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From: <sn...@us...> - 2013-04-19 05:07:09
|
Revision: 610
http://sourceforge.net/p/euslisp/code/610
Author: snozawa
Date: 2013-04-19 05:07:03 +0000 (Fri, 19 Apr 2013)
Log Message:
-----------
fix handle coords of tray
Modified Paths:
--------------
trunk/EusLisp/models/room602-tray1-object.l
trunk/EusLisp/models/room610-tray-object.l
trunk/EusLisp/models/room73b2-tray-object.l
trunk/EusLisp/models/tray-object.l
Modified: trunk/EusLisp/models/room602-tray1-object.l
===================================================================
--- trunk/EusLisp/models/room602-tray1-object.l 2013-04-19 04:51:10 UTC (rev 609)
+++ trunk/EusLisp/models/room602-tray1-object.l 2013-04-19 05:07:03 UTC (rev 610)
@@ -98,9 +98,9 @@
;; definition of :handle
- (setq handle0 (make-cascoords :pos (float-vector 0.0 150.0 55.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":larm-handle"))
+ (setq handle0 (make-cascoords :pos (float-vector 200.0 0.0 55.0) :rot #2f((1.110223e-16 -1.0 -1.110223e-16) (1.110223e-16 -1.110223e-16 1.0) (-1.0 -1.110223e-16 1.110223e-16)) :name ":rarm-handle"))
(send self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 0.0 -150.0 55.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":rarm-handle"))
+ (setq handle1 (make-cascoords :pos (float-vector -200.0 0.0 55.0) :rot #2f((1.110223e-16 -1.0 -1.110223e-16) (1.110223e-16 -1.110223e-16 1.0) (-1.0 -1.110223e-16 1.110223e-16)) :name ":larm-handle"))
(send self :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 200.0 -120.0 55.0) :rot #2f((-0.707107 -7.216450e-16 -0.707107) (0.707107 -5.551115e-16 -0.707107) (1.665335e-16 -1.0 8.881784e-16)) :name "handle2"))
(send self :assoc handle2)
@@ -123,8 +123,8 @@
(forward-message-to-all (list) args))
(:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
- (:handle-larm-handle () handle0)
- (:handle-rarm-handle () handle1)
+ (:handle-rarm-handle () handle0)
+ (:handle-larm-handle () handle1)
(:handle-handle2 () handle2)
(:handle-handle3 () handle3)
(:handle-handle4 () handle4)
Modified: trunk/EusLisp/models/room610-tray-object.l
===================================================================
--- trunk/EusLisp/models/room610-tray-object.l 2013-04-19 04:51:10 UTC (rev 609)
+++ trunk/EusLisp/models/room610-tray-object.l 2013-04-19 05:07:03 UTC (rev 610)
@@ -78,9 +78,9 @@
;; definition of :handle
- (setq handle0 (make-cascoords :pos (float-vector 0.0 150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":larm-handle"))
+ (setq handle0 (make-cascoords :pos (float-vector 200.0 0.0 30.0) :rot #2f((0.0 -1.0 0.0) (0.0 0.0 1.0) (-1.0 0.0 0.0)) :name ":rarm-handle"))
(send self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 0.0 -150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":rarm-handle"))
+ (setq handle1 (make-cascoords :pos (float-vector -200.0 0.0 30.0) :rot #2f((0.0 -1.0 0.0) (0.0 0.0 1.0) (-1.0 0.0 0.0)) :name ":larm-handle"))
(send self :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 200.0 -120.0 30.0) :rot #2f((-0.707107 -6.106227e-16 -0.707107) (0.707107 -2.775558e-16 -0.707107) (2.775558e-16 -1.0 6.106227e-16)) :name "handle2"))
(send self :assoc handle2)
@@ -103,8 +103,8 @@
(forward-message-to-all (list) args))
(:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
- (:handle-larm-handle () handle0)
- (:handle-rarm-handle () handle1)
+ (:handle-rarm-handle () handle0)
+ (:handle-larm-handle () handle1)
(:handle-handle2 () handle2)
(:handle-handle3 () handle3)
(:handle-handle4 () handle4)
Modified: trunk/EusLisp/models/room73b2-tray-object.l
===================================================================
--- trunk/EusLisp/models/room73b2-tray-object.l 2013-04-19 04:51:10 UTC (rev 609)
+++ trunk/EusLisp/models/room73b2-tray-object.l 2013-04-19 05:07:03 UTC (rev 610)
@@ -78,9 +78,9 @@
;; definition of :handle
- (setq handle0 (make-cascoords :pos (float-vector 0.0 200.0 30.0) :rot #2f((2.220446e-16 8.715764e-33 1.0) (-8.715764e-33 1.0 -8.715764e-33) (-1.0 -8.715764e-33 2.220446e-16)) :name ":larm-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 self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 5.684342e-14 -200.0 30.0) :rot #2f((2.220446e-16 8.715764e-33 1.0) (-8.715764e-33 1.0 -8.715764e-33) (-1.0 -8.715764e-33 2.220446e-16)) :name ":rarm-handle"))
+ (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 self :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 self :assoc handle2)
@@ -103,8 +103,8 @@
(forward-message-to-all (list) args))
(:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
- (:handle-larm-handle () handle0)
- (:handle-rarm-handle () handle1)
+ (:handle-rarm-handle () handle0)
+ (:handle-larm-handle () handle1)
(:handle-handle2 () handle2)
(:handle-handle3 () handle3)
(:handle-handle4 () handle4)
Modified: trunk/EusLisp/models/tray-object.l
===================================================================
--- trunk/EusLisp/models/tray-object.l 2013-04-19 04:51:10 UTC (rev 609)
+++ trunk/EusLisp/models/tray-object.l 2013-04-19 05:07:03 UTC (rev 610)
@@ -78,9 +78,9 @@
;; definition of :handle
- (setq handle0 (make-cascoords :pos (float-vector 0.0 200.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":larm-handle"))
+ (setq handle0 (make-cascoords :pos (float-vector 150.0 0.0 30.0) :rot #2f((0.0 -1.0 0.0) (0.0 0.0 1.0) (-1.0 0.0 0.0)) :name ":rarm-handle"))
(send self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 0.0 -200.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":rarm-handle"))
+ (setq handle1 (make-cascoords :pos (float-vector -150.0 0.0 30.0) :rot #2f((0.0 -1.0 0.0) (0.0 0.0 1.0) (-1.0 0.0 0.0)) :name ":larm-handle"))
(send self :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 -2.775558e-16 -0.707107) (2.775558e-16 -1.0 6.106227e-16)) :name "handle2"))
(send self :assoc handle2)
@@ -103,8 +103,8 @@
(forward-message-to-all (list) args))
(:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
- (:handle-larm-handle () handle0)
- (:handle-rarm-handle () handle1)
+ (:handle-rarm-handle () handle0)
+ (:handle-larm-handle () handle1)
(:handle-handle2 () handle2)
(:handle-handle3 () handle3)
(:handle-handle4 () handle4)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-19 04:51:20
|
Revision: 609
http://sourceforge.net/p/euslisp/code/609
Author: snozawa
Date: 2013-04-19 04:51:10 +0000 (Fri, 19 Apr 2013)
Log Message:
-----------
add tray and sweeper to room610
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-sweeper-object.l
trunk/EusLisp/models/room610-tray-object.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-19 04:17:50 UTC (rev 608)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -9,6 +9,8 @@
(load "models/room610-bears-panel-object.l")
(load "models/room610-bears-panel-object.l")
(load "models/room610-610-ground-object.l")
+(load "models/room610-tray-object.l")
+(load "models/room610-sweeper-object.l")
(load "models/room610-cabinet-mamoru-object.l")
(load "models/room610-cabinet-object.l")
(load "models/room610-shelf2-object.l")
@@ -40,6 +42,8 @@
(send (room610-bears-panel) :transform (make-coords :pos (float-vector 5750.0 -1730.0 0.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-bears-panel) :transform (make-coords :pos (float-vector 5300.0 -2100.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-610-ground) :transform (make-coords :pos (float-vector 4650.0 110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-tray) :transform (make-coords :pos (float-vector 4650.0 340.0 700.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-sweeper) :transform (make-coords :pos (float-vector 3100.0 1990.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-cabinet-mamoru) :transform (make-coords :pos (float-vector 4650.0 -910.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-cabinet) :transform (make-coords :pos (float-vector 3610.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
Added: trunk/EusLisp/models/room610-sweeper-object.l
===================================================================
--- trunk/EusLisp/models/room610-sweeper-object.l (rev 0)
+++ trunk/EusLisp/models/room610-sweeper-object.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -0,0 +1,172 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-sweeper-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3
+ joint0 joint1 ))
+(defmethod room610-sweeper-object
+ (:init
+ (&rest args &key (name "room610-sweeper") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :box
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector -75.0 150.0 40.0) (float-vector -75.0 -150.0 40.0) (float-vector 75.0 -150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector -75.0 -150.0 0.0)))
+ (instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector 75.0 150.0 0.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 150.0 40.0)))
+ (instance face :init :vertices (list (float-vector 75.0 -150.0 40.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 -150.0 40.0) (float-vector -75.0 -150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 -150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 150.0 40.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 -150.0 0.0) (float-vector -75.0 -150.0 40.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector -10.0 10.0 60.0) (float-vector -10.0 -10.0 60.0) (float-vector 10.0 -10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector -10.0 -10.0 40.0)))
+ (instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector 10.0 10.0 40.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 10.0 60.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -10.0 60.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -10.0 60.0) (float-vector -10.0 -10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 -10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 60.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 -10.0 40.0) (float-vector -10.0 -10.0 60.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray40)
+ (send (elt bc 1) :set-color :gray20)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box :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 :joint
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
+ (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray20)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :joint :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 :bar
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 8.66025 5.0 0.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 0.0) (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 140.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 8.66025 -5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector 0.0 -10.0 140.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -8.66025 -5.0 140.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 140.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -8.66025 5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector -5.0 8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 0.0 10.0 140.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 5.0 8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 0.0) (float-vector 8.66025 5.0 0.0) (float-vector 8.66025 5.0 140.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 8.66025 5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 1000.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 10.0 0.0 1180.0) (float-vector 8.66025 5.0 1180.0) (float-vector 5.0 8.66025 1180.0) (float-vector 0.0 10.0 1180.0) (float-vector -5.0 8.66025 1180.0) (float-vector -8.66025 5.0 1180.0) (float-vector -10.0 0.0 1180.0) (float-vector -8.66025 -5.0 1180.0) (float-vector -5.0 -8.66025 1180.0) (float-vector 0.0 -10.0 1180.0) (float-vector 5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 8.66025 5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 1180.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 1180.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 1180.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 1180.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 1180.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 1180.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 1180.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 1180.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 1180.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 1180.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1180.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 1180.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray20)
+ (send (elt bc 1) :set-color :gray80)
+ (send (elt bc 2) :set-color :gray20)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink1 :assoc blink2)
+ (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 50.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink1)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :sweeper-p
+ (setq joint0 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink1 :name :sweeper-p :axis :y
+ :min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+ ;; definition of :sweeper-r
+ (setq joint1 (instance rotational-joint :init
+ :parent-link blink1 :child-link blink2 :name :sweeper-r :axis :x
+ :min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 1000.0) :rot #2f((0.707107 -0.707107 0.0) (0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":rarm"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((0.707107 0.707107 0.0) (-0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":larm"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 0.0 0.0 700.0) :rot #2f((1.0 0.0 0.0) (0.0 -1.0 -1.224606e-16) (0.0 1.224606e-16 -1.0)) :name ":side-rarm"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((-1.0 -1.224606e-16 0.0) (1.224606e-16 -1.0 0.0) (0.0 0.0 1.0)) :name ":side-larm"))
+ (send self :assoc handle3)
+
+ ;; init-ending
+ (setq links (list blink0 blink1 blink2))
+ (setq joint-list (list joint0 joint1))
+ (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))
+
+ (:sweeper-p (&rest args) (forward-message-to joint0 args))
+ (:sweeper-r (&rest args) (forward-message-to joint1 args))
+ (:handle () (list handle0 handle1 handle2 handle3))
+ (:handle-rarm () handle0)
+ (:handle-larm () handle1)
+ (:handle-side-rarm () handle2)
+ (:handle-side-larm () handle3)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-sweeper (&rest args) (instance* room610-sweeper-object :init args))
+;; (format *error-output* "(instance room610-sweeper-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-tray-object.l
===================================================================
--- trunk/EusLisp/models/room610-tray-object.l (rev 0)
+++ trunk/EusLisp/models/room610-tray-object.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -0,0 +1,117 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-tray-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3 handle4 handle5
+ ))
+(defmethod room610-tray-object
+ (:init
+ (&rest args &key (name "room610-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 :room610-tray-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector -200.0 150.0 15.0) (float-vector -200.0 -150.0 15.0) (float-vector 200.0 -150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector -200.0 -150.0 5.0)))
+ (instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector 200.0 150.0 5.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 150.0 15.0)))
+ (instance face :init :vertices (list (float-vector 200.0 -150.0 15.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 -150.0 15.0) (float-vector -200.0 -150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 -150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 150.0 15.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 -150.0 5.0) (float-vector -200.0 -150.0 15.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector -200.0 155.0 37.5) (float-vector -200.0 145.0 37.5) (float-vector 200.0 145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 155.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector -200.0 145.0 7.5)))
+ (instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector 200.0 155.0 7.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 155.0 37.5)))
+ (instance face :init :vertices (list (float-vector 200.0 145.0 37.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 145.0 37.5) (float-vector -200.0 145.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 155.0 37.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 145.0 7.5) (float-vector -200.0 145.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -155.0 37.5) (float-vector 200.0 -155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -145.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector -200.0 -155.0 7.5)))
+ (instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector 200.0 -145.0 7.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -145.0 37.5)))
+ (instance face :init :vertices (list (float-vector 200.0 -155.0 37.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -155.0 37.5) (float-vector -200.0 -155.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -155.0 7.5) (float-vector -200.0 -155.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 205.0 150.0 37.5) (float-vector 195.0 150.0 37.5) (float-vector 195.0 -150.0 37.5) (float-vector 205.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 150.0 7.5) (float-vector 205.0 150.0 7.5) (float-vector 205.0 -150.0 7.5) (float-vector 195.0 -150.0 7.5)))
+ (instance face :init :vertices (list (float-vector 205.0 150.0 37.5) (float-vector 205.0 150.0 7.5) (float-vector 195.0 150.0 7.5) (float-vector 195.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 205.0 -150.0 37.5) (float-vector 205.0 -150.0 7.5) (float-vector 205.0 150.0 7.5) (float-vector 205.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 -150.0 37.5) (float-vector 195.0 -150.0 7.5) (float-vector 205.0 -150.0 7.5) (float-vector 205.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 150.0 37.5) (float-vector 195.0 150.0 7.5) (float-vector 195.0 -150.0 7.5) (float-vector 195.0 -150.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -195.0 150.0 37.5) (float-vector -205.0 150.0 37.5) (float-vector -205.0 -150.0 37.5) (float-vector -195.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 150.0 7.5) (float-vector -195.0 150.0 7.5) (float-vector -195.0 -150.0 7.5) (float-vector -205.0 -150.0 7.5)))
+ (instance face :init :vertices (list (float-vector -195.0 150.0 37.5) (float-vector -195.0 150.0 7.5) (float-vector -205.0 150.0 7.5) (float-vector -205.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -195.0 -150.0 37.5) (float-vector -195.0 -150.0 7.5) (float-vector -195.0 150.0 7.5) (float-vector -195.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 -150.0 37.5) (float-vector -205.0 -150.0 7.5) (float-vector -195.0 -150.0 7.5) (float-vector -195.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 150.0 37.5) (float-vector -205.0 150.0 7.5) (float-vector -205.0 -150.0 7.5) (float-vector -205.0 -150.0 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 :room610-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 0.0 150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":larm-handle"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 0.0 -150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":rarm-handle"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 200.0 -120.0 30.0) :rot #2f((-0.707107 -6.106227e-16 -0.707107) (0.707107 -2.775558e-16 -0.707107) (2.775558e-16 -1.0 6.106227e-16)) :name "handle2"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector 200.0 120.0 30.0) :rot #2f((-0.707107 6.106227e-16 -0.707107) (-0.707107 -2.775558e-16 0.707107) (2.775558e-16 1.0 6.106227e-16)) :name "handle3"))
+ (send self :assoc handle3)
+ (setq handle4 (make-cascoords :pos (float-vector -200.0 -120.0 30.0) :rot #2f((0.707107 -6.661338e-16 -0.707107) (0.707107 5.828671e-16 0.707107) (-5.551115e-17 -1.0 8.604228e-16)) :name "handle4"))
+ (send self :assoc handle4)
+ (setq handle5 (make-cascoords :pos (float-vector -200.0 120.0 30.0) :rot #2f((0.707107 6.661338e-16 -0.707107) (-0.707107 5.828671e-16 -0.707107) (-5.551115e-17 1.0 8.604228e-16)) :name "handle5"))
+ (send self :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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
+ (:handle-larm-handle () handle0)
+ (:handle-rarm-handle () handle1)
+ (:handle-handle2 () handle2)
+ (:handle-handle3 () handle3)
+ (:handle-handle4 () handle4)
+ (:handle-handle5 () handle5)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-tray (&rest args) (instance* room610-tray-object :init args))
+;; (format *error-output* "(instance room610-tray-object :init) for generating model~%")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-19 04:51:18
|
Revision: 609
http://sourceforge.net/p/euslisp/code/609
Author: snozawa
Date: 2013-04-19 04:51:10 +0000 (Fri, 19 Apr 2013)
Log Message:
-----------
add tray and sweeper to room610
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-sweeper-object.l
trunk/EusLisp/models/room610-tray-object.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-19 04:17:50 UTC (rev 608)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -9,6 +9,8 @@
(load "models/room610-bears-panel-object.l")
(load "models/room610-bears-panel-object.l")
(load "models/room610-610-ground-object.l")
+(load "models/room610-tray-object.l")
+(load "models/room610-sweeper-object.l")
(load "models/room610-cabinet-mamoru-object.l")
(load "models/room610-cabinet-object.l")
(load "models/room610-shelf2-object.l")
@@ -40,6 +42,8 @@
(send (room610-bears-panel) :transform (make-coords :pos (float-vector 5750.0 -1730.0 0.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-bears-panel) :transform (make-coords :pos (float-vector 5300.0 -2100.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-610-ground) :transform (make-coords :pos (float-vector 4650.0 110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-tray) :transform (make-coords :pos (float-vector 4650.0 340.0 700.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-sweeper) :transform (make-coords :pos (float-vector 3100.0 1990.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-cabinet-mamoru) :transform (make-coords :pos (float-vector 4650.0 -910.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-cabinet) :transform (make-coords :pos (float-vector 3610.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
Added: trunk/EusLisp/models/room610-sweeper-object.l
===================================================================
--- trunk/EusLisp/models/room610-sweeper-object.l (rev 0)
+++ trunk/EusLisp/models/room610-sweeper-object.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -0,0 +1,172 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-sweeper-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3
+ joint0 joint1 ))
+(defmethod room610-sweeper-object
+ (:init
+ (&rest args &key (name "room610-sweeper") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :box
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector -75.0 150.0 40.0) (float-vector -75.0 -150.0 40.0) (float-vector 75.0 -150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector -75.0 -150.0 0.0)))
+ (instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector 75.0 150.0 0.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 150.0 40.0)))
+ (instance face :init :vertices (list (float-vector 75.0 -150.0 40.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 -150.0 40.0) (float-vector -75.0 -150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 -150.0 40.0)))
+ (instance face :init :vertices (list (float-vector -75.0 150.0 40.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 -150.0 0.0) (float-vector -75.0 -150.0 40.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector -10.0 10.0 60.0) (float-vector -10.0 -10.0 60.0) (float-vector 10.0 -10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector -10.0 -10.0 40.0)))
+ (instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector 10.0 10.0 40.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 10.0 60.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -10.0 60.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -10.0 60.0) (float-vector -10.0 -10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 -10.0 60.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 60.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 -10.0 40.0) (float-vector -10.0 -10.0 60.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray40)
+ (send (elt bc 1) :set-color :gray20)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box :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 :joint
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
+ (instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
+ (instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray20)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :joint :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 :bar
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 8.66025 5.0 0.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 0.0) (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 140.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 8.66025 -5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector 0.0 -10.0 140.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -5.0 -8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -8.66025 -5.0 140.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 140.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -8.66025 5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector -5.0 8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 0.0 10.0 140.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 5.0 8.66025 140.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 0.0) (float-vector 8.66025 5.0 0.0) (float-vector 8.66025 5.0 140.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 8.66025 5.0 140.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 1000.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 1000.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 1000.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 10.0 0.0 1180.0) (float-vector 8.66025 5.0 1180.0) (float-vector 5.0 8.66025 1180.0) (float-vector 0.0 10.0 1180.0) (float-vector -5.0 8.66025 1180.0) (float-vector -8.66025 5.0 1180.0) (float-vector -10.0 0.0 1180.0) (float-vector -8.66025 -5.0 1180.0) (float-vector -5.0 -8.66025 1180.0) (float-vector 0.0 -10.0 1180.0) (float-vector 5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 8.66025 5.0 1000.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 5.0 -8.66025 1180.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -10.0 1180.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector -5.0 -8.66025 1180.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 -5.0 1180.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector -10.0 0.0 1180.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -8.66025 5.0 1180.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 1180.0)))
