (float-vector -570.0 80.0 80.0) (float-vector -370.0 80.0 80.0) (float-vector -370.0 80.0 0.0) (float-vector -570.0 80.0 0.0)))
+         (instance face :init :vertices (list (float-vector -650.0 40.0 80.0) (float-vector -570.0 40.0 80.0) (float-vector -570.0 -40.0 80.0) (float-vector -650.0 -40.0 80.0) (float-vector -650.0 -240.0 80.0) (float-vector -570.0 -240.0 80.0) (float-vector -570.0 -80.0 80.0) (float-vector -370.0 -80.0 80.0) (float-vector -370.0 80.0 80.0) (float-vector -570.0 80.0 80.0) (float-vector -570.0 240.0 80.0) (float-vector -650.0 240.0 80.0)))
+         (instance face :init :vertices (list (float-vector -370.0 -80.0 80.0) (float-vector -370.0 -80.0 0.0) (float-vector -370.0 80.0 0.0) (float-vector -370.0 80.0 80.0)))
+         (instance face :init :vertices (list (float-vector -370.0 -80.0 0.0) (float-vector -370.0 -80.0 80.0) (float-vector -570.0 -80.0 80.0) (float-vector -570.0 -80.0 0.0)))
+         (instance face :init :vertices (list (float-vector -570.0 -40.0 80.0) (float-vector -570.0 -40.0 800.0) (float-vector 570.0 -40.0 800.0) (float-vector 570.0 -40.0 80.0) (float-vector 650.0 -40.0 80.0) (float-vector 650.0 -40.0 800.0) (float-vector 750.0 -40.0 800.0) (float-vector 750.0 -40.0 880.0) (float-vector -750.0 -40.0 880.0) (float-vector -750.0 -40.0 800.0) (float-vector -650.0 -40.0 800.0) (float-vector -650.0 -40.0 80.0)))
+         (instance face :init :vertices (list (float-vector -570.0 40.0 800.0) (float-vector -570.0 40.0 80.0) (float-vector -650.0 40.0 80.0) (float-vector -650.0 40.0 800.0) (float-vector -750.0 40.0 800.0) (float-vector -750.0 40.0 880.0) (float-vector 750.0 40.0 880.0) (float-vector 750.0 40.0 800.0) (float-vector 650.0 40.0 800.0) (float-vector 650.0 40.0 80.0) (float-vector 570.0 40.0 80.0) (float-vector 570.0 40.0 800.0)))
+         (instance face :init :vertices (list (float-vector -570.0 40.0 80.0) (float-vector -570.0 40.0 800.0) (float-vector -570.0 -40.0 800.0) (float-vector -570.0 -40.0 80.0)))
+         (instance face :init :vertices (list (float-vector 570.0 40.0 80.0) (float-vector 570.0 -40.0 80.0) (float-vector 570.0 -40.0 800.0) (float-vector 570.0 40.0 800.0)))
+         (instance face :init :vertices (list (float-vector 370.0 -80.0 0.0) (float-vector 370.0 -80.0 80.0) (float-vector 370.0 80.0 80.0) (float-vector 370.0 80.0 0.0)))
+         (instance face :init :vertices (list (float-vector 370.0 -80.0 0.0) (float-vector 570.0 -80.0 0.0) (float-vector 570.0 -80.0 80.0) (float-vector 370.0 -80.0 80.0)))
+         (instance face :init :vertices (list (float-vector 570.0 -80.0 80.0) (float-vector 570.0 -240.0 80.0) (float-vector 650.0 -240.0 80.0) (float-vector 650.0 -40.0 80.0) (float-vector 570.0 -40.0 80.0) (float-vector 570.0 40.0 80.0) (float-vector 650.0 40.0 80.0) (float-vector 650.0 240.0 80.0) (float-vector 570.0 240.0 80.0) (float-vector 570.0 80.0 80.0) (float-vector 370.0 80.0 80.0) (float-vector 370.0 -80.0 80.0)))
+         (instance face :init :vertices (list (float-vector 570.0 80.0 80.0) (float-vector 570.0 80.0 0.0) (float-vector 370.0 80.0 0.0) (float-vector 370.0 80.0 80.0)))
+         (instance face :init :vertices (list (float-vector 570.0 80.0 0.0) (float-vector 570.0 240.0 0.0) (float-vector 650.0 240.0 0.0) (float-vector 650.0 -240.0 0.0) (float-vector 570.0 -240.0 0.0) (float-vector 570.0 -80.0 0.0) (float-vector 370.0 -80.0 0.0) (float-vector 370.0 80.0 0.0)))
+         (instance face :init :vertices (list (float-vector 570.0 -240.0 0.0) (float-vector 570.0 -240.0 80.0) (float-vector 570.0 -80.0 80.0) (float-vector 570.0 -80.0 0.0)))
+         (instance face :init :vertices (list (float-vector 570.0 240.0 80.0) (float-vector 570.0 240.0 0.0) (float-vector 570.0 80.0 0.0) (float-vector 570.0 80.0 80.0)))
+         (instance face :init :vertices (list (float-vector 650.0 -240.0 0.0) (float-vector 650.0 -240.0 80.0) (float-vector 570.0 -240.0 80.0) (float-vector 570.0 -240.0 0.0)))
+         (instance face :init :vertices (list (float-vector 650.0 240.0 80.0) (float-vector 650.0 240.0 0.0) (float-vector 570.0 240.0 0.0) (float-vector 570.0 240.0 80.0)))
+         (instance face :init :vertices (list (float-vector 650.0 240.0 0.0) (float-vector 650.0 240.0 80.0) (float-vector 650.0 40.0 80.0) (float-vector 650.0 40.0 800.0) (float-vector 650.0 -40.0 800.0) (float-vector 650.0 -40.0 80.0) (float-vector 650.0 -240.0 80.0) (float-vector 650.0 -240.0 0.0)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :darkgray)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :handrail-link :weight 1500 :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))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (: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 misumi-handrail (&rest args) (instance* misumi-handrail-object :init args))
+;; (format *error-output* "(instance misumi-handrail-object :init) for generating model~%")

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