gistfile1.txt

#!/usr/bin/env roseus

;; (setq robot-name 'akira)
;; (setq robot-name 'hanzou)
(setq robot-name 'h3s)
(require (format nil "models/~A-robot.l" robot-name))
(unless (and (boundp '*robot*) (string= (string-upcase (send *robot* :name)) (string robot-name)))
  (warning-message 2 "funcall ~A~%" robot-name)
  (setq *robot* (funcall robot-name)))
(case robot-name
  ('akira
   (send *robot* :legs :crotch-p :joint-angle -20)
   (send *robot* :legs :knee-p :joint-angle 40)
   (send *robot* :legs :ankle-p :joint-angle -20)
   (send *robot* :arms :shoulder-p :joint-angle 20)
   (send *robot* :arms :elbow-p :joint-angle -40)
   ;; auto-balancer
   (send *robot* :rleg :ankle-p :joint-angle -10)
   (send *robot* :lleg :crotch-p :joint-angle -90)
   (send *robot* :lleg :ankle-p :joint-angle 10)
   (send *robot* :rarm :shoulder-p :joint-angle -90)
   (send *robot* :rarm :elbow-p :joint-angle -70)
   (send *robot* :rarm :collar-y :joint-angle -30)
   (send *robot* :head :neck-y :joint-angle -20)
   )
  ('hanzou
   (send *robot* :legs :crotch-p :joint-angle -20)
   (send *robot* :legs :knee-p :joint-angle 40)
   (send *robot* :legs :ankle-p :joint-angle -20)
   (send *robot* :arms :shoulder-p :joint-angle 20)
   (send *robot* :arms :elbow-p :joint-angle -90)
   ;; walk
   ;; (send *robot* :lleg :end-coords)
   ;; #<cascaded-coords #X555a5a8343b0  -0.684 35.0 -281.678 / -1.571 3.282e-16 7.850e-17>
   (send *robot* :rleg :move-end-pos #f(0 20 0))
   (send *robot* :lleg :move-end-pos #f(0 -40 0))
   )
  ('h3s
   (send *robot* :h3larm-shoulder-p :joint-angle 20)
   (send *robot* :h3larm-elbow-p :joint-angle -40)
   (send *robot* :h3rarm-shoulder-y :joint-angle -20)
   (send *robot* :h3rarm-shoulder-p :joint-angle -90)
   (send *robot* :h3rarm-elbow-p :joint-angle -20)
   (send *robot* :h3head-neck-p :joint-angle -20)
   (send *robot* :h3head-neck-y :joint-angle -10)
   (send *robot* :h3head-neck-r :joint-angle -10)
   )
   )
(objects (list *robot*))
(eus2stl (format nil "~A.stl" robot-name) *robot* :scale 0.001)