Arithmetic functions |
(!* coordinates ...) (V+ pos ...) (IN-SPACE vector space) |
(DIVIDE position1 position2 scale) (LINE-CENTER line) |
(CREATE-POS pos distance angle) |
Arm command |
(MOVE locations) (RELMOVE dx dy dz) (RELVMOVE vector) |
(REACH distance) (SWEEP distance) (LIFT distance) |
(ROLL angle) (PITCH angle) (YAW angle) |
(CLOSE-HAND force) (OPEN-HAND width) (VELOCITY value) |
Vision command |
(SCAN-LINE pos angle length threshold) |
(FIND-EDGES pos width threshold) (STILL) |
(STEREO-DIST left-pos right-pos) (STEREO-PROJECT vector) |
Calibration command |
(SET-CALIBRATUM vector1 vector2) (SET-DATACOUNT number) |
(RD-CALIBDATA) (RD-DATACOUNT) |
(CALIBRATE rowsize columnsize) |
(EYETOARM coordinates | vector) (ARMTOEYE coordinates | vector) |
Display command |
(DRAWTEXT pos text scale) (SHOWLINE startpos endpos) |
For rope handling |
(GRASP-ROPE coordinates|vector) (RELEASE-ROPE) |
(FIND-ROPE pos width brightness) (VERIFY-ROPE pos) |
(TRACK-ROPE-END pos direction length) |
(FIND-RING pos width brightness) |
(FIND-RING-CENTER position length) |
(SELECT-RING edgels) (SELECT-ROPE edgels) |
(IN-RINGSPACE vector bottom top) (IN-WORKSPACE vector) |
(VECTOR-DIVIE vector scale1 scale2) |
(DISP-MESSAGE messages) |