+ (instance face :init :vertices (list (float-vector -5.0 8.66025 1180.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 0.0 10.0 1180.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 5.0 8.66025 1180.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 1180.0)))
+ (instance face :init :vertices (list (float-vector 8.66025 5.0 1180.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 1180.0)))
+ (instance face :init :vertices (list (float-vector 10.0 0.0 1180.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 1180.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray20)
+ (send (elt bc 1) :set-color :gray80)
+ (send (elt bc 2) :set-color :gray20)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink1 :assoc blink2)
+ (send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 50.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink1)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :sweeper-p
+ (setq joint0 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink1 :name :sweeper-p :axis :y
+ :min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+ ;; definition of :sweeper-r
+ (setq joint1 (instance rotational-joint :init
+ :parent-link blink1 :child-link blink2 :name :sweeper-r :axis :x
+ :min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 1000.0) :rot #2f((0.707107 -0.707107 0.0) (0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":rarm"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((0.707107 0.707107 0.0) (-0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":larm"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 0.0 0.0 700.0) :rot #2f((1.0 0.0 0.0) (0.0 -1.0 -1.224606e-16) (0.0 1.224606e-16 -1.0)) :name ":side-rarm"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((-1.0 -1.224606e-16 0.0) (1.224606e-16 -1.0 0.0) (0.0 0.0 1.0)) :name ":side-larm"))
+ (send self :assoc handle3)
+
+ ;; init-ending
+ (setq links (list blink0 blink1 blink2))
+ (setq joint-list (list joint0 joint1))
+ (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))
+
+ (:sweeper-p (&rest args) (forward-message-to joint0 args))
+ (:sweeper-r (&rest args) (forward-message-to joint1 args))
+ (:handle () (list handle0 handle1 handle2 handle3))
+ (:handle-rarm () handle0)
+ (:handle-larm () handle1)
+ (:handle-side-rarm () handle2)
+ (:handle-side-larm () handle3)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-sweeper (&rest args) (instance* room610-sweeper-object :init args))
+;; (format *error-output* "(instance room610-sweeper-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-tray-object.l
===================================================================
--- trunk/EusLisp/models/room610-tray-object.l (rev 0)
+++ trunk/EusLisp/models/room610-tray-object.l 2013-04-19 04:51:10 UTC (rev 609)
@@ -0,0 +1,117 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-tray-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3 handle4 handle5
+ ))
+(defmethod room610-tray-object
+ (:init
+ (&rest args &key (name "room610-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 :room610-tray-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector -200.0 150.0 15.0) (float-vector -200.0 -150.0 15.0) (float-vector 200.0 -150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector -200.0 -150.0 5.0)))
+ (instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector 200.0 150.0 5.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 150.0 15.0)))
+ (instance face :init :vertices (list (float-vector 200.0 -150.0 15.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 -150.0 15.0) (float-vector -200.0 -150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 -150.0 15.0)))
+ (instance face :init :vertices (list (float-vector -200.0 150.0 15.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 -150.0 5.0) (float-vector -200.0 -150.0 15.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector -200.0 155.0 37.5) (float-vector -200.0 145.0 37.5) (float-vector 200.0 145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 155.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector -200.0 145.0 7.5)))
+ (instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector 200.0 155.0 7.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 155.0 37.5)))
+ (instance face :init :vertices (list (float-vector 200.0 145.0 37.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 145.0 37.5) (float-vector -200.0 145.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 155.0 37.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 145.0 7.5) (float-vector -200.0 145.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -155.0 37.5) (float-vector 200.0 -155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -145.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector -200.0 -155.0 7.5)))
+ (instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector 200.0 -145.0 7.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -145.0 37.5)))
+ (instance face :init :vertices (list (float-vector 200.0 -155.0 37.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -145.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -155.0 37.5) (float-vector -200.0 -155.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -155.0 37.5)))
+ (instance face :init :vertices (list (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -155.0 7.5) (float-vector -200.0 -155.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 205.0 150.0 37.5) (float-vector 195.0 150.0 37.5) (float-vector 195.0 -150.0 37.5) (float-vector 205.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 150.0 7.5) (float-vector 205.0 150.0 7.5) (float-vector 205.0 -150.0 7.5) (float-vector 195.0 -150.0 7.5)))
+ (instance face :init :vertices (list (float-vector 205.0 150.0 37.5) (float-vector 205.0 150.0 7.5) (float-vector 195.0 150.0 7.5) (float-vector 195.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 205.0 -150.0 37.5) (float-vector 205.0 -150.0 7.5) (float-vector 205.0 150.0 7.5) (float-vector 205.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 -150.0 37.5) (float-vector 195.0 -150.0 7.5) (float-vector 205.0 -150.0 7.5) (float-vector 205.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector 195.0 150.0 37.5) (float-vector 195.0 150.0 7.5) (float-vector 195.0 -150.0 7.5) (float-vector 195.0 -150.0 37.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -195.0 150.0 37.5) (float-vector -205.0 150.0 37.5) (float-vector -205.0 -150.0 37.5) (float-vector -195.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 150.0 7.5) (float-vector -195.0 150.0 7.5) (float-vector -195.0 -150.0 7.5) (float-vector -205.0 -150.0 7.5)))
+ (instance face :init :vertices (list (float-vector -195.0 150.0 37.5) (float-vector -195.0 150.0 7.5) (float-vector -205.0 150.0 7.5) (float-vector -205.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -195.0 -150.0 37.5) (float-vector -195.0 -150.0 7.5) (float-vector -195.0 150.0 7.5) (float-vector -195.0 150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 -150.0 37.5) (float-vector -205.0 -150.0 7.5) (float-vector -195.0 -150.0 7.5) (float-vector -195.0 -150.0 37.5)))
+ (instance face :init :vertices (list (float-vector -205.0 150.0 37.5) (float-vector -205.0 150.0 7.5) (float-vector -205.0 -150.0 7.5) (float-vector -205.0 -150.0 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 :room610-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 0.0 150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":larm-handle"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 0.0 -150.0 30.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":rarm-handle"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 200.0 -120.0 30.0) :rot #2f((-0.707107 -6.106227e-16 -0.707107) (0.707107 -2.775558e-16 -0.707107) (2.775558e-16 -1.0 6.106227e-16)) :name "handle2"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector 200.0 120.0 30.0) :rot #2f((-0.707107 6.106227e-16 -0.707107) (-0.707107 -2.775558e-16 0.707107) (2.775558e-16 1.0 6.106227e-16)) :name "handle3"))
+ (send self :assoc handle3)
+ (setq handle4 (make-cascoords :pos (float-vector -200.0 -120.0 30.0) :rot #2f((0.707107 -6.661338e-16 -0.707107) (0.707107 5.828671e-16 0.707107) (-5.551115e-17 -1.0 8.604228e-16)) :name "handle4"))
+ (send self :assoc handle4)
+ (setq handle5 (make-cascoords :pos (float-vector -200.0 120.0 30.0) :rot #2f((0.707107 6.661338e-16 -0.707107) (-0.707107 5.828671e-16 -0.707107) (-5.551115e-17 1.0 8.604228e-16)) :name "handle5"))
+ (send self :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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
+ (:handle-larm-handle () handle0)
+ (:handle-rarm-handle () handle1)
+ (:handle-handle2 () handle2)
+ (:handle-handle3 () handle3)
+ (:handle-handle4 () handle4)
+ (:handle-handle5 () handle5)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-tray (&rest args) (instance* room610-tray-object :init args))
+;; (format *error-output* "(instance room610-tray-object :init) for generating model~%")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-19 04:18:00
|
Revision: 608
http://sourceforge.net/p/euslisp/code/608
Author: snozawa
Date: 2013-04-19 04:17:50 +0000 (Fri, 19 Apr 2013)
Log Message:
-----------
add karimoku chair
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-chair-object.l
Added: trunk/EusLisp/models/room610-chair-object.l
===================================================================
--- trunk/EusLisp/models/room610-chair-object.l (rev 0)
+++ trunk/EusLisp/models/room610-chair-object.l 2013-04-19 04:17:50 UTC (rev 608)
@@ -0,0 +1,149 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-chair-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3 handle4 handle5
+ ))
+(defmethod room610-chair-object
+ (:init
+ (&rest args &key (name "room610-chair") (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 :room610-chair-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -155.0 -220.0 340.0) (float-vector -215.0 -220.0 555.0) (float-vector -305.0 -220.0 820.0) (float-vector -330.0 -220.0 840.0) (float-vector -345.0 -220.0 835.0) (float-vector -350.0 -220.0 820.0) (float-vector -270.0 -220.0 550.0)))
+ (instance face :init :vertices (list (float-vector -155.0 220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -270.0 220.0 550.0) (float-vector -350.0 220.0 820.0) (float-vector -345.0 220.0 835.0) (float-vector -330.0 220.0 840.0) (float-vector -305.0 220.0 820.0) (float-vector -215.0 220.0 555.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -155.0 -220.0 340.0)))
+ (instance face :init :vertices (list (float-vector -270.0 -220.0 550.0) (float-vector -270.0 220.0 550.0) (float-vector -225.0 220.0 340.0) (float-vector -225.0 -220.0 340.0)))
+ (instance face :init :vertices (list (float-vector -350.0 -220.0 820.0) (float-vector -350.0 220.0 820.0) (float-vector -270.0 220.0 550.0) (float-vector -270.0 -220.0 550.0)))
+ (instance face :init :vertices (list (float-vector -345.0 -220.0 835.0) (float-vector -345.0 220.0 835.0) (float-vector -350.0 220.0 820.0) (float-vector -350.0 -220.0 820.0)))
+ (instance face :init :vertices (list (float-vector -330.0 -220.0 840.0) (float-vector -330.0 220.0 840.0) (float-vector -345.0 220.0 835.0) (float-vector -345.0 -220.0 835.0)))
+ (instance face :init :vertices (list (float-vector -305.0 -220.0 820.0) (float-vector -305.0 220.0 820.0) (float-vector -330.0 220.0 840.0) (float-vector -330.0 -220.0 840.0)))
+ (instance face :init :vertices (list (float-vector -215.0 -220.0 555.0) (float-vector -215.0 220.0 555.0) (float-vector -305.0 220.0 820.0) (float-vector -305.0 -220.0 820.0)))
+ (instance face :init :vertices (list (float-vector -155.0 -220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -215.0 220.0 555.0) (float-vector -215.0 -220.0 555.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 -240.0 340.0) (float-vector 220.0 -240.0 340.0) (float-vector 220.0 -240.0 440.0) (float-vector 70.0 -240.0 435.0) (float-vector -20.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector -220.0 240.0 340.0) (float-vector -220.0 240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector 70.0 240.0 435.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 240.0 340.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 240.0 340.0) (float-vector -220.0 -240.0 340.0)))
+ (instance face :init :vertices (list (float-vector -20.0 -240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector 70.0 -240.0 435.0) (float-vector 70.0 240.0 435.0) (float-vector -20.0 240.0 415.0) (float-vector -20.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector 220.0 -240.0 440.0) (float-vector 220.0 240.0 440.0) (float-vector 70.0 240.0 435.0) (float-vector 70.0 -240.0 435.0)))
+ (instance face :init :vertices (list (float-vector 220.0 -240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 -240.0 440.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 340.0) (float-vector -220.0 240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 -240.0 340.0)))
+ (instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 247.5 257.5 420.0) (float-vector 245.49 265.0 420.0) (float-vector 240.0 270.49 420.0) (float-vector 232.5 272.5 420.0) (float-vector 225.0 270.49 420.0) (float-vector 219.51 265.0 420.0) (float-vector 217.5 257.5 420.0) (float-vector 219.51 250.0 420.0) (float-vector 225.0 244.51 420.0) (float-vector 232.5 242.5 420.0) (float-vector 240.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 257.5 0.0) (float-vector 245.49 250.0 0.0) (float-vector 240.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 225.0 244.51 0.0) (float-vector 219.51 250.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 265.0 0.0) (float-vector 225.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 240.0 270.49 0.0) (float-vector 245.49 265.0 0.0)))
+ (instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 245.49 250.0 0.0) (float-vector 247.5 257.5 0.0) (float-vector 247.5 257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 244.51 420.0) (float-vector 240.0 244.51 0.0) (float-vector 245.49 250.0 0.0) (float-vector 245.49 250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 242.5 420.0) (float-vector 232.5 242.5 0.0) (float-vector 240.0 244.51 0.0) (float-vector 240.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 244.51 420.0) (float-vector 225.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 232.5 242.5 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 250.0 420.0) (float-vector 219.51 250.0 0.0) (float-vector 225.0 244.51 0.0) (float-vector 225.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 217.5 257.5 420.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 250.0 0.0) (float-vector 219.51 250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 265.0 420.0) (float-vector 219.51 265.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 217.5 257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 270.49 420.0) (float-vector 225.0 270.49 0.0) (float-vector 219.51 265.0 0.0) (float-vector 219.51 265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 272.5 420.0) (float-vector 232.5 272.5 0.0) (float-vector 225.0 270.49 0.0) (float-vector 225.0 270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 270.49 420.0) (float-vector 240.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 232.5 272.5 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 265.0 420.0) (float-vector 245.49 265.0 0.0) (float-vector 240.0 270.49 0.0) (float-vector 240.0 270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 257.5 420.0) (float-vector 247.5 257.5 0.0) (float-vector 245.49 265.0 0.0) (float-vector 245.49 265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 247.5 -257.5 420.0) (float-vector 245.49 -250.0 420.0) (float-vector 240.0 -244.51 420.0) (float-vector 232.5 -242.5 420.0) (float-vector 225.0 -244.51 420.0) (float-vector 219.51 -250.0 420.0) (float-vector 217.5 -257.5 420.0) (float-vector 219.51 -265.0 420.0) (float-vector 225.0 -270.49 420.0) (float-vector 232.5 -272.5 420.0) (float-vector 240.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 245.49 -250.0 0.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 245.49 -265.0 0.0) (float-vector 247.5 -257.5 0.0) (float-vector 247.5 -257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 -270.49 420.0) (float-vector 240.0 -270.49 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 245.49 -265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -272.5 420.0) (float-vector 232.5 -272.5 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 240.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 -270.49 420.0) (float-vector 225.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 232.5 -272.5 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 -265.0 420.0) (float-vector 219.51 -265.0 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 225.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 217.5 -257.5 420.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 219.51 -265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 -250.0 420.0) (float-vector 219.51 -250.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 217.5 -257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 -244.51 420.0) (float-vector 225.0 -244.51 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 219.51 -250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -242.5 420.0) (float-vector 232.5 -242.5 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 225.0 -244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 -244.51 420.0) (float-vector 240.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 232.5 -242.5 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -250.0 420.0) (float-vector 245.49 -250.0 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 240.0 -244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 -257.5 420.0) (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -250.0 0.0) (float-vector 245.49 -250.0 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -217.5 187.5 420.0) (float-vector -219.51 195.0 420.0) (float-vector -225.0 200.49 420.0) (float-vector -232.5 202.5 420.0) (float-vector -240.0 200.49 420.0) (float-vector -245.49 195.0 420.0) (float-vector -247.5 187.5 420.0) (float-vector -245.49 180.0 420.0) (float-vector -240.0 174.51 420.0) (float-vector -232.5 172.5 420.0) (float-vector -225.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 187.5 0.0) (float-vector -219.51 180.0 0.0) (float-vector -225.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -240.0 174.51 0.0) (float-vector -245.49 180.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 195.0 0.0) (float-vector -240.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -225.0 200.49 0.0) (float-vector -219.51 195.0 0.0)))
+ (instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -219.51 180.0 0.0) (float-vector -217.5 187.5 0.0) (float-vector -217.5 187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 174.51 420.0) (float-vector -225.0 174.51 0.0) (float-vector -219.51 180.0 0.0) (float-vector -219.51 180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 172.5 420.0) (float-vector -232.5 172.5 0.0) (float-vector -225.0 174.51 0.0) (float-vector -225.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 174.51 420.0) (float-vector -240.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -232.5 172.5 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 180.0 420.0) (float-vector -245.49 180.0 0.0) (float-vector -240.0 174.51 0.0) (float-vector -240.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -247.5 187.5 420.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 180.0 0.0) (float-vector -245.49 180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 195.0 420.0) (float-vector -245.49 195.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -247.5 187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 200.49 420.0) (float-vector -240.0 200.49 0.0) (float-vector -245.49 195.0 0.0) (float-vector -245.49 195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 202.5 420.0) (float-vector -232.5 202.5 0.0) (float-vector -240.0 200.49 0.0) (float-vector -240.0 200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 200.49 420.0) (float-vector -225.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -232.5 202.5 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 195.0 420.0) (float-vector -219.51 195.0 0.0) (float-vector -225.0 200.49 0.0) (float-vector -225.0 200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 187.5 420.0) (float-vector -217.5 187.5 0.0) (float-vector -219.51 195.0 0.0) (float-vector -219.51 195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -217.5 -187.5 420.0) (float-vector -219.51 -180.0 420.0) (float-vector -225.0 -174.51 420.0) (float-vector -232.5 -172.5 420.0) (float-vector -240.0 -174.51 420.0) (float-vector -245.49 -180.0 420.0) (float-vector -247.5 -187.5 420.0) (float-vector -245.49 -195.0 420.0) (float-vector -240.0 -200.49 420.0) (float-vector -232.5 -202.5 420.0) (float-vector -225.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -219.51 -180.0 0.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -219.51 -195.0 0.0) (float-vector -217.5 -187.5 0.0) (float-vector -217.5 -187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -200.49 420.0) (float-vector -225.0 -200.49 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -219.51 -195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -202.5 420.0) (float-vector -232.5 -202.5 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -225.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 -200.49 420.0) (float-vector -240.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -232.5 -202.5 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 -195.0 420.0) (float-vector -245.49 -195.0 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -240.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -247.5 -187.5 420.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -245.49 -195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 -180.0 420.0) (float-vector -245.49 -180.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -247.5 -187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 -174.51 420.0) (float-vector -240.0 -174.51 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -245.49 -180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -172.5 420.0) (float-vector -232.5 -172.5 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -240.0 -174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -174.51 420.0) (float-vector -225.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -232.5 -172.5 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -180.0 420.0) (float-vector -219.51 -180.0 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -225.0 -174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 -187.5 420.0) (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -180.0 0.0) (float-vector -219.51 -180.0 420.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color (list))
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-chair-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 -300.0 160.0 750.0) :rot #2f((-5.551115e-17 0.939693 -0.34202) (-1.0 -1.110223e-16 2.775558e-17) (-2.775558e-17 0.34202 0.939693)) :name ":side-larm"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector -300.0 -160.0 750.0) :rot #2f((-5.551115e-17 -0.939693 -0.34202) (1.0 -1.110223e-16 -2.775558e-17) (-2.775558e-17 -0.34202 0.939693)) :name ":side-rarm"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector -300.0 0.0 830.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-larm"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector -330.0 0.0 830.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-rarm"))
+ (send self :assoc handle3)
+ (setq handle4 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-cloth-larm"))
+ (send self :assoc handle4)
+ (setq handle5 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-cloth-rarm"))
+ (send self :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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
+ (:handle-side-larm () handle0)
+ (:handle-side-rarm () handle1)
+ (:handle-above-larm () handle2)
+ (:handle-above-rarm () handle3)
+ (:handle-above-cloth-larm () handle4)
+ (:handle-above-cloth-rarm () handle5)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-chair (&rest args) (instance* room610-chair-object :init args))
+;; (format *error-output* "(instance room610-chair-object :init) for generating model~%")
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-18 14:15:43 UTC (rev 607)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-19 04:17:50 UTC (rev 608)
@@ -22,6 +22,7 @@
(load "models/room610-fridge-object.l")
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
+(load "models/room610-chair-object.l")
(load "models/room610-laundary-machine-object.l")
(defclass room610-scene
@@ -44,7 +45,7 @@
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf1) :transform (make-coords :pos (float-vector 2010.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf0) :transform (make-coords :pos (float-vector 1150.0 1690.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2550.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2613.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-x-leg-desk) :transform (make-coords :pos (float-vector 4450.0 2290.0 188.573) :rot #2f((2.220446e-16 1.0 5.858282e-16) (-1.0 2.220446e-16 3.405978e-16) (3.405978e-16 -5.858282e-16 1.0))))
(send (room610-tv3) :transform (make-coords :pos (float-vector 4650.0 -2160.0 100.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-tv1) :transform (make-coords :pos (float-vector 4450.0 2290.0 400.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
@@ -52,7 +53,8 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3150.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-chair) :transform (make-coords :pos (float-vector 4300.0 -260.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-19 04:17:58
|
Revision: 608
http://sourceforge.net/p/euslisp/code/608
Author: snozawa
Date: 2013-04-19 04:17:50 +0000 (Fri, 19 Apr 2013)
Log Message:
-----------
add karimoku chair
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-chair-object.l
Added: trunk/EusLisp/models/room610-chair-object.l
===================================================================
--- trunk/EusLisp/models/room610-chair-object.l (rev 0)
+++ trunk/EusLisp/models/room610-chair-object.l 2013-04-19 04:17:50 UTC (rev 608)
@@ -0,0 +1,149 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-chair-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3 handle4 handle5
+ ))
+(defmethod room610-chair-object
+ (:init
+ (&rest args &key (name "room610-chair") (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 :room610-chair-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -155.0 -220.0 340.0) (float-vector -215.0 -220.0 555.0) (float-vector -305.0 -220.0 820.0) (float-vector -330.0 -220.0 840.0) (float-vector -345.0 -220.0 835.0) (float-vector -350.0 -220.0 820.0) (float-vector -270.0 -220.0 550.0)))
+ (instance face :init :vertices (list (float-vector -155.0 220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -270.0 220.0 550.0) (float-vector -350.0 220.0 820.0) (float-vector -345.0 220.0 835.0) (float-vector -330.0 220.0 840.0) (float-vector -305.0 220.0 820.0) (float-vector -215.0 220.0 555.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -155.0 -220.0 340.0)))
+ (instance face :init :vertices (list (float-vector -270.0 -220.0 550.0) (float-vector -270.0 220.0 550.0) (float-vector -225.0 220.0 340.0) (float-vector -225.0 -220.0 340.0)))
+ (instance face :init :vertices (list (float-vector -350.0 -220.0 820.0) (float-vector -350.0 220.0 820.0) (float-vector -270.0 220.0 550.0) (float-vector -270.0 -220.0 550.0)))
+ (instance face :init :vertices (list (float-vector -345.0 -220.0 835.0) (float-vector -345.0 220.0 835.0) (float-vector -350.0 220.0 820.0) (float-vector -350.0 -220.0 820.0)))
+ (instance face :init :vertices (list (float-vector -330.0 -220.0 840.0) (float-vector -330.0 220.0 840.0) (float-vector -345.0 220.0 835.0) (float-vector -345.0 -220.0 835.0)))
+ (instance face :init :vertices (list (float-vector -305.0 -220.0 820.0) (float-vector -305.0 220.0 820.0) (float-vector -330.0 220.0 840.0) (float-vector -330.0 -220.0 840.0)))
+ (instance face :init :vertices (list (float-vector -215.0 -220.0 555.0) (float-vector -215.0 220.0 555.0) (float-vector -305.0 220.0 820.0) (float-vector -305.0 -220.0 820.0)))
+ (instance face :init :vertices (list (float-vector -155.0 -220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -215.0 220.0 555.0) (float-vector -215.0 -220.0 555.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 -240.0 340.0) (float-vector 220.0 -240.0 340.0) (float-vector 220.0 -240.0 440.0) (float-vector 70.0 -240.0 435.0) (float-vector -20.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector -220.0 240.0 340.0) (float-vector -220.0 240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector 70.0 240.0 435.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 240.0 340.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 240.0 340.0) (float-vector -220.0 -240.0 340.0)))
+ (instance face :init :vertices (list (float-vector -20.0 -240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector 70.0 -240.0 435.0) (float-vector 70.0 240.0 435.0) (float-vector -20.0 240.0 415.0) (float-vector -20.0 -240.0 415.0)))
+ (instance face :init :vertices (list (float-vector 220.0 -240.0 440.0) (float-vector 220.0 240.0 440.0) (float-vector 70.0 240.0 435.0) (float-vector 70.0 -240.0 435.0)))
+ (instance face :init :vertices (list (float-vector 220.0 -240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 -240.0 440.0)))
+ (instance face :init :vertices (list (float-vector -220.0 -240.0 340.0) (float-vector -220.0 240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 -240.0 340.0)))
+ (instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 247.5 257.5 420.0) (float-vector 245.49 265.0 420.0) (float-vector 240.0 270.49 420.0) (float-vector 232.5 272.5 420.0) (float-vector 225.0 270.49 420.0) (float-vector 219.51 265.0 420.0) (float-vector 217.5 257.5 420.0) (float-vector 219.51 250.0 420.0) (float-vector 225.0 244.51 420.0) (float-vector 232.5 242.5 420.0) (float-vector 240.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 257.5 0.0) (float-vector 245.49 250.0 0.0) (float-vector 240.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 225.0 244.51 0.0) (float-vector 219.51 250.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 265.0 0.0) (float-vector 225.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 240.0 270.49 0.0) (float-vector 245.49 265.0 0.0)))
+ (instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 245.49 250.0 0.0) (float-vector 247.5 257.5 0.0) (float-vector 247.5 257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 244.51 420.0) (float-vector 240.0 244.51 0.0) (float-vector 245.49 250.0 0.0) (float-vector 245.49 250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 242.5 420.0) (float-vector 232.5 242.5 0.0) (float-vector 240.0 244.51 0.0) (float-vector 240.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 244.51 420.0) (float-vector 225.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 232.5 242.5 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 250.0 420.0) (float-vector 219.51 250.0 0.0) (float-vector 225.0 244.51 0.0) (float-vector 225.0 244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 217.5 257.5 420.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 250.0 0.0) (float-vector 219.51 250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 265.0 420.0) (float-vector 219.51 265.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 217.5 257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 270.49 420.0) (float-vector 225.0 270.49 0.0) (float-vector 219.51 265.0 0.0) (float-vector 219.51 265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 272.5 420.0) (float-vector 232.5 272.5 0.0) (float-vector 225.0 270.49 0.0) (float-vector 225.0 270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 270.49 420.0) (float-vector 240.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 232.5 272.5 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 265.0 420.0) (float-vector 245.49 265.0 0.0) (float-vector 240.0 270.49 0.0) (float-vector 240.0 270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 257.5 420.0) (float-vector 247.5 257.5 0.0) (float-vector 245.49 265.0 0.0) (float-vector 245.49 265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 247.5 -257.5 420.0) (float-vector 245.49 -250.0 420.0) (float-vector 240.0 -244.51 420.0) (float-vector 232.5 -242.5 420.0) (float-vector 225.0 -244.51 420.0) (float-vector 219.51 -250.0 420.0) (float-vector 217.5 -257.5 420.0) (float-vector 219.51 -265.0 420.0) (float-vector 225.0 -270.49 420.0) (float-vector 232.5 -272.5 420.0) (float-vector 240.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 245.49 -250.0 0.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 245.49 -265.0 0.0) (float-vector 247.5 -257.5 0.0) (float-vector 247.5 -257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 -270.49 420.0) (float-vector 240.0 -270.49 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 245.49 -265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -272.5 420.0) (float-vector 232.5 -272.5 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 240.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 -270.49 420.0) (float-vector 225.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 232.5 -272.5 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 -265.0 420.0) (float-vector 219.51 -265.0 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 225.0 -270.49 420.0)))
+ (instance face :init :vertices (list (float-vector 217.5 -257.5 420.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 219.51 -265.0 420.0)))
+ (instance face :init :vertices (list (float-vector 219.51 -250.0 420.0) (float-vector 219.51 -250.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 217.5 -257.5 420.0)))
+ (instance face :init :vertices (list (float-vector 225.0 -244.51 420.0) (float-vector 225.0 -244.51 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 219.51 -250.0 420.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -242.5 420.0) (float-vector 232.5 -242.5 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 225.0 -244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 240.0 -244.51 420.0) (float-vector 240.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 232.5 -242.5 420.0)))
+ (instance face :init :vertices (list (float-vector 245.49 -250.0 420.0) (float-vector 245.49 -250.0 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 240.0 -244.51 420.0)))
+ (instance face :init :vertices (list (float-vector 247.5 -257.5 420.0) (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -250.0 0.0) (float-vector 245.49 -250.0 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -217.5 187.5 420.0) (float-vector -219.51 195.0 420.0) (float-vector -225.0 200.49 420.0) (float-vector -232.5 202.5 420.0) (float-vector -240.0 200.49 420.0) (float-vector -245.49 195.0 420.0) (float-vector -247.5 187.5 420.0) (float-vector -245.49 180.0 420.0) (float-vector -240.0 174.51 420.0) (float-vector -232.5 172.5 420.0) (float-vector -225.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 187.5 0.0) (float-vector -219.51 180.0 0.0) (float-vector -225.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -240.0 174.51 0.0) (float-vector -245.49 180.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 195.0 0.0) (float-vector -240.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -225.0 200.49 0.0) (float-vector -219.51 195.0 0.0)))
+ (instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -219.51 180.0 0.0) (float-vector -217.5 187.5 0.0) (float-vector -217.5 187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 174.51 420.0) (float-vector -225.0 174.51 0.0) (float-vector -219.51 180.0 0.0) (float-vector -219.51 180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 172.5 420.0) (float-vector -232.5 172.5 0.0) (float-vector -225.0 174.51 0.0) (float-vector -225.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 174.51 420.0) (float-vector -240.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -232.5 172.5 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 180.0 420.0) (float-vector -245.49 180.0 0.0) (float-vector -240.0 174.51 0.0) (float-vector -240.0 174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -247.5 187.5 420.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 180.0 0.0) (float-vector -245.49 180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 195.0 420.0) (float-vector -245.49 195.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -247.5 187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 200.49 420.0) (float-vector -240.0 200.49 0.0) (float-vector -245.49 195.0 0.0) (float-vector -245.49 195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 202.5 420.0) (float-vector -232.5 202.5 0.0) (float-vector -240.0 200.49 0.0) (float-vector -240.0 200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 200.49 420.0) (float-vector -225.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -232.5 202.5 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 195.0 420.0) (float-vector -219.51 195.0 0.0) (float-vector -225.0 200.49 0.0) (float-vector -225.0 200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 187.5 420.0) (float-vector -217.5 187.5 0.0) (float-vector -219.51 195.0 0.0) (float-vector -219.51 195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -217.5 -187.5 420.0) (float-vector -219.51 -180.0 420.0) (float-vector -225.0 -174.51 420.0) (float-vector -232.5 -172.5 420.0) (float-vector -240.0 -174.51 420.0) (float-vector -245.49 -180.0 420.0) (float-vector -247.5 -187.5 420.0) (float-vector -245.49 -195.0 420.0) (float-vector -240.0 -200.49 420.0) (float-vector -232.5 -202.5 420.0) (float-vector -225.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -219.51 -180.0 0.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -219.51 -195.0 0.0) (float-vector -217.5 -187.5 0.0) (float-vector -217.5 -187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -200.49 420.0) (float-vector -225.0 -200.49 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -219.51 -195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -202.5 420.0) (float-vector -232.5 -202.5 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -225.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 -200.49 420.0) (float-vector -240.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -232.5 -202.5 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 -195.0 420.0) (float-vector -245.49 -195.0 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -240.0 -200.49 420.0)))
+ (instance face :init :vertices (list (float-vector -247.5 -187.5 420.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -245.49 -195.0 420.0)))
+ (instance face :init :vertices (list (float-vector -245.49 -180.0 420.0) (float-vector -245.49 -180.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -247.5 -187.5 420.0)))
+ (instance face :init :vertices (list (float-vector -240.0 -174.51 420.0) (float-vector -240.0 -174.51 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -245.49 -180.0 420.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -172.5 420.0) (float-vector -232.5 -172.5 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -240.0 -174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -225.0 -174.51 420.0) (float-vector -225.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -232.5 -172.5 420.0)))
+ (instance face :init :vertices (list (float-vector -219.51 -180.0 420.0) (float-vector -219.51 -180.0 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -225.0 -174.51 420.0)))
+ (instance face :init :vertices (list (float-vector -217.5 -187.5 420.0) (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -180.0 0.0) (float-vector -219.51 -180.0 420.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color (list))
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-chair-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 -300.0 160.0 750.0) :rot #2f((-5.551115e-17 0.939693 -0.34202) (-1.0 -1.110223e-16 2.775558e-17) (-2.775558e-17 0.34202 0.939693)) :name ":side-larm"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector -300.0 -160.0 750.0) :rot #2f((-5.551115e-17 -0.939693 -0.34202) (1.0 -1.110223e-16 -2.775558e-17) (-2.775558e-17 -0.34202 0.939693)) :name ":side-rarm"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector -300.0 0.0 830.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-larm"))
+ (send self :assoc handle2)
+ (setq handle3 (make-cascoords :pos (float-vector -330.0 0.0 830.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-rarm"))
+ (send self :assoc handle3)
+ (setq handle4 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-cloth-larm"))
+ (send self :assoc handle4)
+ (setq handle5 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-cloth-rarm"))
+ (send self :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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list handle0 handle1 handle2 handle3 handle4 handle5))
+ (:handle-side-larm () handle0)
+ (:handle-side-rarm () handle1)
+ (:handle-above-larm () handle2)
+ (:handle-above-rarm () handle3)
+ (:handle-above-cloth-larm () handle4)
+ (:handle-above-cloth-rarm () handle5)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-chair (&rest args) (instance* room610-chair-object :init args))
+;; (format *error-output* "(instance room610-chair-object :init) for generating model~%")
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-18 14:15:43 UTC (rev 607)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-19 04:17:50 UTC (rev 608)
@@ -22,6 +22,7 @@
(load "models/room610-fridge-object.l")
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
+(load "models/room610-chair-object.l")
(load "models/room610-laundary-machine-object.l")
(defclass room610-scene
@@ -44,7 +45,7 @@
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf1) :transform (make-coords :pos (float-vector 2010.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf0) :transform (make-coords :pos (float-vector 1150.0 1690.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2550.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2613.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-x-leg-desk) :transform (make-coords :pos (float-vector 4450.0 2290.0 188.573) :rot #2f((2.220446e-16 1.0 5.858282e-16) (-1.0 2.220446e-16 3.405978e-16) (3.405978e-16 -5.858282e-16 1.0))))
(send (room610-tv3) :transform (make-coords :pos (float-vector 4650.0 -2160.0 100.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-tv1) :transform (make-coords :pos (float-vector 4450.0 2290.0 400.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
@@ -52,7 +53,8 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3150.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-chair) :transform (make-coords :pos (float-vector 4300.0 -260.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <k-...@us...> - 2013-04-18 14:15:53
|
Revision: 607
http://sourceforge.net/p/euslisp/code/607
Author: k-okada
Date: 2013-04-18 14:15:43 +0000 (Thu, 18 Apr 2013)
Log Message:
-----------
move enclosed-vertexp from jsk, update convex-hull-3d based on convex-hull-3d-old of primtpatch.l
Modified Paths:
--------------
trunk/EusLisp/lisp/geo/primt.l
Modified: trunk/EusLisp/lisp/geo/primt.l
===================================================================
--- trunk/EusLisp/lisp/geo/primt.l 2013-04-16 06:48:00 UTC (rev 606)
+++ trunk/EusLisp/lisp/geo/primt.l 2013-04-18 14:15:43 UTC (rev 607)
@@ -332,6 +332,13 @@
;; convexhull using gift-wrapping algorithm
;;
+(defun enclosed-vertexp (v) ;; v=(#f() #<edge..> #<edge..>...)
+ (let ((result t))
+ (dolist (e (cdr v))
+ (setq result (and (e . pface)(e . nface) result))
+ )
+ (and (cdr v) result)))
+
(defun convex-hull-3d (vertices)
"ARGS = (vertices)
Create a body of convex-hull from a list of vertices"
@@ -390,8 +397,15 @@
(setq newedges (send newface :edges))
(dolist (ne newedges)
(if (memq ne edgeq)
- (setq edgeq (delete ne edgeq))
- (setq edgeq (cons ne edgeq))))
+ (progn
+ (setq edgeq (delete ne edgeq))
+ (let ((ver))
+ (dolist (v (send ne :vertices))
+ (setq ver (find v *vertices* :key #'car))
+ (if (enclosed-vertexp ver)
+ (setq *vertices* (delete ver *vertices* :count 1 )
+ )))))
+ (setq edgeq (append edgeq (list ne)))))
(setq faceq (cons newface faceq))
(nconc *faces* (list newface))
(if *debug* (print (length *faces* )))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ky...@us...> - 2013-04-16 06:48:09
|
Revision: 606
http://sourceforge.net/p/euslisp/code/606
Author: kyouhei
Date: 2013-04-16 06:48:00 +0000 (Tue, 16 Apr 2013)
Log Message:
-----------
?\230?\180?\151?\230?\191?\175?\230?\169?\159?\227?\129?\140?\227?\131?\134?\227?\131?\172?\227?\131?\147?\227?\129?\171?\227?\130?\129?\227?\130?\138?\232?\190?\188?\227?\130?\147?\227?\129?\167?\227?\129?\132?\227?\129?\159?\227?\129?\174?\227?\129?\167?\227?\130?\170?\227?\131?\188?\227?\131?\135?\227?\130?\163?\227?\130?\170?\227?\131?\156?\227?\131?\188?\227?\131?\137?\227?\129?\168?\227?\129?\168?\227?\130?\130?\227?\129?\171?\228?\189?\141?\231?\189?\174?\228?\191?\174?\230?\173?\163
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-16 04:50:52 UTC (rev 605)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-16 06:48:00 UTC (rev 606)
@@ -44,7 +44,7 @@
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf1) :transform (make-coords :pos (float-vector 2010.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf0) :transform (make-coords :pos (float-vector 1150.0 1690.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2613.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2550.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-x-leg-desk) :transform (make-coords :pos (float-vector 4450.0 2290.0 188.573) :rot #2f((2.220446e-16 1.0 5.858282e-16) (-1.0 2.220446e-16 3.405978e-16) (3.405978e-16 -5.858282e-16 1.0))))
(send (room610-tv3) :transform (make-coords :pos (float-vector 4650.0 -2160.0 100.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-tv1) :transform (make-coords :pos (float-vector 4450.0 2290.0 400.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
@@ -52,7 +52,7 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3150.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ky...@us...> - 2013-04-16 06:48:07
|
Revision: 606
http://sourceforge.net/p/euslisp/code/606
Author: kyouhei
Date: 2013-04-16 06:48:00 +0000 (Tue, 16 Apr 2013)
Log Message:
-----------
?\230?\180?\151?\230?\191?\175?\230?\169?\159?\227?\129?\140?\227?\131?\134?\227?\131?\172?\227?\131?\147?\227?\129?\171?\227?\130?\129?\227?\130?\138?\232?\190?\188?\227?\130?\147?\227?\129?\167?\227?\129?\132?\227?\129?\159?\227?\129?\174?\227?\129?\167?\227?\130?\170?\227?\131?\188?\227?\131?\135?\227?\130?\163?\227?\130?\170?\227?\131?\156?\227?\131?\188?\227?\131?\137?\227?\129?\168?\227?\129?\168?\227?\130?\130?\227?\129?\171?\228?\189?\141?\231?\189?\174?\228?\191?\174?\230?\173?\163
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-16 04:50:52 UTC (rev 605)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-16 06:48:00 UTC (rev 606)
@@ -44,7 +44,7 @@
(send (room610-shelf2) :transform (make-coords :pos (float-vector 2810.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf1) :transform (make-coords :pos (float-vector 2010.0 -2160.0 0.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-shelf0) :transform (make-coords :pos (float-vector 1150.0 1690.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2613.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-audio_shelf) :transform (make-coords :pos (float-vector 2550.0 2379.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-x-leg-desk) :transform (make-coords :pos (float-vector 4450.0 2290.0 188.573) :rot #2f((2.220446e-16 1.0 5.858282e-16) (-1.0 2.220446e-16 3.405978e-16) (3.405978e-16 -5.858282e-16 1.0))))
(send (room610-tv3) :transform (make-coords :pos (float-vector 4650.0 -2160.0 100.0) :rot #2f((-2.220446e-16 -1.0 0.0) (1.0 -2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-tv1) :transform (make-coords :pos (float-vector 4450.0 2290.0 400.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
@@ -52,7 +52,7 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3150.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-16 04:51:01
|
Revision: 605
http://sourceforge.net/p/euslisp/code/605
Author: snozawa
Date: 2013-04-16 04:50:52 +0000 (Tue, 16 Apr 2013)
Log Message:
-----------
remove wall from 610 room
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Removed Paths:
-------------
trunk/EusLisp/models/room610-wall187-object.l
trunk/EusLisp/models/room610-wall189-object.l
trunk/EusLisp/models/room610-wall191-object.l
trunk/EusLisp/models/room610-wall193-object.l
trunk/EusLisp/models/room610-wall195-object.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -23,11 +23,6 @@
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
(load "models/room610-laundary-machine-object.l")
-(load "models/room610-wall195-object.l")
-(load "models/room610-wall193-object.l")
-(load "models/room610-wall191-object.l")
-(load "models/room610-wall189-object.l")
-(load "models/room610-wall187-object.l")
(defclass room610-scene
:super scene-model
@@ -58,11 +53,6 @@
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall195) :transform (make-coords :pos (float-vector 9160.0 0.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall193) :transform (make-coords :pos (float-vector 4580.0 -3870.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-wall191) :transform (make-coords :pos (float-vector 4580.0 3840.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-wall189) :transform (make-coords :pos (float-vector 0.0 2330.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall187) :transform (make-coords :pos (float-vector 0.0 -2345.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
Deleted: trunk/EusLisp/models/room610-wall187-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall187-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall187-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall187-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall187-object
- (:init
- (&rest args &key (name "room610-wall187") (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 :room610-wall187-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 1525.0 150.0 1375.0) (float-vector -1525.0 150.0 1375.0) (float-vector -1525.0 -150.0 1375.0) (float-vector 1525.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 150.0 -1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector -1525.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 1525.0 150.0 1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector -1525.0 150.0 -1375.0) (float-vector -1525.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 1525.0 -150.0 1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector 1525.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 -150.0 1375.0) (float-vector -1525.0 -150.0 -1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector 1525.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 150.0 1375.0) (float-vector -1525.0 150.0 -1375.0) (float-vector -1525.0 -150.0 -1375.0) (float-vector -1525.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall187-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall187 (&rest args) (instance* room610-wall187-object :init args))
-;; (format *error-output* "(instance room610-wall187-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall189-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall189-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall189-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall189-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall189-object
- (:init
- (&rest args &key (name "room610-wall189") (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 :room610-wall189-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 1510.0 150.0 1375.0) (float-vector -1510.0 150.0 1375.0) (float-vector -1510.0 -150.0 1375.0) (float-vector 1510.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 150.0 -1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector -1510.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 1510.0 150.0 1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector -1510.0 150.0 -1375.0) (float-vector -1510.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 1510.0 -150.0 1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector 1510.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 -150.0 1375.0) (float-vector -1510.0 -150.0 -1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector 1510.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 150.0 1375.0) (float-vector -1510.0 150.0 -1375.0) (float-vector -1510.0 -150.0 -1375.0) (float-vector -1510.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall189-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall189 (&rest args) (instance* room610-wall189-object :init args))
-;; (format *error-output* "(instance room610-wall189-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall191-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall191-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall191-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall191-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall191-object
- (:init
- (&rest args &key (name "room610-wall191") (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 :room610-wall191-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 -150.0 1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall191-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall191 (&rest args) (instance* room610-wall191-object :init args))
-;; (format *error-output* "(instance room610-wall191-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall193-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall193-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall193-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall193-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall193-object
- (:init
- (&rest args &key (name "room610-wall193") (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 :room610-wall193-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 -150.0 1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall193-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall193 (&rest args) (instance* room610-wall193-object :init args))
-;; (format *error-output* "(instance room610-wall193-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall195-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall195-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall195-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall195-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall195-object
- (:init
- (&rest args &key (name "room610-wall195") (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 :room610-wall195-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 3950.0 150.0 1375.0) (float-vector -3950.0 150.0 1375.0) (float-vector -3950.0 -150.0 1375.0) (float-vector 3950.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 150.0 -1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector -3950.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 3950.0 150.0 1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector -3950.0 150.0 -1375.0) (float-vector -3950.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 3950.0 -150.0 1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector 3950.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 -150.0 1375.0) (float-vector -3950.0 -150.0 -1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector 3950.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 150.0 1375.0) (float-vector -3950.0 150.0 -1375.0) (float-vector -3950.0 -150.0 -1375.0) (float-vector -3950.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall195-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall195 (&rest args) (instance* room610-wall195-object :init args))
-;; (format *error-output* "(instance room610-wall195-object :init) for generating model~%")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-16 04:50:59
|
Revision: 605
http://sourceforge.net/p/euslisp/code/605
Author: snozawa
Date: 2013-04-16 04:50:52 +0000 (Tue, 16 Apr 2013)
Log Message:
-----------
remove wall from 610 room
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Removed Paths:
-------------
trunk/EusLisp/models/room610-wall187-object.l
trunk/EusLisp/models/room610-wall189-object.l
trunk/EusLisp/models/room610-wall191-object.l
trunk/EusLisp/models/room610-wall193-object.l
trunk/EusLisp/models/room610-wall195-object.l
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -23,11 +23,6 @@
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
(load "models/room610-laundary-machine-object.l")
-(load "models/room610-wall195-object.l")
-(load "models/room610-wall193-object.l")
-(load "models/room610-wall191-object.l")
-(load "models/room610-wall189-object.l")
-(load "models/room610-wall187-object.l")
(defclass room610-scene
:super scene-model
@@ -58,11 +53,6 @@
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall195) :transform (make-coords :pos (float-vector 9160.0 0.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall193) :transform (make-coords :pos (float-vector 4580.0 -3870.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-wall191) :transform (make-coords :pos (float-vector 4580.0 3840.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
- (send (room610-wall189) :transform (make-coords :pos (float-vector 0.0 2330.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
- (send (room610-wall187) :transform (make-coords :pos (float-vector 0.0 -2345.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
))
))
)
Deleted: trunk/EusLisp/models/room610-wall187-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall187-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall187-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall187-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall187-object
- (:init
- (&rest args &key (name "room610-wall187") (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 :room610-wall187-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 1525.0 150.0 1375.0) (float-vector -1525.0 150.0 1375.0) (float-vector -1525.0 -150.0 1375.0) (float-vector 1525.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 150.0 -1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector -1525.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 1525.0 150.0 1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector -1525.0 150.0 -1375.0) (float-vector -1525.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 1525.0 -150.0 1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector 1525.0 150.0 -1375.0) (float-vector 1525.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 -150.0 1375.0) (float-vector -1525.0 -150.0 -1375.0) (float-vector 1525.0 -150.0 -1375.0) (float-vector 1525.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1525.0 150.0 1375.0) (float-vector -1525.0 150.0 -1375.0) (float-vector -1525.0 -150.0 -1375.0) (float-vector -1525.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall187-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall187 (&rest args) (instance* room610-wall187-object :init args))
-;; (format *error-output* "(instance room610-wall187-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall189-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall189-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall189-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall189-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall189-object
- (:init
- (&rest args &key (name "room610-wall189") (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 :room610-wall189-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 1510.0 150.0 1375.0) (float-vector -1510.0 150.0 1375.0) (float-vector -1510.0 -150.0 1375.0) (float-vector 1510.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 150.0 -1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector -1510.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 1510.0 150.0 1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector -1510.0 150.0 -1375.0) (float-vector -1510.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 1510.0 -150.0 1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector 1510.0 150.0 -1375.0) (float-vector 1510.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 -150.0 1375.0) (float-vector -1510.0 -150.0 -1375.0) (float-vector 1510.0 -150.0 -1375.0) (float-vector 1510.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -1510.0 150.0 1375.0) (float-vector -1510.0 150.0 -1375.0) (float-vector -1510.0 -150.0 -1375.0) (float-vector -1510.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall189-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall189 (&rest args) (instance* room610-wall189-object :init args))
-;; (format *error-output* "(instance room610-wall189-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall191-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall191-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall191-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall191-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall191-object
- (:init
- (&rest args &key (name "room610-wall191") (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 :room610-wall191-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 -150.0 1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall191-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall191 (&rest args) (instance* room610-wall191-object :init args))
-;; (format *error-output* "(instance room610-wall191-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall193-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall193-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall193-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall193-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall193-object
- (:init
- (&rest args &key (name "room610-wall193") (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 :room610-wall193-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 150.0 1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 4580.0 -150.0 1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 150.0 -1375.0) (float-vector 4580.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 -150.0 1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 -1375.0) (float-vector 4580.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -4580.0 150.0 1375.0) (float-vector -4580.0 150.0 -1375.0) (float-vector -4580.0 -150.0 -1375.0) (float-vector -4580.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall193-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall193 (&rest args) (instance* room610-wall193-object :init args))
-;; (format *error-output* "(instance room610-wall193-object :init) for generating model~%")
Deleted: trunk/EusLisp/models/room610-wall195-object.l
===================================================================
--- trunk/EusLisp/models/room610-wall195-object.l 2013-04-15 11:13:50 UTC (rev 604)
+++ trunk/EusLisp/models/room610-wall195-object.l 2013-04-16 04:50:52 UTC (rev 605)
@@ -1,60 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass room610-wall195-object
- :super cascaded-link
- :slots (sensors
- ))
-(defmethod room610-wall195-object
- (:init
- (&rest args &key (name "room610-wall195") (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 :room610-wall195-bodyset2
- (setq bc (list
- (instance faceset :init :faces (list
- (instance face :init :vertices (list (float-vector 3950.0 150.0 1375.0) (float-vector -3950.0 150.0 1375.0) (float-vector -3950.0 -150.0 1375.0) (float-vector 3950.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 150.0 -1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector -3950.0 -150.0 -1375.0)))
- (instance face :init :vertices (list (float-vector 3950.0 150.0 1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector -3950.0 150.0 -1375.0) (float-vector -3950.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector 3950.0 -150.0 1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector 3950.0 150.0 -1375.0) (float-vector 3950.0 150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 -150.0 1375.0) (float-vector -3950.0 -150.0 -1375.0) (float-vector 3950.0 -150.0 -1375.0) (float-vector 3950.0 -150.0 1375.0)))
- (instance face :init :vertices (list (float-vector -3950.0 150.0 1375.0) (float-vector -3950.0 150.0 -1375.0) (float-vector -3950.0 -150.0 -1375.0) (float-vector -3950.0 -150.0 1375.0)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :set-color :gray70)
- (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-wall195-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))
- (:cameras (&rest args)
- (forward-message-to-all (list) args))
-
- (:handle () (list ))
- (:attention () (list ))
- (:button () (list ))
- )
-
-(defun room610-wall195 (&rest args) (instance* room610-wall195-object :init args))
-;; (format *error-output* "(instance room610-wall195-object :init) for generating model~%")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-15 11:13:59
|
Revision: 604
http://sourceforge.net/p/euslisp/code/604
Author: snozawa
Date: 2013-04-15 11:13:50 +0000 (Mon, 15 Apr 2013)
Log Message:
-----------
add room610 laundary machine
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-laundary-machine-object.l
Added: trunk/EusLisp/models/room610-laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/room610-laundary-machine-object.l (rev 0)
+++ trunk/EusLisp/models/room610-laundary-machine-object.l 2013-04-15 11:13:50 UTC (rev 604)
@@ -0,0 +1,192 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-laundary-machine-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2
+ button0
+ joint0 ))
+(defmethod room610-laundary-machine-object
+ (:init
+ (&rest args &key (name "room610-laundary-machine") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of 'b0
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 619.486 527.5 916.25) (float-vector 621.16 540.0 913.349) (float-vector 619.486 552.5 916.25) (float-vector 614.91 561.651 924.175) (float-vector 608.66 565.0 935.0) (float-vector 602.41 561.651 945.825) (float-vector 597.835 552.5 953.75) (float-vector 596.16 540.0 956.651) (float-vector 597.835 527.5 953.75) (float-vector 602.41 518.349 945.825) (float-vector 608.66 515.0 935.0) (float-vector 614.91 518.349 924.175)))
+ (instance face :init :vertices (list (float-vector 612.5 540.0 908.349) (float-vector 610.825 527.5 911.25) (float-vector 606.25 518.349 919.175) (float-vector 600.0 515.0 930.0) (float-vector 593.75 518.349 940.825) (float-vector 589.175 527.5 948.75) (float-vector 587.5 540.0 951.651) (float-vector 589.175 552.5 948.75) (float-vector 593.75 561.651 940.825) (float-vector 600.0 565.0 930.0) (float-vector 606.25 561.651 919.175) (float-vector 610.825 552.5 911.25)))
+ (instance face :init :vertices (list (float-vector 619.486 527.5 916.25) (float-vector 610.825 527.5 911.25) (float-vector 612.5 540.0 908.349) (float-vector 621.16 540.0 913.349)))
+ (instance face :init :vertices (list (float-vector 614.91 518.349 924.175) (float-vector 606.25 518.349 919.175) (float-vector 610.825 527.5 911.25) (float-vector 619.486 527.5 916.25)))
+ (instance face :init :vertices (list (float-vector 608.66 515.0 935.0) (float-vector 600.0 515.0 930.0) (float-vector 606.25 518.349 919.175) (float-vector 614.91 518.349 924.175)))
+ (instance face :init :vertices (list (float-vector 602.41 518.349 945.825) (float-vector 593.75 518.349 940.825) (float-vector 600.0 515.0 930.0) (float-vector 608.66 515.0 935.0)))
+ (instance face :init :vertices (list (float-vector 597.835 527.5 953.75) (float-vector 589.175 527.5 948.75) (float-vector 593.75 518.349 940.825) (float-vector 602.41 518.349 945.825)))
+ (instance face :init :vertices (list (float-vector 596.16 540.0 956.651) (float-vector 587.5 540.0 951.651) (float-vector 589.175 527.5 948.75) (float-vector 597.835 527.5 953.75)))
+ (instance face :init :vertices (list (float-vector 597.835 552.5 953.75) (float-vector 589.175 552.5 948.75) (float-vector 587.5 540.0 951.651) (float-vector 596.16 540.0 956.651)))
+ (instance face :init :vertices (list (float-vector 602.41 561.651 945.825) (float-vector 593.75 561.651 940.825) (float-vector 589.175 552.5 948.75) (float-vector 597.835 552.5 953.75)))
+ (instance face :init :vertices (list (float-vector 608.66 565.0 935.0) (float-vector 600.0 565.0 930.0) (float-vector 593.75 561.651 940.825) (float-vector 602.41 561.651 945.825)))
+ (instance face :init :vertices (list (float-vector 614.91 561.651 924.175) (float-vector 606.25 561.651 919.175) (float-vector 600.0 565.0 930.0) (float-vector 608.66 565.0 935.0)))
+ (instance face :init :vertices (list (float-vector 619.486 552.5 916.25) (float-vector 610.825 552.5 911.25) (float-vector 606.25 561.651 919.175) (float-vector 614.91 561.651 924.175)))
+ (instance face :init :vertices (list (float-vector 621.16 540.0 913.349) (float-vector 612.5 540.0 908.349) (float-vector 610.825 552.5 911.25) (float-vector 619.486 552.5 916.25)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 517.568 0.0 1094.55) (float-vector 547.064 0.0 1047.42) (float-vector 547.064 600.0 1047.42) (float-vector 517.568 600.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 574.402 0.0 997.785) (float-vector 574.402 600.0 997.785) (float-vector 547.064 600.0 1047.42) (float-vector 547.064 0.0 1047.42)))
+ (instance face :init :vertices (list (float-vector 599.473 0.0 945.827) (float-vector 599.473 204.281 945.827) (float-vector 598.07 207.5 948.734) (float-vector 587.269 300.0 971.118) (float-vector 598.07 392.5 948.734) (float-vector 599.473 395.719 945.827) (float-vector 599.473 600.0 945.827) (float-vector 574.402 600.0 997.785) (float-vector 574.402 0.0 997.785)))
+ (instance face :init :vertices (list (float-vector 622.178 600.0 891.754) (float-vector 599.473 600.0 945.827) (float-vector 599.473 395.719 945.827) (float-vector 622.178 453.9 891.754)))
+ (instance face :init :vertices (list (float-vector 622.178 0.0 891.754) (float-vector 622.178 146.1 891.754) (float-vector 599.473 204.281 945.827) (float-vector 599.473 0.0 945.827)))
+ (instance face :init :vertices (list (float-vector 642.427 600.0 835.779) (float-vector 622.178 600.0 891.754) (float-vector 622.178 453.9 891.754) (float-vector 624.36 460.215 885.722) (float-vector 642.427 474.225 835.779)))
+ (instance face :init :vertices (list (float-vector 642.427 0.0 835.779) (float-vector 642.427 125.775 835.779) (float-vector 624.36 139.785 885.722) (float-vector 622.178 146.1 891.754) (float-vector 622.178 0.0 891.754)))
+ (instance face :init :vertices (list (float-vector 660.141 600.0 778.125) (float-vector 642.427 600.0 835.779) (float-vector 642.427 474.225 835.779) (float-vector 654.545 485.0 796.34) (float-vector 660.141 480.023 778.125)))
+ (instance face :init :vertices (list (float-vector 660.141 0.0 778.125) (float-vector 660.141 119.977 778.125) (float-vector 654.545 115.0 796.34) (float-vector 642.427 125.775 835.779) (float-vector 642.427 0.0 835.779)))
+ (instance face :init :vertices (list (float-vector 675.25 600.0 719.017) (float-vector 660.141 600.0 778.125) (float-vector 660.141 480.023 778.125) (float-vector 675.25 464.283 719.017)))
+ (instance face :init :vertices (list (float-vector 675.25 0.0 719.017) (float-vector 675.25 135.717 719.017) (float-vector 660.141 119.977 778.125) (float-vector 660.141 0.0 778.125)))
+ (instance face :init :vertices (list (float-vector 687.694 600.0 658.69) (float-vector 675.25 600.0 719.017) (float-vector 675.25 464.283 719.017) (float-vector 678.482 460.215 703.35) (float-vector 687.694 416.932 658.69)))
+ (instance face :init :vertices (list (float-vector 687.694 0.0 658.69) (float-vector 687.694 183.068 658.69) (float-vector 678.482 139.785 703.35) (float-vector 675.25 135.717 719.017) (float-vector 675.25 0.0 719.017)))
+ (instance face :init :vertices (list (float-vector 697.424 0.0 597.381) (float-vector 697.424 600.0 597.381) (float-vector 687.694 600.0 658.69) (float-vector 687.694 416.932 658.69) (float-vector 691.795 392.5 632.846) (float-vector 695.956 300.0 606.629) (float-vector 691.795 207.5 632.846) (float-vector 687.694 183.068 658.69) (float-vector 687.694 0.0 658.69)))
+ (instance face :init :vertices (list (float-vector 704.401 0.0 535.333) (float-vector 704.401 600.0 535.333) (float-vector 697.424 600.0 597.381) (float-vector 697.424 0.0 597.381)))
+ (instance face :init :vertices (list (float-vector 708.599 0.0 472.791) (float-vector 708.599 600.0 472.791) (float-vector 704.401 600.0 535.333) (float-vector 704.401 0.0 535.333)))
+ (instance face :init :vertices (list (float-vector 710.0 0.0 410.0) (float-vector 710.0 600.0 410.0) (float-vector 708.599 600.0 472.791) (float-vector 708.599 0.0 472.791)))
+ (instance face :init :vertices (list (float-vector 710.0 0.0 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 600.0 410.0) (float-vector 710.0 0.0 410.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 0.0) (float-vector 0.0 600.0 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 0.0 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 1110.0) (float-vector 0.0 600.0 1110.0) (float-vector 0.0 600.0 0.0) (float-vector 0.0 0.0 0.0)))
+ (instance face :init :vertices (list (float-vector 517.568 600.0 1094.55) (float-vector 547.064 600.0 1047.42) (float-vector 574.402 600.0 997.785) (float-vector 599.473 600.0 945.827) (float-vector 622.178 600.0 891.754) (float-vector 642.427 600.0 835.779) (float-vector 660.141 600.0 778.125) (float-vector 675.25 600.0 719.017) (float-vector 687.694 600.0 658.69) (float-vector 697.424 600.0 597.381) (float-vector 704.401 600.0 535.333) (float-vector 708.599 600.0 472.791) (float-vector 710.0 600.0 410.0) (float-vector 710.0 600.0 0.0) (float-vector 0.0 600.0 0.0) (float-vector 0.0 600.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 1110.0) (float-vector 0.0 0.0 0.0) (float-vector 710.0 0.0 0.0) (float-vector 710.0 0.0 410.0) (float-vector 708.599 0.0 472.791) (float-vector 704.401 0.0 535.333) (float-vector 697.424 0.0 597.381) (float-vector 687.694 0.0 658.69) (float-vector 675.25 0.0 719.017) (float-vector 660.141 0.0 778.125) (float-vector 642.427 0.0 835.779) (float-vector 622.178 0.0 891.754) (float-vector 599.473 0.0 945.827) (float-vector 574.402 0.0 997.785) (float-vector 547.064 0.0 1047.42) (float-vector 517.568 0.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 517.568 0.0 1094.55) (float-vector 517.568 600.0 1094.55) (float-vector 0.0 600.0 1110.0) (float-vector 0.0 0.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 695.956 300.0 606.629) (float-vector 691.795 392.5 632.846) (float-vector 585.107 392.5 571.25) (float-vector 597.5 300.0 549.785)))
+ (instance face :init :vertices (list (float-vector 585.107 392.5 571.25) (float-vector 691.795 392.5 632.846) (float-vector 687.694 416.932 658.69) (float-vector 678.482 460.215 703.35) (float-vector 551.25 460.215 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 460.215 629.893) (float-vector 678.482 460.215 703.35) (float-vector 675.25 464.283 719.017) (float-vector 660.141 480.023 778.125) (float-vector 654.545 485.0 796.34) (float-vector 505.0 485.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 485.0 710.0) (float-vector 654.545 485.0 796.34) (float-vector 642.427 474.225 835.779) (float-vector 624.36 460.215 885.722) (float-vector 458.75 460.215 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 460.215 790.107) (float-vector 624.36 460.215 885.722) (float-vector 622.178 453.9 891.754) (float-vector 599.473 395.719 945.827) (float-vector 598.07 392.5 948.734) (float-vector 424.893 392.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 392.5 848.75) (float-vector 598.07 392.5 948.734) (float-vector 587.269 300.0 971.118) (float-vector 412.5 300.0 870.215)))
+ (instance face :init :vertices (list (float-vector 412.5 300.0 870.215) (float-vector 587.269 300.0 971.118) (float-vector 598.07 207.5 948.734) (float-vector 424.893 207.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 207.5 848.75) (float-vector 598.07 207.5 948.734) (float-vector 599.473 204.281 945.827) (float-vector 622.178 146.1 891.754) (float-vector 624.36 139.785 885.722) (float-vector 458.75 139.785 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 139.785 790.107) (float-vector 624.36 139.785 885.722) (float-vector 642.427 125.775 835.779) (float-vector 654.545 115.0 796.34) (float-vector 505.0 115.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 115.0 710.0) (float-vector 654.545 115.0 796.34) (float-vector 660.141 119.977 778.125) (float-vector 675.25 135.717 719.017) (float-vector 678.482 139.785 703.35) (float-vector 551.25 139.785 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 139.785 629.893) (float-vector 678.482 139.785 703.35) (float-vector 687.694 183.068 658.69) (float-vector 691.795 207.5 632.846) (float-vector 585.107 207.5 571.25)))
+ (instance face :init :vertices (list (float-vector 585.107 207.5 571.25) (float-vector 691.795 207.5 632.846) (float-vector 695.956 300.0 606.629) (float-vector 597.5 300.0 549.785)))
+ (instance face :init :vertices (list (float-vector 597.5 300.0 549.785) (float-vector 585.107 392.5 571.25) (float-vector 551.25 460.215 629.893) (float-vector 505.0 485.0 710.0) (float-vector 458.75 460.215 790.107) (float-vector 424.893 392.5 848.75) (float-vector 412.5 300.0 870.215) (float-vector 424.893 207.5 848.75) (float-vector 458.75 139.785 790.107) (float-vector 505.0 115.0 710.0) (float-vector 551.25 139.785 629.893) (float-vector 585.107 207.5 571.25)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :white)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'b0 :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 'cap
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 175.0 210.0 30.0) (float-vector 151.554 297.5 30.0) (float-vector 87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector -87.5 361.554 30.0) (float-vector -151.554 297.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 0.0) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 0.0 35.0 0.0) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 297.5 2.273737e-13) (float-vector -87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector 87.5 361.554 0.0) (float-vector 151.554 297.5 0.0)))
+ (instance face :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 175.0 210.0 0.0) (float-vector 175.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 151.554 122.5 30.0)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 30.0) (float-vector 0.0 35.0 0.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector 0.0 35.0 0.0) (float-vector -2.273737e-13 35.0 30.0)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 2.273737e-13) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector -175.0 210.0 30.0) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -151.554 122.5 30.0)))
+ (instance face :init :vertices (list (float-vector -151.554 297.5 30.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -175.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector -87.5 361.554 30.0) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -151.554 297.5 30.0)))
+ (instance face :init :vertices (list (float-vector 0.0 385.0 30.0) (float-vector 0.0 385.0 0.0) (float-vector -87.5 361.554 0.0) (float-vector -87.5 361.554 30.0)))
+ (instance face :init :vertices (list (float-vector 87.5 361.554 30.0) (float-vector 87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector 0.0 385.0 30.0)))
+ (instance face :init :vertices (list (float-vector 151.554 297.5 30.0) (float-vector 151.554 297.5 0.0) (float-vector 87.5 361.554 0.0) (float-vector 87.5 361.554 30.0)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 30.0) (float-vector 175.0 210.0 0.0) (float-vector 151.554 297.5 0.0) (float-vector 151.554 297.5 30.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 215.0 210.0 0.0) (float-vector 186.195 317.5 0.0) (float-vector 186.195 317.5 30.0) (float-vector 215.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector 107.5 396.195 0.0) (float-vector 107.5 396.195 30.0) (float-vector 186.195 317.5 30.0) (float-vector 186.195 317.5 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 425.0 0.0) (float-vector 0.0 425.0 30.0) (float-vector 107.5 396.195 30.0) (float-vector 107.5 396.195 0.0)))
+ (instance face :init :vertices (list (float-vector -107.5 396.195 0.0) (float-vector -107.5 396.195 30.0) (float-vector 0.0 425.0 30.0) (float-vector 0.0 425.0 0.0)))
+ (instance face :init :vertices (list (float-vector -186.195 317.5 0.0) (float-vector -186.195 317.5 30.0) (float-vector -107.5 396.195 30.0) (float-vector -107.5 396.195 0.0)))
+ (instance face :init :vertices (list (float-vector -215.0 210.0 0.0) (float-vector -215.0 210.0 30.0) (float-vector -186.195 317.5 30.0) (float-vector -186.195 317.5 0.0)))
+ (instance face :init :vertices (list (float-vector -186.195 102.5 -2.273737e-13) (float-vector -186.195 102.5 30.0) (float-vector -215.0 210.0 30.0) (float-vector -215.0 210.0 0.0)))
+ (instance face :init :vertices (list (float-vector -107.5 23.8045 0.0) (float-vector -107.5 23.8045 30.0) (float-vector -186.195 102.5 30.0) (float-vector -186.195 102.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 -5.0 -2.273737e-13) (float-vector -2.273737e-13 -5.0 30.0) (float-vector -107.5 23.8045 30.0) (float-vector -107.5 23.8045 0.0)))
+ (instance face :init :vertices (list (float-vector 107.5 23.8045 -2.273737e-13) (float-vector 107.5 23.8045 30.0) (float-vector -2.273737e-13 -5.0 30.0) (float-vector -2.273737e-13 -5.0 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -2.273737e-13) (float-vector 186.195 102.5 30.0) (float-vector 107.5 23.8045 30.0) (float-vector 107.5 23.8045 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 215.0 210.0 30.0) (float-vector 186.195 317.5 30.0) (float-vector 107.5 396.195 30.0) (float-vector 0.0 425.0 30.0) (float-vector -107.5 396.195 30.0) (float-vector -186.195 317.5 30.0) (float-vector -215.0 210.0 30.0) (float-vector -186.195 102.5 30.0) (float-vector -107.5 23.8045 30.0) (float-vector -2.273737e-13 -5.0 30.0) (float-vector 107.5 23.8045 30.0) (float-vector 186.195 102.5 30.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -151.554 122.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -151.554 297.5 30.0) (float-vector -87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector 87.5 361.554 30.0) (float-vector 151.554 297.5 30.0) (float-vector 175.0 210.0 30.0)))
+))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -2.273737e-13) (float-vector 107.5 23.8045 -2.273737e-13) (float-vector -2.273737e-13 -5.0 -2.273737e-13) (float-vector -107.5 23.8045 0.0) (float-vector -186.195 102.5 -2.273737e-13) (float-vector -215.0 210.0 0.0) (float-vector -186.195 317.5 0.0) (float-vector -107.5 396.195 0.0) (float-vector 0.0 425.0 0.0) (float-vector 107.5 396.195 0.0) (float-vector 186.195 317.5 0.0) (float-vector 215.0 210.0 0.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 175.0 210.0 0.0) (float-vector 151.554 297.5 0.0) (float-vector 87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -2.273737e-13 35.0 0.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 151.554 122.5 -2.273737e-13)))
+))
+ (instance face :init :vertices (list (float-vector 215.0 210.0 0.0) (float-vector 215.0 210.0 30.0) (float-vector 186.195 102.5 30.0) (float-vector 186.195 102.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 30.0) (float-vector 151.554 297.5 30.0) (float-vector 151.554 297.5 0.0) (float-vector 175.0 210.0 0.0)))
+ (instance face :init :vertices (list (float-vector 151.554 297.5 0.0) (float-vector 151.554 297.5 30.0) (float-vector 87.5 361.554 30.0) (float-vector 87.5 361.554 0.0)))
+ (instance face :init :vertices (list (float-vector 87.5 361.554 0.0) (float-vector 87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector 0.0 385.0 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 385.0 0.0) (float-vector 0.0 385.0 30.0) (float-vector -87.5 361.554 30.0) (float-vector -87.5 361.554 0.0)))
+ (instance face :init :vertices (list (float-vector -87.5 361.554 0.0) (float-vector -87.5 361.554 30.0) (float-vector -151.554 297.5 30.0) (float-vector -151.554 297.5 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 297.5 2.273737e-13) (float-vector -151.554 297.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -175.0 210.0 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -175.0 210.0 2.273737e-13) (float-vector -175.0 210.0 30.0) (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 2.273737e-13) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector -2.273737e-13 35.0 0.0)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 0.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 87.5 58.4456 30.0) (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 151.554 122.5 -2.273737e-13) (float-vector 151.554 122.5 30.0) (float-vector 175.0 210.0 30.0) (float-vector 175.0 210.0 0.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray80)
+ (gl::transparent (elt bc 0) 0.5)
+ (send (elt bc 1) :set-color :gray60)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'cap :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 blink1 :newcoords (make-coords :pos (float-vector 640.0 90.0 770.0) :rot #2f((0.34202 1.818883e-16 0.939693) (-1.818883e-16 1.0 -1.273596e-16) (-0.939693 -1.273596e-16 0.34202))))
+ (send blink0 :assoc blink1)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :joint0
+ (setq joint0 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink1 :name :joint0 :axis :x
+ :min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 505.0 0.0 580.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "contents"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 640.0 190.0 770.0) :rot #2f((-5.828671e-16 -0.34202 -0.939693) (-1.0 6.383782e-16 3.885781e-16) (5.551115e-16 0.939693 -0.34202)) :name "handle-cap"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 600.0 240.0 930.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "open-button"))
+ (send self :assoc handle2)
+
+ ;; definition of :button
+ (setq button0 (make-cascoords :pos (float-vector 600.0 240.0 930.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "open"))
+ (send self :assoc button0)
+
+ ;; init-ending
+ (setq links (list blink0 blink1))
+ (setq joint-list (list joint0))
+ (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))
+
+ (:joint0 (&rest args) (forward-message-to joint0 args))
+ (:handle () (list handle0 handle1 handle2))
+ (:handle-contents () handle0)
+ (:handle-handle-cap () handle1)
+ (:handle-open-button () handle2)
+ (:attention () (list ))
+ (:button () (list button0))
+ (:button-open () button0)
+ )
+
+(defun room610-laundary-machine (&rest args) (instance* room610-laundary-machine-object :init args))
+;; (format *error-output* "(instance room610-laundary-machine-object :init) for generating model~%")
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-15 04:33:39 UTC (rev 603)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-15 11:13:50 UTC (rev 604)
@@ -22,6 +22,7 @@
(load "models/room610-fridge-object.l")
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
+(load "models/room610-laundary-machine-object.l")
(load "models/room610-wall195-object.l")
(load "models/room610-wall193-object.l")
(load "models/room610-wall191-object.l")
@@ -56,6 +57,7 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-wall195) :transform (make-coords :pos (float-vector 9160.0 0.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-wall193) :transform (make-coords :pos (float-vector 4580.0 -3870.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-wall191) :transform (make-coords :pos (float-vector 4580.0 3840.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-15 11:13:57
|
Revision: 604
http://sourceforge.net/p/euslisp/code/604
Author: snozawa
Date: 2013-04-15 11:13:50 +0000 (Mon, 15 Apr 2013)
Log Message:
-----------
add room610 laundary machine
Modified Paths:
--------------
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/room610-laundary-machine-object.l
Added: trunk/EusLisp/models/room610-laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/room610-laundary-machine-object.l (rev 0)
+++ trunk/EusLisp/models/room610-laundary-machine-object.l 2013-04-15 11:13:50 UTC (rev 604)
@@ -0,0 +1,192 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-laundary-machine-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2
+ button0
+ joint0 ))
+(defmethod room610-laundary-machine-object
+ (:init
+ (&rest args &key (name "room610-laundary-machine") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of 'b0
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 619.486 527.5 916.25) (float-vector 621.16 540.0 913.349) (float-vector 619.486 552.5 916.25) (float-vector 614.91 561.651 924.175) (float-vector 608.66 565.0 935.0) (float-vector 602.41 561.651 945.825) (float-vector 597.835 552.5 953.75) (float-vector 596.16 540.0 956.651) (float-vector 597.835 527.5 953.75) (float-vector 602.41 518.349 945.825) (float-vector 608.66 515.0 935.0) (float-vector 614.91 518.349 924.175)))
+ (instance face :init :vertices (list (float-vector 612.5 540.0 908.349) (float-vector 610.825 527.5 911.25) (float-vector 606.25 518.349 919.175) (float-vector 600.0 515.0 930.0) (float-vector 593.75 518.349 940.825) (float-vector 589.175 527.5 948.75) (float-vector 587.5 540.0 951.651) (float-vector 589.175 552.5 948.75) (float-vector 593.75 561.651 940.825) (float-vector 600.0 565.0 930.0) (float-vector 606.25 561.651 919.175) (float-vector 610.825 552.5 911.25)))
+ (instance face :init :vertices (list (float-vector 619.486 527.5 916.25) (float-vector 610.825 527.5 911.25) (float-vector 612.5 540.0 908.349) (float-vector 621.16 540.0 913.349)))
+ (instance face :init :vertices (list (float-vector 614.91 518.349 924.175) (float-vector 606.25 518.349 919.175) (float-vector 610.825 527.5 911.25) (float-vector 619.486 527.5 916.25)))
+ (instance face :init :vertices (list (float-vector 608.66 515.0 935.0) (float-vector 600.0 515.0 930.0) (float-vector 606.25 518.349 919.175) (float-vector 614.91 518.349 924.175)))
+ (instance face :init :vertices (list (float-vector 602.41 518.349 945.825) (float-vector 593.75 518.349 940.825) (float-vector 600.0 515.0 930.0) (float-vector 608.66 515.0 935.0)))
+ (instance face :init :vertices (list (float-vector 597.835 527.5 953.75) (float-vector 589.175 527.5 948.75) (float-vector 593.75 518.349 940.825) (float-vector 602.41 518.349 945.825)))
+ (instance face :init :vertices (list (float-vector 596.16 540.0 956.651) (float-vector 587.5 540.0 951.651) (float-vector 589.175 527.5 948.75) (float-vector 597.835 527.5 953.75)))
+ (instance face :init :vertices (list (float-vector 597.835 552.5 953.75) (float-vector 589.175 552.5 948.75) (float-vector 587.5 540.0 951.651) (float-vector 596.16 540.0 956.651)))
+ (instance face :init :vertices (list (float-vector 602.41 561.651 945.825) (float-vector 593.75 561.651 940.825) (float-vector 589.175 552.5 948.75) (float-vector 597.835 552.5 953.75)))
+ (instance face :init :vertices (list (float-vector 608.66 565.0 935.0) (float-vector 600.0 565.0 930.0) (float-vector 593.75 561.651 940.825) (float-vector 602.41 561.651 945.825)))
+ (instance face :init :vertices (list (float-vector 614.91 561.651 924.175) (float-vector 606.25 561.651 919.175) (float-vector 600.0 565.0 930.0) (float-vector 608.66 565.0 935.0)))
+ (instance face :init :vertices (list (float-vector 619.486 552.5 916.25) (float-vector 610.825 552.5 911.25) (float-vector 606.25 561.651 919.175) (float-vector 614.91 561.651 924.175)))
+ (instance face :init :vertices (list (float-vector 621.16 540.0 913.349) (float-vector 612.5 540.0 908.349) (float-vector 610.825 552.5 911.25) (float-vector 619.486 552.5 916.25)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 517.568 0.0 1094.55) (float-vector 547.064 0.0 1047.42) (float-vector 547.064 600.0 1047.42) (float-vector 517.568 600.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 574.402 0.0 997.785) (float-vector 574.402 600.0 997.785) (float-vector 547.064 600.0 1047.42) (float-vector 547.064 0.0 1047.42)))
+ (instance face :init :vertices (list (float-vector 599.473 0.0 945.827) (float-vector 599.473 204.281 945.827) (float-vector 598.07 207.5 948.734) (float-vector 587.269 300.0 971.118) (float-vector 598.07 392.5 948.734) (float-vector 599.473 395.719 945.827) (float-vector 599.473 600.0 945.827) (float-vector 574.402 600.0 997.785) (float-vector 574.402 0.0 997.785)))
+ (instance face :init :vertices (list (float-vector 622.178 600.0 891.754) (float-vector 599.473 600.0 945.827) (float-vector 599.473 395.719 945.827) (float-vector 622.178 453.9 891.754)))
+ (instance face :init :vertices (list (float-vector 622.178 0.0 891.754) (float-vector 622.178 146.1 891.754) (float-vector 599.473 204.281 945.827) (float-vector 599.473 0.0 945.827)))
+ (instance face :init :vertices (list (float-vector 642.427 600.0 835.779) (float-vector 622.178 600.0 891.754) (float-vector 622.178 453.9 891.754) (float-vector 624.36 460.215 885.722) (float-vector 642.427 474.225 835.779)))
+ (instance face :init :vertices (list (float-vector 642.427 0.0 835.779) (float-vector 642.427 125.775 835.779) (float-vector 624.36 139.785 885.722) (float-vector 622.178 146.1 891.754) (float-vector 622.178 0.0 891.754)))
+ (instance face :init :vertices (list (float-vector 660.141 600.0 778.125) (float-vector 642.427 600.0 835.779) (float-vector 642.427 474.225 835.779) (float-vector 654.545 485.0 796.34) (float-vector 660.141 480.023 778.125)))
+ (instance face :init :vertices (list (float-vector 660.141 0.0 778.125) (float-vector 660.141 119.977 778.125) (float-vector 654.545 115.0 796.34) (float-vector 642.427 125.775 835.779) (float-vector 642.427 0.0 835.779)))
+ (instance face :init :vertices (list (float-vector 675.25 600.0 719.017) (float-vector 660.141 600.0 778.125) (float-vector 660.141 480.023 778.125) (float-vector 675.25 464.283 719.017)))
+ (instance face :init :vertices (list (float-vector 675.25 0.0 719.017) (float-vector 675.25 135.717 719.017) (float-vector 660.141 119.977 778.125) (float-vector 660.141 0.0 778.125)))
+ (instance face :init :vertices (list (float-vector 687.694 600.0 658.69) (float-vector 675.25 600.0 719.017) (float-vector 675.25 464.283 719.017) (float-vector 678.482 460.215 703.35) (float-vector 687.694 416.932 658.69)))
+ (instance face :init :vertices (list (float-vector 687.694 0.0 658.69) (float-vector 687.694 183.068 658.69) (float-vector 678.482 139.785 703.35) (float-vector 675.25 135.717 719.017) (float-vector 675.25 0.0 719.017)))
+ (instance face :init :vertices (list (float-vector 697.424 0.0 597.381) (float-vector 697.424 600.0 597.381) (float-vector 687.694 600.0 658.69) (float-vector 687.694 416.932 658.69) (float-vector 691.795 392.5 632.846) (float-vector 695.956 300.0 606.629) (float-vector 691.795 207.5 632.846) (float-vector 687.694 183.068 658.69) (float-vector 687.694 0.0 658.69)))
+ (instance face :init :vertices (list (float-vector 704.401 0.0 535.333) (float-vector 704.401 600.0 535.333) (float-vector 697.424 600.0 597.381) (float-vector 697.424 0.0 597.381)))
+ (instance face :init :vertices (list (float-vector 708.599 0.0 472.791) (float-vector 708.599 600.0 472.791) (float-vector 704.401 600.0 535.333) (float-vector 704.401 0.0 535.333)))
+ (instance face :init :vertices (list (float-vector 710.0 0.0 410.0) (float-vector 710.0 600.0 410.0) (float-vector 708.599 600.0 472.791) (float-vector 708.599 0.0 472.791)))
+ (instance face :init :vertices (list (float-vector 710.0 0.0 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 600.0 410.0) (float-vector 710.0 0.0 410.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 0.0) (float-vector 0.0 600.0 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 0.0 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 1110.0) (float-vector 0.0 600.0 1110.0) (float-vector 0.0 600.0 0.0) (float-vector 0.0 0.0 0.0)))
+ (instance face :init :vertices (list (float-vector 517.568 600.0 1094.55) (float-vector 547.064 600.0 1047.42) (float-vector 574.402 600.0 997.785) (float-vector 599.473 600.0 945.827) (float-vector 622.178 600.0 891.754) (float-vector 642.427 600.0 835.779) (float-vector 660.141 600.0 778.125) (float-vector 675.25 600.0 719.017) (float-vector 687.694 600.0 658.69) (float-vector 697.424 600.0 597.381) (float-vector 704.401 600.0 535.333) (float-vector 708.599 600.0 472.791) (float-vector 710.0 600.0 410.0) (float-vector 710.0 600.0 0.0) (float-vector 0.0 600.0 0.0) (float-vector 0.0 600.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 1110.0) (float-vector 0.0 0.0 0.0) (float-vector 710.0 0.0 0.0) (float-vector 710.0 0.0 410.0) (float-vector 708.599 0.0 472.791) (float-vector 704.401 0.0 535.333) (float-vector 697.424 0.0 597.381) (float-vector 687.694 0.0 658.69) (float-vector 675.25 0.0 719.017) (float-vector 660.141 0.0 778.125) (float-vector 642.427 0.0 835.779) (float-vector 622.178 0.0 891.754) (float-vector 599.473 0.0 945.827) (float-vector 574.402 0.0 997.785) (float-vector 547.064 0.0 1047.42) (float-vector 517.568 0.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 517.568 0.0 1094.55) (float-vector 517.568 600.0 1094.55) (float-vector 0.0 600.0 1110.0) (float-vector 0.0 0.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 695.956 300.0 606.629) (float-vector 691.795 392.5 632.846) (float-vector 585.107 392.5 571.25) (float-vector 597.5 300.0 549.785)))
+ (instance face :init :vertices (list (float-vector 585.107 392.5 571.25) (float-vector 691.795 392.5 632.846) (float-vector 687.694 416.932 658.69) (float-vector 678.482 460.215 703.35) (float-vector 551.25 460.215 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 460.215 629.893) (float-vector 678.482 460.215 703.35) (float-vector 675.25 464.283 719.017) (float-vector 660.141 480.023 778.125) (float-vector 654.545 485.0 796.34) (float-vector 505.0 485.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 485.0 710.0) (float-vector 654.545 485.0 796.34) (float-vector 642.427 474.225 835.779) (float-vector 624.36 460.215 885.722) (float-vector 458.75 460.215 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 460.215 790.107) (float-vector 624.36 460.215 885.722) (float-vector 622.178 453.9 891.754) (float-vector 599.473 395.719 945.827) (float-vector 598.07 392.5 948.734) (float-vector 424.893 392.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 392.5 848.75) (float-vector 598.07 392.5 948.734) (float-vector 587.269 300.0 971.118) (float-vector 412.5 300.0 870.215)))
+ (instance face :init :vertices (list (float-vector 412.5 300.0 870.215) (float-vector 587.269 300.0 971.118) (float-vector 598.07 207.5 948.734) (float-vector 424.893 207.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 207.5 848.75) (float-vector 598.07 207.5 948.734) (float-vector 599.473 204.281 945.827) (float-vector 622.178 146.1 891.754) (float-vector 624.36 139.785 885.722) (float-vector 458.75 139.785 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 139.785 790.107) (float-vector 624.36 139.785 885.722) (float-vector 642.427 125.775 835.779) (float-vector 654.545 115.0 796.34) (float-vector 505.0 115.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 115.0 710.0) (float-vector 654.545 115.0 796.34) (float-vector 660.141 119.977 778.125) (float-vector 675.25 135.717 719.017) (float-vector 678.482 139.785 703.35) (float-vector 551.25 139.785 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 139.785 629.893) (float-vector 678.482 139.785 703.35) (float-vector 687.694 183.068 658.69) (float-vector 691.795 207.5 632.846) (float-vector 585.107 207.5 571.25)))
+ (instance face :init :vertices (list (float-vector 585.107 207.5 571.25) (float-vector 691.795 207.5 632.846) (float-vector 695.956 300.0 606.629) (float-vector 597.5 300.0 549.785)))
+ (instance face :init :vertices (list (float-vector 597.5 300.0 549.785) (float-vector 585.107 392.5 571.25) (float-vector 551.25 460.215 629.893) (float-vector 505.0 485.0 710.0) (float-vector 458.75 460.215 790.107) (float-vector 424.893 392.5 848.75) (float-vector 412.5 300.0 870.215) (float-vector 424.893 207.5 848.75) (float-vector 458.75 139.785 790.107) (float-vector 505.0 115.0 710.0) (float-vector 551.25 139.785 629.893) (float-vector 585.107 207.5 571.25)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :white)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'b0 :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 'cap
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 175.0 210.0 30.0) (float-vector 151.554 297.5 30.0) (float-vector 87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector -87.5 361.554 30.0) (float-vector -151.554 297.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 0.0) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 0.0 35.0 0.0) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 297.5 2.273737e-13) (float-vector -87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector 87.5 361.554 0.0) (float-vector 151.554 297.5 0.0)))
+ (instance face :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 175.0 210.0 0.0) (float-vector 175.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 151.554 122.5 -2.273737e-13) (float-vector 151.554 122.5 30.0)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 30.0) (float-vector 0.0 35.0 0.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector 0.0 35.0 0.0) (float-vector -2.273737e-13 35.0 30.0)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 2.273737e-13) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -87.5 58.4456 30.0)))
+ (instance face :init :vertices (list (float-vector -175.0 210.0 30.0) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -151.554 122.5 30.0)))
+ (instance face :init :vertices (list (float-vector -151.554 297.5 30.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -175.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector -87.5 361.554 30.0) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -151.554 297.5 30.0)))
+ (instance face :init :vertices (list (float-vector 0.0 385.0 30.0) (float-vector 0.0 385.0 0.0) (float-vector -87.5 361.554 0.0) (float-vector -87.5 361.554 30.0)))
+ (instance face :init :vertices (list (float-vector 87.5 361.554 30.0) (float-vector 87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector 0.0 385.0 30.0)))
+ (instance face :init :vertices (list (float-vector 151.554 297.5 30.0) (float-vector 151.554 297.5 0.0) (float-vector 87.5 361.554 0.0) (float-vector 87.5 361.554 30.0)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 30.0) (float-vector 175.0 210.0 0.0) (float-vector 151.554 297.5 0.0) (float-vector 151.554 297.5 30.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 215.0 210.0 0.0) (float-vector 186.195 317.5 0.0) (float-vector 186.195 317.5 30.0) (float-vector 215.0 210.0 30.0)))
+ (instance face :init :vertices (list (float-vector 107.5 396.195 0.0) (float-vector 107.5 396.195 30.0) (float-vector 186.195 317.5 30.0) (float-vector 186.195 317.5 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 425.0 0.0) (float-vector 0.0 425.0 30.0) (float-vector 107.5 396.195 30.0) (float-vector 107.5 396.195 0.0)))
+ (instance face :init :vertices (list (float-vector -107.5 396.195 0.0) (float-vector -107.5 396.195 30.0) (float-vector 0.0 425.0 30.0) (float-vector 0.0 425.0 0.0)))
+ (instance face :init :vertices (list (float-vector -186.195 317.5 0.0) (float-vector -186.195 317.5 30.0) (float-vector -107.5 396.195 30.0) (float-vector -107.5 396.195 0.0)))
+ (instance face :init :vertices (list (float-vector -215.0 210.0 0.0) (float-vector -215.0 210.0 30.0) (float-vector -186.195 317.5 30.0) (float-vector -186.195 317.5 0.0)))
+ (instance face :init :vertices (list (float-vector -186.195 102.5 -2.273737e-13) (float-vector -186.195 102.5 30.0) (float-vector -215.0 210.0 30.0) (float-vector -215.0 210.0 0.0)))
+ (instance face :init :vertices (list (float-vector -107.5 23.8045 0.0) (float-vector -107.5 23.8045 30.0) (float-vector -186.195 102.5 30.0) (float-vector -186.195 102.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 -5.0 -2.273737e-13) (float-vector -2.273737e-13 -5.0 30.0) (float-vector -107.5 23.8045 30.0) (float-vector -107.5 23.8045 0.0)))
+ (instance face :init :vertices (list (float-vector 107.5 23.8045 -2.273737e-13) (float-vector 107.5 23.8045 30.0) (float-vector -2.273737e-13 -5.0 30.0) (float-vector -2.273737e-13 -5.0 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -2.273737e-13) (float-vector 186.195 102.5 30.0) (float-vector 107.5 23.8045 30.0) (float-vector 107.5 23.8045 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 215.0 210.0 30.0) (float-vector 186.195 317.5 30.0) (float-vector 107.5 396.195 30.0) (float-vector 0.0 425.0 30.0) (float-vector -107.5 396.195 30.0) (float-vector -186.195 317.5 30.0) (float-vector -215.0 210.0 30.0) (float-vector -186.195 102.5 30.0) (float-vector -107.5 23.8045 30.0) (float-vector -2.273737e-13 -5.0 30.0) (float-vector 107.5 23.8045 30.0) (float-vector 186.195 102.5 30.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -151.554 122.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -151.554 297.5 30.0) (float-vector -87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector 87.5 361.554 30.0) (float-vector 151.554 297.5 30.0) (float-vector 175.0 210.0 30.0)))
+))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -2.273737e-13) (float-vector 107.5 23.8045 -2.273737e-13) (float-vector -2.273737e-13 -5.0 -2.273737e-13) (float-vector -107.5 23.8045 0.0) (float-vector -186.195 102.5 -2.273737e-13) (float-vector -215.0 210.0 0.0) (float-vector -186.195 317.5 0.0) (float-vector -107.5 396.195 0.0) (float-vector 0.0 425.0 0.0) (float-vector 107.5 396.195 0.0) (float-vector 186.195 317.5 0.0) (float-vector 215.0 210.0 0.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 175.0 210.0 0.0) (float-vector 151.554 297.5 0.0) (float-vector 87.5 361.554 0.0) (float-vector 0.0 385.0 0.0) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 2.273737e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 122.5 2.273737e-13) (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -2.273737e-13 35.0 0.0) (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 151.554 122.5 -2.273737e-13)))
+))
+ (instance face :init :vertices (list (float-vector 215.0 210.0 0.0) (float-vector 215.0 210.0 30.0) (float-vector 186.195 102.5 30.0) (float-vector 186.195 102.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 175.0 210.0 30.0) (float-vector 151.554 297.5 30.0) (float-vector 151.554 297.5 0.0) (float-vector 175.0 210.0 0.0)))
+ (instance face :init :vertices (list (float-vector 151.554 297.5 0.0) (float-vector 151.554 297.5 30.0) (float-vector 87.5 361.554 30.0) (float-vector 87.5 361.554 0.0)))
+ (instance face :init :vertices (list (float-vector 87.5 361.554 0.0) (float-vector 87.5 361.554 30.0) (float-vector 0.0 385.0 30.0) (float-vector 0.0 385.0 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 385.0 0.0) (float-vector 0.0 385.0 30.0) (float-vector -87.5 361.554 30.0) (float-vector -87.5 361.554 0.0)))
+ (instance face :init :vertices (list (float-vector -87.5 361.554 0.0) (float-vector -87.5 361.554 30.0) (float-vector -151.554 297.5 30.0) (float-vector -151.554 297.5 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 297.5 2.273737e-13) (float-vector -151.554 297.5 30.0) (float-vector -175.0 210.0 30.0) (float-vector -175.0 210.0 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -175.0 210.0 2.273737e-13) (float-vector -175.0 210.0 30.0) (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 2.273737e-13) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 -2.273737e-13) (float-vector -87.5 58.4456 30.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector -2.273737e-13 35.0 0.0)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 0.0) (float-vector -2.273737e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 -2.273737e-13) (float-vector 87.5 58.4456 30.0) (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 -2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 151.554 122.5 -2.273737e-13) (float-vector 151.554 122.5 30.0) (float-vector 175.0 210.0 30.0) (float-vector 175.0 210.0 0.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray80)
+ (gl::transparent (elt bc 0) 0.5)
+ (send (elt bc 1) :set-color :gray60)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'cap :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 blink1 :newcoords (make-coords :pos (float-vector 640.0 90.0 770.0) :rot #2f((0.34202 1.818883e-16 0.939693) (-1.818883e-16 1.0 -1.273596e-16) (-0.939693 -1.273596e-16 0.34202))))
+ (send blink0 :assoc blink1)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :joint0
+ (setq joint0 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink1 :name :joint0 :axis :x
+ :min 0.0 :max 180.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 505.0 0.0 580.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "contents"))
+ (send self :assoc handle0)
+ (setq handle1 (make-cascoords :pos (float-vector 640.0 190.0 770.0) :rot #2f((-5.828671e-16 -0.34202 -0.939693) (-1.0 6.383782e-16 3.885781e-16) (5.551115e-16 0.939693 -0.34202)) :name "handle-cap"))
+ (send self :assoc handle1)
+ (setq handle2 (make-cascoords :pos (float-vector 600.0 240.0 930.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "open-button"))
+ (send self :assoc handle2)
+
+ ;; definition of :button
+ (setq button0 (make-cascoords :pos (float-vector 600.0 240.0 930.0) :rot #2f((0.5 -2.775558e-17 0.866025) (-2.775558e-17 1.0 4.807407e-17) (-0.866025 -4.807407e-17 0.5)) :name "open"))
+ (send self :assoc button0)
+
+ ;; init-ending
+ (setq links (list blink0 blink1))
+ (setq joint-list (list joint0))
+ (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))
+
+ (:joint0 (&rest args) (forward-message-to joint0 args))
+ (:handle () (list handle0 handle1 handle2))
+ (:handle-contents () handle0)
+ (:handle-handle-cap () handle1)
+ (:handle-open-button () handle2)
+ (:attention () (list ))
+ (:button () (list button0))
+ (:button-open () button0)
+ )
+
+(defun room610-laundary-machine (&rest args) (instance* room610-laundary-machine-object :init args))
+;; (format *error-output* "(instance room610-laundary-machine-object :init) for generating model~%")
Modified: trunk/EusLisp/models/room610-scene.l
===================================================================
--- trunk/EusLisp/models/room610-scene.l 2013-04-15 04:33:39 UTC (rev 603)
+++ trunk/EusLisp/models/room610-scene.l 2013-04-15 11:13:50 UTC (rev 604)
@@ -22,6 +22,7 @@
(load "models/room610-fridge-object.l")
(load "models/room610-kitchen-object.l")
(load "models/room610-table-object.l")
+(load "models/room610-laundary-machine-object.l")
(load "models/room610-wall195-object.l")
(load "models/room610-wall193-object.l")
(load "models/room610-wall191-object.l")
@@ -56,6 +57,7 @@
(send (room610-fridge) :transform (make-coords :pos (float-vector 7050.0 2290.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-kitchen) :transform (make-coords :pos (float-vector 7750.0 -1010.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-table) :transform (make-coords :pos (float-vector 4650.0 -110.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send (room610-laundary-machine) :transform (make-coords :pos (float-vector 3500.0 2640.0 0.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-wall195) :transform (make-coords :pos (float-vector 9160.0 0.0 1375.0) :rot #2f((2.220446e-16 -1.0 0.0) (1.0 2.220446e-16 0.0) (0.0 0.0 1.0))))
(send (room610-wall193) :transform (make-coords :pos (float-vector 4580.0 -3870.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send (room610-wall191) :transform (make-coords :pos (float-vector 4580.0 3840.0 1375.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sn...@us...> - 2013-04-15 04:33:55
|
Revision: 603
http://sourceforge.net/p/euslisp/code/603
Author: snozawa
Date: 2013-04-15 04:33:39 +0000 (Mon, 15 Apr 2013)
Log Message:
-----------
add room610 scene
Added Paths:
-----------
trunk/EusLisp/models/610-floor-tex.jpg
trunk/EusLisp/models/db-viewer.jpg
trunk/EusLisp/models/irt.jpg
trunk/EusLisp/models/room610-610-ground-object.l
trunk/EusLisp/models/room610-audio_shelf-object.l
trunk/EusLisp/models/room610-bears-panel-object.l
trunk/EusLisp/models/room610-cabinet-mamoru-object.l
trunk/EusLisp/models/room610-cabinet-object.l
trunk/EusLisp/models/room610-cupboard-object.l
trunk/EusLisp/models/room610-fridge-object.l
trunk/EusLisp/models/room610-kitchen-object.l
trunk/EusLisp/models/room610-scene.l
trunk/EusLisp/models/room610-shelf0-object.l
trunk/EusLisp/models/room610-shelf1-object.l
trunk/EusLisp/models/room610-shelf2-object.l
trunk/EusLisp/models/room610-table-object.l
trunk/EusLisp/models/room610-tv1-object.l
trunk/EusLisp/models/room610-tv3-object.l
trunk/EusLisp/models/room610-wall187-object.l
trunk/EusLisp/models/room610-wall189-object.l
trunk/EusLisp/models/room610-wall191-object.l
trunk/EusLisp/models/room610-wall193-object.l
trunk/EusLisp/models/room610-wall195-object.l
trunk/EusLisp/models/room610-x-leg-desk-object.l
Added: trunk/EusLisp/models/610-floor-tex.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/610-floor-tex.jpg
===================================================================
--- trunk/EusLisp/models/610-floor-tex.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/610-floor-tex.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/610-floor-tex.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/db-viewer.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/db-viewer.jpg
===================================================================
--- trunk/EusLisp/models/db-viewer.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/db-viewer.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/db-viewer.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/irt.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/irt.jpg
===================================================================
--- trunk/EusLisp/models/irt.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/irt.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/irt.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/room610-610-ground-object.l
===================================================================
--- trunk/EusLisp/models/room610-610-ground-object.l (rev 0)
+++ trunk/EusLisp/models/room610-610-ground-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,62 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-610-ground-object
+ :super cascaded-link
+ :slots (sensors
+ ))
+(defmethod room610-610-ground-object
+ (:init
+ (&rest args &key (name "room610-610-ground") (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 :room610-610-ground-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 3750.0 2500.0 5.0) (float-vector -3750.0 2500.0 5.0) (float-vector -3750.0 -2500.0 5.0) (float-vector 3750.0 -2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 2500.0 -5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector -3750.0 -2500.0 -5.0)))
+ (instance face :init :vertices (list (float-vector 3750.0 2500.0 5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector -3750.0 2500.0 -5.0) (float-vector -3750.0 2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector 3750.0 -2500.0 5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector 3750.0 2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 -2500.0 5.0) (float-vector -3750.0 -2500.0 -5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector 3750.0 -2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 2500.0 5.0) (float-vector -3750.0 2500.0 -5.0) (float-vector -3750.0 -2500.0 -5.0) (float-vector -3750.0 -2500.0 5.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ ;; paste texture 610-floor-tex.jpg
+ (send (elt bc 0) :paste-texture-to-face (elt (send (elt bc 0) :faces)0) :file "models/610-floor-tex.jpg")
+ (send (elt bc 0) :set-color :black)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-610-ground-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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list ))
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-610-ground (&rest args) (instance* room610-610-ground-object :init args))
+;; (format *error-output* "(instance room610-610-ground-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-audio_shelf-object.l
===================================================================
--- trunk/EusLisp/models/room610-audio_shelf-object.l (rev 0)
+++ trunk/EusLisp/models/room610-audio_shelf-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,274 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-audio_shelf-object
+ :super cascaded-link
+ :slots (sensors
+ handle0
+ joint0 joint1 joint2 joint3 joint4 ))
+(defmethod room610-audio_shelf-object
+ (:init
+ (&rest args &key (name "room610-audio_shelf") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2 blink3 blink4 blink5
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :root
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.5 575.0 620.0) (float-vector -232.5 575.0 620.0) (float-vector -232.5 -575.0 620.0) (float-vector 232.5 -575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 600.0) (float-vector 232.5 575.0 600.0) (float-vector 232.5 -575.0 600.0) (float-vector -232.5 -575.0 600.0)))
+ (instance face :init :vertices (list (float-vector 232.5 575.0 620.0) (float-vector 232.5 575.0 600.0) (float-vector -232.5 575.0 600.0) (float-vector -232.5 575.0 620.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -575.0 620.0) (float-vector 232.5 -575.0 600.0) (float-vector 232.5 575.0 600.0) (float-vector 232.5 575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 620.0) (float-vector -232.5 -575.0 600.0) (float-vector 232.5 -575.0 600.0) (float-vector 232.5 -575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 620.0) (float-vector -232.5 575.0 600.0) (float-vector -232.5 -575.0 600.0) (float-vector -232.5 -575.0 620.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 575.0 84.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 -575.0 84.5) (float-vector 222.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 -0.5) (float-vector 222.5 575.0 -0.5) (float-vector 222.5 -575.0 -0.5) (float-vector -232.5 -575.0 -0.5)))
+ (instance face :init :vertices (list (float-vector 222.5 575.0 84.5) (float-vector 222.5 575.0 -0.5) (float-vector -232.5 575.0 -0.5) (float-vector -232.5 575.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -575.0 -0.5) (float-vector 222.5 575.0 -0.5) (float-vector 222.5 575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 84.5) (float-vector -232.5 -575.0 -0.5) (float-vector 222.5 -575.0 -0.5) (float-vector 222.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 84.5) (float-vector -232.5 575.0 -0.5) (float-vector -232.5 -575.0 -0.5) (float-vector -232.5 -575.0 84.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -202.0 545.0 599.5) (float-vector -232.0 545.0 599.5) (float-vector -232.0 -545.0 599.5) (float-vector -202.0 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 545.0 84.5) (float-vector -202.0 545.0 84.5) (float-vector -202.0 -545.0 84.5) (float-vector -232.0 -545.0 84.5)))
+ (instance face :init :vertices (list (float-vector -202.0 545.0 599.5) (float-vector -202.0 545.0 84.5) (float-vector -232.0 545.0 84.5) (float-vector -232.0 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -202.0 -545.0 599.5) (float-vector -202.0 -545.0 84.5) (float-vector -202.0 545.0 84.5) (float-vector -202.0 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 -545.0 599.5) (float-vector -232.0 -545.0 84.5) (float-vector -202.0 -545.0 84.5) (float-vector -202.0 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 545.0 599.5) (float-vector -232.0 545.0 84.5) (float-vector -232.0 -545.0 84.5) (float-vector -232.0 -545.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 575.0 599.5) (float-vector -232.5 575.0 599.5) (float-vector -232.5 545.0 599.5) (float-vector 222.5 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 84.5) (float-vector 222.5 575.0 84.5) (float-vector 222.5 545.0 84.5) (float-vector -232.5 545.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 575.0 599.5) (float-vector 222.5 575.0 84.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 575.0 599.5)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 599.5) (float-vector 222.5 545.0 84.5) (float-vector 222.5 575.0 84.5) (float-vector 222.5 575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 545.0 599.5) (float-vector -232.5 545.0 84.5) (float-vector 222.5 545.0 84.5) (float-vector 222.5 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 599.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 545.0 84.5) (float-vector -232.5 545.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 599.5) (float-vector -232.5 -545.0 599.5) (float-vector -232.5 -575.0 599.5) (float-vector 222.5 -575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -545.0 84.5) (float-vector 222.5 -545.0 84.5) (float-vector 222.5 -575.0 84.5) (float-vector -232.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 599.5) (float-vector 222.5 -545.0 84.5) (float-vector -232.5 -545.0 84.5) (float-vector -232.5 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -575.0 599.5) (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -545.0 84.5) (float-vector 222.5 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 599.5) (float-vector -232.5 -575.0 84.5) (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -545.0 599.5) (float-vector -232.5 -545.0 84.5) (float-vector -232.5 -575.0 84.5) (float-vector -232.5 -575.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 545.0 300.0) (float-vector -202.5 545.0 300.0) (float-vector -202.5 -545.0 300.0) (float-vector 222.5 -545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 270.0) (float-vector 222.5 545.0 270.0) (float-vector 222.5 -545.0 270.0) (float-vector -202.5 -545.0 270.0)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 300.0) (float-vector 222.5 545.0 270.0) (float-vector -202.5 545.0 270.0) (float-vector -202.5 545.0 300.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 300.0) (float-vector 222.5 -545.0 270.0) (float-vector 222.5 545.0 270.0) (float-vector 222.5 545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 -545.0 300.0) (float-vector -202.5 -545.0 270.0) (float-vector 222.5 -545.0 270.0) (float-vector 222.5 -545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 300.0) (float-vector -202.5 545.0 270.0) (float-vector -202.5 -545.0 270.0) (float-vector -202.5 -545.0 300.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 545.0 400.0) (float-vector -202.5 545.0 400.0) (float-vector -202.5 -545.0 400.0) (float-vector 222.5 -545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 370.0) (float-vector 222.5 545.0 370.0) (float-vector 222.5 -545.0 370.0) (float-vector -202.5 -545.0 370.0)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 400.0) (float-vector 222.5 545.0 370.0) (float-vector -202.5 545.0 370.0) (float-vector -202.5 545.0 400.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 400.0) (float-vector 222.5 -545.0 370.0) (float-vector 222.5 545.0 370.0) (float-vector 222.5 545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 -545.0 400.0) (float-vector -202.5 -545.0 370.0) (float-vector 222.5 -545.0 370.0) (float-vector 222.5 -545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 400.0) (float-vector -202.5 545.0 370.0) (float-vector -202.5 -545.0 370.0) (float-vector -202.5 -545.0 400.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (send (elt bc 1) :set-color :peru)
+ (send (elt bc 2) :set-color :peru)
+ (send (elt bc 3) :set-color :peru)
+ (send (elt bc 4) :set-color :peru)
+ (send (elt bc 5) :set-color :peru)
+ (send (elt bc 6) :set-color :peru)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :room610-audio_shelf-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 10.0 540.0) (float-vector -10.0 10.0 540.0) (float-vector -10.0 -380.0 540.0) (float-vector 10.0 -380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 0.0) (float-vector 10.0 10.0 0.0) (float-vector 10.0 -380.0 0.0) (float-vector -10.0 -380.0 0.0)))
+ (instance face :init :vertices (list (float-vector 10.0 10.0 540.0) (float-vector 10.0 10.0 0.0) (float-vector -10.0 10.0 0.0) (float-vector -10.0 10.0 540.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -380.0 540.0) (float-vector 10.0 -380.0 0.0) (float-vector 10.0 10.0 0.0) (float-vector 10.0 10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -380.0 540.0) (float-vector -10.0 -380.0 0.0) (float-vector 10.0 -380.0 0.0) (float-vector 10.0 -380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 540.0) (float-vector -10.0 10.0 0.0) (float-vector -10.0 -380.0 0.0) (float-vector -10.0 -380.0 540.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-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 :room610-audio_shelf-bodyset3
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 380.0 540.0) (float-vector -10.0 380.0 540.0) (float-vector -10.0 -10.0 540.0) (float-vector 10.0 -10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 380.0 0.0) (float-vector 10.0 380.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector -10.0 -10.0 0.0)))
+ (instance face :init :vertices (list (float-vector 10.0 380.0 540.0) (float-vector 10.0 380.0 0.0) (float-vector -10.0 380.0 0.0) (float-vector -10.0 380.0 540.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -10.0 540.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 380.0 0.0) (float-vector 10.0 380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -10.0 540.0) (float-vector -10.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 380.0 540.0) (float-vector -10.0 380.0 0.0) (float-vector -10.0 -10.0 0.0) (float-vector -10.0 -10.0 540.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset3 :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 :room610-audio_shelf-bodyset4
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -60.0) (float-vector -222.5 -175.0 -60.0) (float-vector -222.5 -175.0 60.0) (float-vector -222.5 175.0 60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -60.0) (float-vector 222.5 -175.0 60.0) (float-vector -222.5 -175.0 60.0) (float-vector -222.5 -175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -60.0) (float-vector 222.5 175.0 60.0) (float-vector 222.5 165.0 60.0) (float-vector 222.5 165.0 -50.0) (float-vector 222.5 -165.0 -50.0) (float-vector 222.5 -165.0 60.0) (float-vector 222.5 -175.0 60.0) (float-vector 222.5 -175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 60.0) (float-vector -222.5 -175.0 60.0) (float-vector 222.5 -175.0 60.0) (float-vector 222.5 -165.0 60.0) (float-vector -212.5 -165.0 60.0) (float-vector -212.5 165.0 60.0) (float-vector 222.5 165.0 60.0) (float-vector 222.5 175.0 60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -60.0) (float-vector 222.5 -175.0 -60.0) (float-vector -222.5 -175.0 -60.0) (float-vector -222.5 175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -60.0) (float-vector -222.5 175.0 60.0) (float-vector 222.5 175.0 60.0) (float-vector 222.5 175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 60.0) (float-vector -212.5 -165.0 60.0) (float-vector -212.5 -165.0 -50.0) (float-vector -212.5 165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -50.0) (float-vector -212.5 -165.0 60.0) (float-vector 222.5 -165.0 60.0) (float-vector 222.5 -165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -50.0) (float-vector 222.5 165.0 60.0) (float-vector -212.5 165.0 60.0) (float-vector -212.5 165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -50.0) (float-vector -212.5 -165.0 -50.0) (float-vector 222.5 -165.0 -50.0) (float-vector 222.5 165.0 -50.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 70.0) (float-vector 222.0 185.0 70.0) (float-vector 222.0 -185.0 70.0) (float-vector 232.0 -185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -60.0) (float-vector 232.0 185.0 -60.0) (float-vector 232.0 -185.0 -60.0) (float-vector 222.0 -185.0 -60.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 70.0) (float-vector 232.0 185.0 -60.0) (float-vector 222.0 185.0 -60.0) (float-vector 222.0 185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 70.0) (float-vector 232.0 -185.0 -60.0) (float-vector 232.0 185.0 -60.0) (float-vector 232.0 185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 70.0) (float-vector 222.0 -185.0 -60.0) (float-vector 232.0 -185.0 -60.0) (float-vector 232.0 -185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 70.0) (float-vector 222.0 185.0 -60.0) (float-vector 222.0 -185.0 -60.0) (float-vector 222.0 -185.0 70.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset4 :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 :room610-audio_shelf-bodyset5
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -80.0) (float-vector -222.5 -175.0 -80.0) (float-vector -222.5 -175.0 80.0) (float-vector -222.5 175.0 80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -80.0) (float-vector 222.5 -175.0 80.0) (float-vector -222.5 -175.0 80.0) (float-vector -222.5 -175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -80.0) (float-vector 222.5 175.0 80.0) (float-vector 222.5 165.0 80.0) (float-vector 222.5 165.0 -70.0) (float-vector 222.5 -165.0 -70.0) (float-vector 222.5 -165.0 80.0) (float-vector 222.5 -175.0 80.0) (float-vector 222.5 -175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 80.0) (float-vector -222.5 -175.0 80.0) (float-vector 222.5 -175.0 80.0) (float-vector 222.5 -165.0 80.0) (float-vector -212.5 -165.0 80.0) (float-vector -212.5 165.0 80.0) (float-vector 222.5 165.0 80.0) (float-vector 222.5 175.0 80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -80.0) (float-vector 222.5 -175.0 -80.0) (float-vector -222.5 -175.0 -80.0) (float-vector -222.5 175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -80.0) (float-vector -222.5 175.0 80.0) (float-vector 222.5 175.0 80.0) (float-vector 222.5 175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 80.0) (float-vector -212.5 -165.0 80.0) (float-vector -212.5 -165.0 -70.0) (float-vector -212.5 165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -70.0) (float-vector -212.5 -165.0 80.0) (float-vector 222.5 -165.0 80.0) (float-vector 222.5 -165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -70.0) (float-vector 222.5 165.0 80.0) (float-vector -212.5 165.0 80.0) (float-vector -212.5 165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -70.0) (float-vector -212.5 -165.0 -70.0) (float-vector 222.5 -165.0 -70.0) (float-vector 222.5 165.0 -70.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 90.0) (float-vector 222.0 185.0 90.0) (float-vector 222.0 -185.0 90.0) (float-vector 232.0 -185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -80.0) (float-vector 232.0 185.0 -80.0) (float-vector 232.0 -185.0 -80.0) (float-vector 222.0 -185.0 -80.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 90.0) (float-vector 232.0 185.0 -80.0) (float-vector 222.0 185.0 -80.0) (float-vector 222.0 185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 90.0) (float-vector 232.0 -185.0 -80.0) (float-vector 232.0 185.0 -80.0) (float-vector 232.0 185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 90.0) (float-vector 222.0 -185.0 -80.0) (float-vector 232.0 -185.0 -80.0) (float-vector 232.0 -185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 90.0) (float-vector 222.0 185.0 -80.0) (float-vector 222.0 -185.0 -80.0) (float-vector 222.0 -185.0 90.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset5 :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 :room610-audio_shelf-bodyset6
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -100.0) (float-vector -222.5 -175.0 -100.0) (float-vector -222.5 -175.0 100.0) (float-vector -222.5 175.0 100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -100.0) (float-vector 222.5 -175.0 100.0) (float-vector -222.5 -175.0 100.0) (float-vector -222.5 -175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -100.0) (float-vector 222.5 175.0 100.0) (float-vector 222.5 165.0 100.0) (float-vector 222.5 165.0 -90.0) (float-vector 222.5 -165.0 -90.0) (float-vector 222.5 -165.0 100.0) (float-vector 222.5 -175.0 100.0) (float-vector 222.5 -175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 100.0) (float-vector -222.5 -175.0 100.0) (float-vector 222.5 -175.0 100.0) (float-vector 222.5 -165.0 100.0) (float-vector -212.5 -165.0 100.0) (float-vector -212.5 165.0 100.0) (float-vector 222.5 165.0 100.0) (float-vector 222.5 175.0 100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -100.0) (float-vector 222.5 -175.0 -100.0) (float-vector -222.5 -175.0 -100.0) (float-vector -222.5 175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -100.0) (float-vector -222.5 175.0 100.0) (float-vector 222.5 175.0 100.0) (float-vector 222.5 175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 100.0) (float-vector -212.5 -165.0 100.0) (float-vector -212.5 -165.0 -90.0) (float-vector -212.5 165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -90.0) (float-vector -212.5 -165.0 100.0) (float-vector 222.5 -165.0 100.0) (float-vector 222.5 -165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -90.0) (float-vector 222.5 165.0 100.0) (float-vector -212.5 165.0 100.0) (float-vector -212.5 165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -90.0) (float-vector -212.5 -165.0 -90.0) (float-vector 222.5 -165.0 -90.0) (float-vector 222.5 165.0 -90.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 110.0) (float-vector 222.0 185.0 110.0) (float-vector 222.0 -185.0 110.0) (float-vector 232.0 -185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -100.0) (float-vector 232.0 185.0 -100.0) (float-vector 232.0 -185.0 -100.0) (float-vector 222.0 -185.0 -100.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 110.0) (float-vector 232.0 185.0 -100.0) (float-vector 222.0 185.0 -100.0) (float-vector 222.0 185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 110.0) (float-vector 232.0 -185.0 -100.0) (float-vector 232.0 185.0 -100.0) (float-vector 232.0 185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 110.0) (float-vector 222.0 -185.0 -100.0) (float-vector 232.0 -185.0 -100.0) (float-vector 232.0 -185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 110.0) (float-vector 222.0 185.0 -100.0) (float-vector 222.0 -185.0 -100.0) (float-vector 222.0 -185.0 110.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset6 :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 blink1 :newcoords (make-coords :pos (float-vector 0.0 390.0 180.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink1)
+ (send blink2 :newcoords (make-coords :pos (float-vector 0.0 390.0 370.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink2)
+ (send blink3 :newcoords (make-coords :pos (float-vector 0.0 390.0 520.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink3)
+ (send blink4 :newcoords (make-coords :pos (float-vector 222.0 -565.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink4)
+ (send blink5 :newcoords (make-coords :pos (float-vector 222.0 195.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink5)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :drawer1
+ (setq joint0 (instance linear-joint :init
+ :parent-link blink0 :child-link blink1 :name :drawer1 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer2
+ (setq joint1 (instance linear-joint :init
+ :parent-link blink0 :child-link blink2 :name :drawer2 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer3
+ (setq joint2 (instance linear-joint :init
+ :parent-link blink0 :child-link blink3 :name :drawer3 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :door-right
+ (setq joint3 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink4 :name :door-right :axis :-z
+ :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+ ;; definition of :door-left
+ (setq joint4 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink5 :name :door-left :axis :z
+ :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
+ (send self :assoc handle0)
+
+ ;; init-ending
+ (setq links (list blink0 blink1 blink2 blink3 blink4 blink5))
+ (setq joint-list (list joint0 joint1 joint2 joint3 joint4))
+ (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))
+
+ (:drawer1 (&rest args) (forward-message-to joint0 args))
+ (:drawer2 (&rest args) (forward-message-to joint1 args))
+ (:drawer3 (&rest args) (forward-message-to joint2 args))
+ (:door-right (&rest args) (forward-message-to joint3 args))
+ (:door-left (&rest args) (forward-message-to joint4 args))
+ (:handle () (list handle0))
+ (:handle-handle0 () handle0)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-audio_shelf (&rest args) (instance* room610-audio_shelf-object :init args))
+;; (format *error-output* "(instance room610-audio_shelf-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-bears-panel-object.l
===================================================================
--- trunk/EusLisp/models/room610-bears-panel-object.l (rev 0)
+++ trunk/EusLisp/models/room610-bears-panel-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,136 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-bears-panel-object
+ :super cascaded-link
+ :slots (sensors
+ ))
+(defmethod room610-bears-panel-object
+ (:init
+ (&rest args &key (name "room610-bears-panel") (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 :room610-bears-panel-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -15.0 -167.321 530.0) (float-vector -15.0 -170.0 540.0) (float-vector -15.0 -160.622 575.0) (float-vector -15.0 -135.0 600.622) (float-vector -15.0 -100.0 610.0) (float-vector -15.0 -65.0 600.622) (float-vector -15.0 -39.3782 575.0) (float-vector -15.0 -30.0 540.0) (float-vector -15.0 -32.6795 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -167.321 530.0) (float-vector 15.0 -167.321 530.0) (float-vector 15.0 -170.0 540.0) (float-vector -15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -167.321 530.0) (float-vector 15.0 -32.6795 530.0) (float-vector 15.0 -30.0 540.0) (float-vector 15.0 -39.3782 575.0) (float-vector 15.0 -65.0 600.622) (float-vector 15.0 -100.0 610.0) (float-vector 15.0 -135.0 600.622) (float-vector 15.0 -160.622 575.0) (float-vector 15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -160.622 575.0) (float-vector -15.0 -160.622 575.0) (float-vector -15.0 -170.0 540.0) (float-vector 15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -135.0 600.622) (float-vector -15.0 -135.0 600.622) (float-vector -15.0 -160.622 575.0) (float-vector 15.0 -160.622 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -100.0 610.0) (float-vector -15.0 -100.0 610.0) (float-vector -15.0 -135.0 600.622) (float-vector 15.0 -135.0 600.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -65.0 600.622) (float-vector -15.0 -65.0 600.622) (float-vector -15.0 -100.0 610.0) (float-vector 15.0 -100.0 610.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -39.3782 575.0) (float-vector -15.0 -39.3782 575.0) (float-vector -15.0 -65.0 600.622) (float-vector 15.0 -65.0 600.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -30.0 540.0) (float-vector -15.0 -30.0 540.0) (float-vector -15.0 -39.3782 575.0) (float-vector 15.0 -39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -32.6795 530.0) (float-vector -15.0 -32.6795 530.0) (float-vector -15.0 -30.0 540.0) (float-vector 15.0 -30.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 232.679 530.0) (float-vector -15.0 239.378 555.0) (float-vector -15.0 265.0 580.622) (float-vector -15.0 300.0 590.0) (float-vector -15.0 335.0 580.622) (float-vector -15.0 360.622 555.0) (float-vector -15.0 367.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 232.679 530.0) (float-vector 15.0 232.679 530.0) (float-vector 15.0 239.378 555.0) (float-vector -15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 232.679 530.0) (float-vector 15.0 367.321 530.0) (float-vector 15.0 360.622 555.0) (float-vector 15.0 335.0 580.622) (float-vector 15.0 300.0 590.0) (float-vector 15.0 265.0 580.622) (float-vector 15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 265.0 580.622) (float-vector -15.0 265.0 580.622) (float-vector -15.0 239.378 555.0) (float-vector 15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 300.0 590.0) (float-vector -15.0 300.0 590.0) (float-vector -15.0 265.0 580.622) (float-vector 15.0 265.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 335.0 580.622) (float-vector -15.0 335.0 580.622) (float-vector -15.0 300.0 590.0) (float-vector 15.0 300.0 590.0)))
+ (instance face :init :vertices (list (float-vector 15.0 360.622 555.0) (float-vector -15.0 360.622 555.0) (float-vector -15.0 335.0 580.622) (float-vector 15.0 335.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 367.321 530.0) (float-vector -15.0 367.321 530.0) (float-vector -15.0 360.622 555.0) (float-vector 15.0 360.622 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -230.0 200.0) (float-vector 15.0 -230.0 430.0) (float-vector 15.0 -370.0 430.0) (float-vector 15.0 -370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -230.0 200.0) (float-vector -15.0 -230.0 200.0) (float-vector -15.0 -230.0 430.0) (float-vector 15.0 -230.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -370.0 430.0) (float-vector -15.0 -370.0 430.0) (float-vector -15.0 -370.0 200.0) (float-vector 15.0 -370.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -230.0 200.0) (float-vector -15.0 -370.0 200.0) (float-vector -15.0 -370.0 430.0) (float-vector -15.0 -230.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 170.0 200.0) (float-vector 15.0 170.0 430.0) (float-vector 15.0 30.0 430.0) (float-vector 15.0 30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 170.0 200.0) (float-vector -15.0 170.0 200.0) (float-vector -15.0 170.0 430.0) (float-vector 15.0 170.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 30.0 430.0) (float-vector -15.0 30.0 430.0) (float-vector -15.0 30.0 200.0) (float-vector 15.0 30.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 170.0 200.0) (float-vector -15.0 30.0 200.0) (float-vector -15.0 30.0 430.0) (float-vector -15.0 170.0 430.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 0.0) (float-vector -25.0 -400.0 200.0) (float-vector -25.0 400.0 200.0) (float-vector -25.0 400.0 0.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 0.0) (float-vector 25.0 -400.0 0.0) (float-vector 25.0 -400.0 200.0) (float-vector -25.0 -400.0 200.0)))
+ (instance face :init :vertices (list (float-vector 25.0 -400.0 0.0) (float-vector 25.0 400.0 0.0) (float-vector 25.0 400.0 200.0) (float-vector 25.0 -400.0 200.0)))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 200.0) (float-vector -25.0 400.0 200.0) (float-vector -25.0 -400.0 200.0) (float-vector 25.0 -400.0 200.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector -15.0 230.0 200.0) (float-vector -15.0 370.0 200.0) (float-vector 15.0 370.0 200.0) (float-vector 15.0 230.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -170.0 200.0) (float-vector -15.0 -30.0 200.0) (float-vector 15.0 -30.0 200.0) (float-vector 15.0 -170.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 30.0 200.0) (float-vector -15.0 170.0 200.0) (float-vector 15.0 170.0 200.0) (float-vector 15.0 30.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -370.0 200.0) (float-vector -15.0 -230.0 200.0) (float-vector 15.0 -230.0 200.0) (float-vector 15.0 -370.0 200.0)))
+))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 0.0) (float-vector -25.0 400.0 0.0) (float-vector -25.0 400.0 200.0) (float-vector 25.0 400.0 200.0)))
+ (instance face :init :vertices (list (float-vector -25.0 400.0 0.0) (float-vector 25.0 400.0 0.0) (float-vector 25.0 -400.0 0.0) (float-vector -25.0 -400.0 0.0)))
+ (instance face :init :vertices (list (float-vector -15.0 230.0 200.0) (float-vector -15.0 230.0 430.0) (float-vector -15.0 370.0 430.0) (float-vector -15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 230.0 200.0) (float-vector 15.0 230.0 430.0) (float-vector -15.0 230.0 430.0) (float-vector -15.0 230.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 370.0 430.0) (float-vector 15.0 370.0 430.0) (float-vector 15.0 370.0 200.0) (float-vector -15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 370.0 430.0) (float-vector 15.0 230.0 430.0) (float-vector 15.0 230.0 200.0) (float-vector 15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -170.0 200.0) (float-vector -15.0 -170.0 430.0) (float-vector -15.0 -30.0 430.0) (float-vector -15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -170.0 200.0) (float-vector 15.0 -170.0 430.0) (float-vector -15.0 -170.0 430.0) (float-vector -15.0 -170.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -30.0 430.0) (float-vector 15.0 -30.0 430.0) (float-vector 15.0 -30.0 200.0) (float-vector -15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -30.0 430.0) (float-vector 15.0 -170.0 430.0) (float-vector 15.0 -170.0 200.0) (float-vector 15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 430.0) (float-vector -25.0 -400.0 530.0) (float-vector -25.0 400.0 530.0) (float-vector -25.0 400.0 430.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 430.0) (float-vector 25.0 -400.0 430.0) (float-vector 25.0 -400.0 530.0) (float-vector -25.0 -400.0 530.0)))
+ (instance face :init :vertices (list (float-vector 25.0 -400.0 430.0) (float-vector 25.0 400.0 430.0) (float-vector 25.0 400.0 530.0) (float-vector 25.0 -400.0 530.0)))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 530.0) (float-vector -25.0 400.0 530.0) (float-vector -25.0 -400.0 530.0) (float-vector 25.0 -400.0 530.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector -15.0 167.321 530.0) (float-vector 15.0 167.321 530.0) (float-vector 15.0 32.6795 530.0) (float-vector -15.0 32.6795 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 367.321 530.0) (float-vector 15.0 367.321 530.0) (float-vector 15.0 232.679 530.0) (float-vector -15.0 232.679 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -32.6795 530.0) (float-vector 15.0 -32.6795 530.0) (float-vector 15.0 -167.321 530.0) (float-vector -15.0 -167.321 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -367.321 530.0) (float-vector -15.0 -232.679 530.0) (float-vector 15.0 -232.679 530.0) (float-vector 15.0 -367.321 530.0)))
+))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 430.0) (float-vector -25.0 400.0 430.0) (float-vector -25.0 400.0 530.0) (float-vector 25.0 400.0 530.0)))
+ (instance face :init :vertices (list (float-vector -25.0 400.0 430.0) (float-vector 25.0 400.0 430.0) (float-vector 25.0 -400.0 430.0) (float-vector -25.0 -400.0 430.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 15.0 -170.0 430.0) (float-vector 15.0 -30.0 430.0) (float-vector -15.0 -30.0 430.0) (float-vector -15.0 -170.0 430.0)))
+ (instance hole :init :vertices (list (float-vector 15.0 230.0 430.0) (float-vector 15.0 370.0 430.0) (float-vector -15.0 370.0 430.0) (float-vector -15.0 230.0 430.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 170.0 430.0) (float-vector -15.0 30.0 430.0) (float-vector 15.0 30.0 430.0) (float-vector 15.0 170.0 430.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -230.0 430.0) (float-vector -15.0 -370.0 430.0) (float-vector 15.0 -370.0 430.0) (float-vector 15.0 -230.0 430.0)))
+))
+ (instance face :init :vertices (list (float-vector -15.0 167.321 530.0) (float-vector -15.0 170.0 540.0) (float-vector 15.0 170.0 540.0) (float-vector 15.0 167.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 170.0 540.0) (float-vector -15.0 160.622 575.0) (float-vector 15.0 160.622 575.0) (float-vector 15.0 170.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 160.622 575.0) (float-vector -15.0 135.0 600.622) (float-vector 15.0 135.0 600.622) (float-vector 15.0 160.622 575.0)))
+ (instance face :init :vertices (list (float-vector -15.0 135.0 600.622) (float-vector -15.0 100.0 610.0) (float-vector 15.0 100.0 610.0) (float-vector 15.0 135.0 600.622)))
+ (instance face :init :vertices (list (float-vector -15.0 100.0 610.0) (float-vector -15.0 65.0 600.622) (float-vector 15.0 65.0 600.622) (float-vector 15.0 100.0 610.0)))
+ (instance face :init :vertices (list (float-vector -15.0 65.0 600.622) (float-vector -15.0 39.3782 575.0) (float-vector 15.0 39.3782 575.0) (float-vector 15.0 65.0 600.622)))
+ (instance face :init :vertices (list (float-vector -15.0 39.3782 575.0) (float-vector -15.0 30.0 540.0) (float-vector 15.0 30.0 540.0) (float-vector 15.0 39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 30.0 540.0) (float-vector 15.0 32.6795 530.0) (float-vector 15.0 167.321 530.0) (float-vector 15.0 170.0 540.0) (float-vector 15.0 160.622 575.0) (float-vector 15.0 135.0 600.622) (float-vector 15.0 100.0 610.0) (float-vector 15.0 65.0 600.622) (float-vector 15.0 39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector -15.0 30.0 540.0) (float-vector -15.0 32.6795 530.0) (float-vector 15.0 32.6795 530.0) (float-vector 15.0 30.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 32.6795 530.0) (float-vector -15.0 30.0 540.0) (float-vector -15.0 39.3782 575.0) (float-vector -15.0 65.0 600.622) (float-vector -15.0 100.0 610.0) (float-vector -15.0 135.0 600.622) (float-vector -15.0 160.622 575.0) (float-vector -15.0 170.0 540.0) (float-vector -15.0 167.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -232.679 530.0) (float-vector -15.0 -239.378 555.0) (float-vector 15.0 -239.378 555.0) (float-vector 15.0 -232.679 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -239.378 555.0) (float-vector -15.0 -265.0 580.622) (float-vector 15.0 -265.0 580.622) (float-vector 15.0 -239.378 555.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -265.0 580.622) (float-vector -15.0 -300.0 590.0) (float-vector 15.0 -300.0 590.0) (float-vector 15.0 -265.0 580.622)))
+ (instance face :init :vertices (list (float-vector -15.0 -300.0 590.0) (float-vector -15.0 -335.0 580.622) (float-vector 15.0 -335.0 580.622) (float-vector 15.0 -300.0 590.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -335.0 580.622) (float-vector -15.0 -360.622 555.0) (float-vector 15.0 -360.622 555.0) (float-vector 15.0 -335.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -360.622 555.0) (float-vector 15.0 -367.321 530.0) (float-vector 15.0 -232.679 530.0) (float-vector 15.0 -239.378 555.0) (float-vector 15.0 -265.0 580.622) (float-vector 15.0 -300.0 590.0) (float-vector 15.0 -335.0 580.622)))
+ (instance face :init :vertices (list (float-vector -15.0 -360.622 555.0) (float-vector -15.0 -367.321 530.0) (float-vector 15.0 -367.321 530.0) (float-vector 15.0 -360.622 555.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -367.321 530.0) (float-vector -15.0 -360.622 555.0) (float-vector -15.0 -335.0 580.622) (float-vector -15.0 -300.0 590.0) (float-vector -15.0 -265.0 580.622) (float-vector -15.0 -239.378 555.0) (float-vector -15.0 -232.679 530.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :yellow)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-bears-panel-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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list ))
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-bears-panel (&rest args) (instance* room610-bears-panel-object :init args))
+;; (format *error-output* "(instance room610-bears-panel-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-cabinet-mamoru-object.l
===================================================================
--- trunk/EusLisp/models/room610-cabinet-mamoru-object.l (rev 0)
+++ trunk/EusLisp/models/room610-cabinet-mamoru-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,169 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-cabinet-mamoru-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1
+ joint0 joint1 ))
+(defmethod room610-cabinet-mamoru-object
+ (:init
+ (&rest args &key (name "room610-cabinet-mamoru") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :root
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 759.0) (float-vector -197.5 400.0 759.0) (float-vector -197.5 -400.0 759.0) (float-vector 147.5 -400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 749.0) (float-vector 147.5 400.0 749.0) (float-vector 147.5 -400.0 749.0) (float-vector -197.5 -400.0 749.0)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 759.0) (float-vector 147.5 400.0 749.0) (float-vector -197.5 400.0 749.0) (float-vector -197.5 400.0 759.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 759.0) (float-vector 147.5 -400.0 749.0) (float-vector 147.5 400.0 749.0) (float-vector 147.5 400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 759.0) (float-vector -197.5 -400.0 749.0) (float-vector 147.5 -400.0 749.0) (float-vector 147.5 -400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 759.0) (float-vector -197.5 400.0 749.0) (float-vector -197.5 -400.0 749.0) (float-vector -197.5 -400.0 759.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 10.0) (float-vector -197.5 400.0 10.0) (float-vector -197.5 -400.0 10.0) (float-vector 147.5 -400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 0.0) (float-vector 147.5 400.0 0.0) (float-vector 147.5 -400.0 0.0) (float-vector -197.5 -400.0 0.0)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 10.0) (float-vector 147.5 400.0 0.0) (float-vector -197.5 400.0 0.0) (float-vector -197.5 400.0 10.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 10.0) (float-vector 147.5 -400.0 0.0) (float-vector 147.5 400.0 0.0) (float-vector 147.5 400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 10.0) (float-vector -197.5 -400.0 0.0) (float-vector 147.5 -400.0 0.0) (float-vector 147.5 -400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 10.0) (float-vector -197.5 400.0 0.0) (float-vector -197.5 -400.0 0.0) (float-vector -197.5 -400.0 10.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -187.0 390.0 748.5) (float-vector -197.0 390.0 748.5) (float-vector -197.0 -390.0 748.5) (float-vector -187.0 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 390.0 9.5) (float-vector -187.0 390.0 9.5) (float-vector -187.0 -390.0 9.5) (float-vector -197.0 -390.0 9.5)))
+ (instance face :init :vertices (list (float-vector -187.0 390.0 748.5) (float-vector -187.0 390.0 9.5) (float-vector -197.0 390.0 9.5) (float-vector -197.0 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -187.0 -390.0 748.5) (float-vector -187.0 -390.0 9.5) (float-vector -187.0 390.0 9.5) (float-vector -187.0 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 -390.0 748.5) (float-vector -197.0 -390.0 9.5) (float-vector -187.0 -390.0 9.5) (float-vector -187.0 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 390.0 748.5) (float-vector -197.0 390.0 9.5) (float-vector -197.0 -390.0 9.5) (float-vector -197.0 -390.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 748.5) (float-vector -197.5 400.0 748.5) (float-vector -197.5 390.0 748.5) (float-vector 147.5 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 9.5) (float-vector 147.5 400.0 9.5) (float-vector 147.5 390.0 9.5) (float-vector -197.5 390.0 9.5)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 748.5) (float-vector 147.5 400.0 9.5) (float-vector -197.5 400.0 9.5) (float-vector -197.5 400.0 748.5)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 748.5) (float-vector 147.5 390.0 9.5) (float-vector 147.5 400.0 9.5) (float-vector 147.5 400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 390.0 748.5) (float-vector -197.5 390.0 9.5) (float-vector 147.5 390.0 9.5) (float-vector 147.5 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 748.5) (float-vector -197.5 400.0 9.5) (float-vector -197.5 390.0 9.5) (float-vector -197.5 390.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 748.5) (float-vector -197.5 -390.0 748.5) (float-vector -197.5 -400.0 748.5) (float-vector 147.5 -400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -390.0 9.5) (float-vector 147.5 -390.0 9.5) (float-vector 147.5 -400.0 9.5) (float-vector -197.5 -400.0 9.5)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 748.5) (float-vector 147.5 -390.0 9.5) (float-vector -197.5 -390.0 9.5) (float-vector -197.5 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 748.5) (float-vector 147.5 -400.0 9.5) (float-vector 147.5 -390.0 9.5) (float-vector 147.5 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 748.5) (float-vector -197.5 -400.0 9.5) (float-vector 147.5 -400.0 9.5) (float-vector 147.5 -400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -390.0 748.5) (float-vector -197.5 -390.0 9.5) (float-vector -197.5 -400.0 9.5) (float-vector -197.5 -400.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector -187.5 390.0 30.0) (float-vector -187.5 -390.0 30.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector -187.5 -390.0 20.0)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector 147.5 390.0 20.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 30.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 -390.0 30.0) (float-vector -187.5 -390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 30.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 -390.0 20.0) (float-vector -187.5 -390.0 30.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector -187.5 390.0 30.0) (float-vector -187.5 -390.0 30.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector -187.5 -390.0 20.0)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector 147.5 390.0 20.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 30.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 -390.0 30.0) (float-vector -187.5 -390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 30.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 -390.0 20.0) (float-vector -187.5 -390.0 30.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :burlywood1)
+ (send (elt bc 1) :set-color :burlywood1)
+ (send (elt bc 2) :set-color :burlywood1)
+ (send (elt bc 3) :set-color :burlywood1)
+ (send (elt bc 4) :set-color :burlywood1)
+ (send (elt bc 5) :set-color :burlywood1)
+ (send (elt bc 6) :set-color :burlywood1)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :room610-cabinet-mamoru-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 390.0 740.0) (float-vector -10.0 390.0 740.0) (f...
[truncated message content] |
|
From: <sn...@us...> - 2013-04-15 04:33:54
|
Revision: 603
http://sourceforge.net/p/euslisp/code/603
Author: snozawa
Date: 2013-04-15 04:33:39 +0000 (Mon, 15 Apr 2013)
Log Message:
-----------
add room610 scene
Added Paths:
-----------
trunk/EusLisp/models/610-floor-tex.jpg
trunk/EusLisp/models/db-viewer.jpg
trunk/EusLisp/models/irt.jpg
trunk/EusLisp/models/room610-610-ground-object.l
trunk/EusLisp/models/room610-audio_shelf-object.l
trunk/EusLisp/models/room610-bears-panel-object.l
trunk/EusLisp/models/room610-cabinet-mamoru-object.l
trunk/EusLisp/models/room610-cabinet-object.l
trunk/EusLisp/models/room610-cupboard-object.l
trunk/EusLisp/models/room610-fridge-object.l
trunk/EusLisp/models/room610-kitchen-object.l
trunk/EusLisp/models/room610-scene.l
trunk/EusLisp/models/room610-shelf0-object.l
trunk/EusLisp/models/room610-shelf1-object.l
trunk/EusLisp/models/room610-shelf2-object.l
trunk/EusLisp/models/room610-table-object.l
trunk/EusLisp/models/room610-tv1-object.l
trunk/EusLisp/models/room610-tv3-object.l
trunk/EusLisp/models/room610-wall187-object.l
trunk/EusLisp/models/room610-wall189-object.l
trunk/EusLisp/models/room610-wall191-object.l
trunk/EusLisp/models/room610-wall193-object.l
trunk/EusLisp/models/room610-wall195-object.l
trunk/EusLisp/models/room610-x-leg-desk-object.l
Added: trunk/EusLisp/models/610-floor-tex.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/610-floor-tex.jpg
===================================================================
--- trunk/EusLisp/models/610-floor-tex.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/610-floor-tex.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/610-floor-tex.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/db-viewer.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/db-viewer.jpg
===================================================================
--- trunk/EusLisp/models/db-viewer.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/db-viewer.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/db-viewer.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/irt.jpg
===================================================================
(Binary files differ)
Index: trunk/EusLisp/models/irt.jpg
===================================================================
--- trunk/EusLisp/models/irt.jpg 2013-03-28 13:25:11 UTC (rev 602)
+++ trunk/EusLisp/models/irt.jpg 2013-04-15 04:33:39 UTC (rev 603)
Property changes on: trunk/EusLisp/models/irt.jpg
___________________________________________________________________
Added: svn:mime-type
## -0,0 +1 ##
+application/octet-stream
\ No newline at end of property
Added: trunk/EusLisp/models/room610-610-ground-object.l
===================================================================
--- trunk/EusLisp/models/room610-610-ground-object.l (rev 0)
+++ trunk/EusLisp/models/room610-610-ground-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,62 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-610-ground-object
+ :super cascaded-link
+ :slots (sensors
+ ))
+(defmethod room610-610-ground-object
+ (:init
+ (&rest args &key (name "room610-610-ground") (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 :room610-610-ground-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 3750.0 2500.0 5.0) (float-vector -3750.0 2500.0 5.0) (float-vector -3750.0 -2500.0 5.0) (float-vector 3750.0 -2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 2500.0 -5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector -3750.0 -2500.0 -5.0)))
+ (instance face :init :vertices (list (float-vector 3750.0 2500.0 5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector -3750.0 2500.0 -5.0) (float-vector -3750.0 2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector 3750.0 -2500.0 5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector 3750.0 2500.0 -5.0) (float-vector 3750.0 2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 -2500.0 5.0) (float-vector -3750.0 -2500.0 -5.0) (float-vector 3750.0 -2500.0 -5.0) (float-vector 3750.0 -2500.0 5.0)))
+ (instance face :init :vertices (list (float-vector -3750.0 2500.0 5.0) (float-vector -3750.0 2500.0 -5.0) (float-vector -3750.0 -2500.0 -5.0) (float-vector -3750.0 -2500.0 5.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ ;; paste texture 610-floor-tex.jpg
+ (send (elt bc 0) :paste-texture-to-face (elt (send (elt bc 0) :faces)0) :file "models/610-floor-tex.jpg")
+ (send (elt bc 0) :set-color :black)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-610-ground-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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list ))
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-610-ground (&rest args) (instance* room610-610-ground-object :init args))
+;; (format *error-output* "(instance room610-610-ground-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-audio_shelf-object.l
===================================================================
--- trunk/EusLisp/models/room610-audio_shelf-object.l (rev 0)
+++ trunk/EusLisp/models/room610-audio_shelf-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,274 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-audio_shelf-object
+ :super cascaded-link
+ :slots (sensors
+ handle0
+ joint0 joint1 joint2 joint3 joint4 ))
+(defmethod room610-audio_shelf-object
+ (:init
+ (&rest args &key (name "room610-audio_shelf") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2 blink3 blink4 blink5
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :root
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.5 575.0 620.0) (float-vector -232.5 575.0 620.0) (float-vector -232.5 -575.0 620.0) (float-vector 232.5 -575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 600.0) (float-vector 232.5 575.0 600.0) (float-vector 232.5 -575.0 600.0) (float-vector -232.5 -575.0 600.0)))
+ (instance face :init :vertices (list (float-vector 232.5 575.0 620.0) (float-vector 232.5 575.0 600.0) (float-vector -232.5 575.0 600.0) (float-vector -232.5 575.0 620.0)))
+ (instance face :init :vertices (list (float-vector 232.5 -575.0 620.0) (float-vector 232.5 -575.0 600.0) (float-vector 232.5 575.0 600.0) (float-vector 232.5 575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 620.0) (float-vector -232.5 -575.0 600.0) (float-vector 232.5 -575.0 600.0) (float-vector 232.5 -575.0 620.0)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 620.0) (float-vector -232.5 575.0 600.0) (float-vector -232.5 -575.0 600.0) (float-vector -232.5 -575.0 620.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 575.0 84.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 -575.0 84.5) (float-vector 222.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 -0.5) (float-vector 222.5 575.0 -0.5) (float-vector 222.5 -575.0 -0.5) (float-vector -232.5 -575.0 -0.5)))
+ (instance face :init :vertices (list (float-vector 222.5 575.0 84.5) (float-vector 222.5 575.0 -0.5) (float-vector -232.5 575.0 -0.5) (float-vector -232.5 575.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -575.0 -0.5) (float-vector 222.5 575.0 -0.5) (float-vector 222.5 575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 84.5) (float-vector -232.5 -575.0 -0.5) (float-vector 222.5 -575.0 -0.5) (float-vector 222.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 84.5) (float-vector -232.5 575.0 -0.5) (float-vector -232.5 -575.0 -0.5) (float-vector -232.5 -575.0 84.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -202.0 545.0 599.5) (float-vector -232.0 545.0 599.5) (float-vector -232.0 -545.0 599.5) (float-vector -202.0 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 545.0 84.5) (float-vector -202.0 545.0 84.5) (float-vector -202.0 -545.0 84.5) (float-vector -232.0 -545.0 84.5)))
+ (instance face :init :vertices (list (float-vector -202.0 545.0 599.5) (float-vector -202.0 545.0 84.5) (float-vector -232.0 545.0 84.5) (float-vector -232.0 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -202.0 -545.0 599.5) (float-vector -202.0 -545.0 84.5) (float-vector -202.0 545.0 84.5) (float-vector -202.0 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 -545.0 599.5) (float-vector -232.0 -545.0 84.5) (float-vector -202.0 -545.0 84.5) (float-vector -202.0 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.0 545.0 599.5) (float-vector -232.0 545.0 84.5) (float-vector -232.0 -545.0 84.5) (float-vector -232.0 -545.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 575.0 599.5) (float-vector -232.5 575.0 599.5) (float-vector -232.5 545.0 599.5) (float-vector 222.5 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 84.5) (float-vector 222.5 575.0 84.5) (float-vector 222.5 545.0 84.5) (float-vector -232.5 545.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 575.0 599.5) (float-vector 222.5 575.0 84.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 575.0 599.5)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 599.5) (float-vector 222.5 545.0 84.5) (float-vector 222.5 575.0 84.5) (float-vector 222.5 575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 545.0 599.5) (float-vector -232.5 545.0 84.5) (float-vector 222.5 545.0 84.5) (float-vector 222.5 545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 575.0 599.5) (float-vector -232.5 575.0 84.5) (float-vector -232.5 545.0 84.5) (float-vector -232.5 545.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 599.5) (float-vector -232.5 -545.0 599.5) (float-vector -232.5 -575.0 599.5) (float-vector 222.5 -575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -545.0 84.5) (float-vector 222.5 -545.0 84.5) (float-vector 222.5 -575.0 84.5) (float-vector -232.5 -575.0 84.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 599.5) (float-vector 222.5 -545.0 84.5) (float-vector -232.5 -545.0 84.5) (float-vector -232.5 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector 222.5 -575.0 599.5) (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -545.0 84.5) (float-vector 222.5 -545.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -575.0 599.5) (float-vector -232.5 -575.0 84.5) (float-vector 222.5 -575.0 84.5) (float-vector 222.5 -575.0 599.5)))
+ (instance face :init :vertices (list (float-vector -232.5 -545.0 599.5) (float-vector -232.5 -545.0 84.5) (float-vector -232.5 -575.0 84.5) (float-vector -232.5 -575.0 599.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 545.0 300.0) (float-vector -202.5 545.0 300.0) (float-vector -202.5 -545.0 300.0) (float-vector 222.5 -545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 270.0) (float-vector 222.5 545.0 270.0) (float-vector 222.5 -545.0 270.0) (float-vector -202.5 -545.0 270.0)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 300.0) (float-vector 222.5 545.0 270.0) (float-vector -202.5 545.0 270.0) (float-vector -202.5 545.0 300.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 300.0) (float-vector 222.5 -545.0 270.0) (float-vector 222.5 545.0 270.0) (float-vector 222.5 545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 -545.0 300.0) (float-vector -202.5 -545.0 270.0) (float-vector 222.5 -545.0 270.0) (float-vector 222.5 -545.0 300.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 300.0) (float-vector -202.5 545.0 270.0) (float-vector -202.5 -545.0 270.0) (float-vector -202.5 -545.0 300.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 222.5 545.0 400.0) (float-vector -202.5 545.0 400.0) (float-vector -202.5 -545.0 400.0) (float-vector 222.5 -545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 370.0) (float-vector 222.5 545.0 370.0) (float-vector 222.5 -545.0 370.0) (float-vector -202.5 -545.0 370.0)))
+ (instance face :init :vertices (list (float-vector 222.5 545.0 400.0) (float-vector 222.5 545.0 370.0) (float-vector -202.5 545.0 370.0) (float-vector -202.5 545.0 400.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -545.0 400.0) (float-vector 222.5 -545.0 370.0) (float-vector 222.5 545.0 370.0) (float-vector 222.5 545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 -545.0 400.0) (float-vector -202.5 -545.0 370.0) (float-vector 222.5 -545.0 370.0) (float-vector 222.5 -545.0 400.0)))
+ (instance face :init :vertices (list (float-vector -202.5 545.0 400.0) (float-vector -202.5 545.0 370.0) (float-vector -202.5 -545.0 370.0) (float-vector -202.5 -545.0 400.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (send (elt bc 1) :set-color :peru)
+ (send (elt bc 2) :set-color :peru)
+ (send (elt bc 3) :set-color :peru)
+ (send (elt bc 4) :set-color :peru)
+ (send (elt bc 5) :set-color :peru)
+ (send (elt bc 6) :set-color :peru)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :room610-audio_shelf-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 10.0 540.0) (float-vector -10.0 10.0 540.0) (float-vector -10.0 -380.0 540.0) (float-vector 10.0 -380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 0.0) (float-vector 10.0 10.0 0.0) (float-vector 10.0 -380.0 0.0) (float-vector -10.0 -380.0 0.0)))
+ (instance face :init :vertices (list (float-vector 10.0 10.0 540.0) (float-vector 10.0 10.0 0.0) (float-vector -10.0 10.0 0.0) (float-vector -10.0 10.0 540.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -380.0 540.0) (float-vector 10.0 -380.0 0.0) (float-vector 10.0 10.0 0.0) (float-vector 10.0 10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -380.0 540.0) (float-vector -10.0 -380.0 0.0) (float-vector 10.0 -380.0 0.0) (float-vector 10.0 -380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 10.0 540.0) (float-vector -10.0 10.0 0.0) (float-vector -10.0 -380.0 0.0) (float-vector -10.0 -380.0 540.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-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 :room610-audio_shelf-bodyset3
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 380.0 540.0) (float-vector -10.0 380.0 540.0) (float-vector -10.0 -10.0 540.0) (float-vector 10.0 -10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 380.0 0.0) (float-vector 10.0 380.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector -10.0 -10.0 0.0)))
+ (instance face :init :vertices (list (float-vector 10.0 380.0 540.0) (float-vector 10.0 380.0 0.0) (float-vector -10.0 380.0 0.0) (float-vector -10.0 380.0 540.0)))
+ (instance face :init :vertices (list (float-vector 10.0 -10.0 540.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 380.0 0.0) (float-vector 10.0 380.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 -10.0 540.0) (float-vector -10.0 -10.0 0.0) (float-vector 10.0 -10.0 0.0) (float-vector 10.0 -10.0 540.0)))
+ (instance face :init :vertices (list (float-vector -10.0 380.0 540.0) (float-vector -10.0 380.0 0.0) (float-vector -10.0 -10.0 0.0) (float-vector -10.0 -10.0 540.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :peru)
+ (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset3 :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 :room610-audio_shelf-bodyset4
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -60.0) (float-vector -222.5 -175.0 -60.0) (float-vector -222.5 -175.0 60.0) (float-vector -222.5 175.0 60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -60.0) (float-vector 222.5 -175.0 60.0) (float-vector -222.5 -175.0 60.0) (float-vector -222.5 -175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -60.0) (float-vector 222.5 175.0 60.0) (float-vector 222.5 165.0 60.0) (float-vector 222.5 165.0 -50.0) (float-vector 222.5 -165.0 -50.0) (float-vector 222.5 -165.0 60.0) (float-vector 222.5 -175.0 60.0) (float-vector 222.5 -175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 60.0) (float-vector -222.5 -175.0 60.0) (float-vector 222.5 -175.0 60.0) (float-vector 222.5 -165.0 60.0) (float-vector -212.5 -165.0 60.0) (float-vector -212.5 165.0 60.0) (float-vector 222.5 165.0 60.0) (float-vector 222.5 175.0 60.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -60.0) (float-vector 222.5 -175.0 -60.0) (float-vector -222.5 -175.0 -60.0) (float-vector -222.5 175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -60.0) (float-vector -222.5 175.0 60.0) (float-vector 222.5 175.0 60.0) (float-vector 222.5 175.0 -60.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 60.0) (float-vector -212.5 -165.0 60.0) (float-vector -212.5 -165.0 -50.0) (float-vector -212.5 165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -50.0) (float-vector -212.5 -165.0 60.0) (float-vector 222.5 -165.0 60.0) (float-vector 222.5 -165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -50.0) (float-vector 222.5 165.0 60.0) (float-vector -212.5 165.0 60.0) (float-vector -212.5 165.0 -50.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -50.0) (float-vector -212.5 -165.0 -50.0) (float-vector 222.5 -165.0 -50.0) (float-vector 222.5 165.0 -50.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 70.0) (float-vector 222.0 185.0 70.0) (float-vector 222.0 -185.0 70.0) (float-vector 232.0 -185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -60.0) (float-vector 232.0 185.0 -60.0) (float-vector 232.0 -185.0 -60.0) (float-vector 222.0 -185.0 -60.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 70.0) (float-vector 232.0 185.0 -60.0) (float-vector 222.0 185.0 -60.0) (float-vector 222.0 185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 70.0) (float-vector 232.0 -185.0 -60.0) (float-vector 232.0 185.0 -60.0) (float-vector 232.0 185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 70.0) (float-vector 222.0 -185.0 -60.0) (float-vector 232.0 -185.0 -60.0) (float-vector 232.0 -185.0 70.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 70.0) (float-vector 222.0 185.0 -60.0) (float-vector 222.0 -185.0 -60.0) (float-vector 222.0 -185.0 70.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset4 :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 :room610-audio_shelf-bodyset5
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -80.0) (float-vector -222.5 -175.0 -80.0) (float-vector -222.5 -175.0 80.0) (float-vector -222.5 175.0 80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -80.0) (float-vector 222.5 -175.0 80.0) (float-vector -222.5 -175.0 80.0) (float-vector -222.5 -175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -80.0) (float-vector 222.5 175.0 80.0) (float-vector 222.5 165.0 80.0) (float-vector 222.5 165.0 -70.0) (float-vector 222.5 -165.0 -70.0) (float-vector 222.5 -165.0 80.0) (float-vector 222.5 -175.0 80.0) (float-vector 222.5 -175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 80.0) (float-vector -222.5 -175.0 80.0) (float-vector 222.5 -175.0 80.0) (float-vector 222.5 -165.0 80.0) (float-vector -212.5 -165.0 80.0) (float-vector -212.5 165.0 80.0) (float-vector 222.5 165.0 80.0) (float-vector 222.5 175.0 80.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -80.0) (float-vector 222.5 -175.0 -80.0) (float-vector -222.5 -175.0 -80.0) (float-vector -222.5 175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -80.0) (float-vector -222.5 175.0 80.0) (float-vector 222.5 175.0 80.0) (float-vector 222.5 175.0 -80.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 80.0) (float-vector -212.5 -165.0 80.0) (float-vector -212.5 -165.0 -70.0) (float-vector -212.5 165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -70.0) (float-vector -212.5 -165.0 80.0) (float-vector 222.5 -165.0 80.0) (float-vector 222.5 -165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -70.0) (float-vector 222.5 165.0 80.0) (float-vector -212.5 165.0 80.0) (float-vector -212.5 165.0 -70.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -70.0) (float-vector -212.5 -165.0 -70.0) (float-vector 222.5 -165.0 -70.0) (float-vector 222.5 165.0 -70.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 90.0) (float-vector 222.0 185.0 90.0) (float-vector 222.0 -185.0 90.0) (float-vector 232.0 -185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -80.0) (float-vector 232.0 185.0 -80.0) (float-vector 232.0 -185.0 -80.0) (float-vector 222.0 -185.0 -80.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 90.0) (float-vector 232.0 185.0 -80.0) (float-vector 222.0 185.0 -80.0) (float-vector 222.0 185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 90.0) (float-vector 232.0 -185.0 -80.0) (float-vector 232.0 185.0 -80.0) (float-vector 232.0 185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 90.0) (float-vector 222.0 -185.0 -80.0) (float-vector 232.0 -185.0 -80.0) (float-vector 232.0 -185.0 90.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 90.0) (float-vector 222.0 185.0 -80.0) (float-vector 222.0 -185.0 -80.0) (float-vector 222.0 -185.0 90.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset5 :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 :room610-audio_shelf-bodyset6
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -100.0) (float-vector -222.5 -175.0 -100.0) (float-vector -222.5 -175.0 100.0) (float-vector -222.5 175.0 100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 -175.0 -100.0) (float-vector 222.5 -175.0 100.0) (float-vector -222.5 -175.0 100.0) (float-vector -222.5 -175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -100.0) (float-vector 222.5 175.0 100.0) (float-vector 222.5 165.0 100.0) (float-vector 222.5 165.0 -90.0) (float-vector 222.5 -165.0 -90.0) (float-vector 222.5 -165.0 100.0) (float-vector 222.5 -175.0 100.0) (float-vector 222.5 -175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 100.0) (float-vector -222.5 -175.0 100.0) (float-vector 222.5 -175.0 100.0) (float-vector 222.5 -165.0 100.0) (float-vector -212.5 -165.0 100.0) (float-vector -212.5 165.0 100.0) (float-vector 222.5 165.0 100.0) (float-vector 222.5 175.0 100.0)))
+ (instance face :init :vertices (list (float-vector 222.5 175.0 -100.0) (float-vector 222.5 -175.0 -100.0) (float-vector -222.5 -175.0 -100.0) (float-vector -222.5 175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -222.5 175.0 -100.0) (float-vector -222.5 175.0 100.0) (float-vector 222.5 175.0 100.0) (float-vector 222.5 175.0 -100.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 100.0) (float-vector -212.5 -165.0 100.0) (float-vector -212.5 -165.0 -90.0) (float-vector -212.5 165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector -212.5 -165.0 -90.0) (float-vector -212.5 -165.0 100.0) (float-vector 222.5 -165.0 100.0) (float-vector 222.5 -165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector 222.5 165.0 -90.0) (float-vector 222.5 165.0 100.0) (float-vector -212.5 165.0 100.0) (float-vector -212.5 165.0 -90.0)))
+ (instance face :init :vertices (list (float-vector -212.5 165.0 -90.0) (float-vector -212.5 -165.0 -90.0) (float-vector 222.5 -165.0 -90.0) (float-vector 222.5 165.0 -90.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 232.0 185.0 110.0) (float-vector 222.0 185.0 110.0) (float-vector 222.0 -185.0 110.0) (float-vector 232.0 -185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 -100.0) (float-vector 232.0 185.0 -100.0) (float-vector 232.0 -185.0 -100.0) (float-vector 222.0 -185.0 -100.0)))
+ (instance face :init :vertices (list (float-vector 232.0 185.0 110.0) (float-vector 232.0 185.0 -100.0) (float-vector 222.0 185.0 -100.0) (float-vector 222.0 185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 232.0 -185.0 110.0) (float-vector 232.0 -185.0 -100.0) (float-vector 232.0 185.0 -100.0) (float-vector 232.0 185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 -185.0 110.0) (float-vector 222.0 -185.0 -100.0) (float-vector 232.0 -185.0 -100.0) (float-vector 232.0 -185.0 110.0)))
+ (instance face :init :vertices (list (float-vector 222.0 185.0 110.0) (float-vector 222.0 185.0 -100.0) (float-vector 222.0 -185.0 -100.0) (float-vector 222.0 -185.0 110.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :peru)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-audio_shelf-bodyset6 :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 blink1 :newcoords (make-coords :pos (float-vector 0.0 390.0 180.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink1)
+ (send blink2 :newcoords (make-coords :pos (float-vector 0.0 390.0 370.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink2)
+ (send blink3 :newcoords (make-coords :pos (float-vector 0.0 390.0 520.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink3)
+ (send blink4 :newcoords (make-coords :pos (float-vector 222.0 -565.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink4)
+ (send blink5 :newcoords (make-coords :pos (float-vector 222.0 195.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink5)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :drawer1
+ (setq joint0 (instance linear-joint :init
+ :parent-link blink0 :child-link blink1 :name :drawer1 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer2
+ (setq joint1 (instance linear-joint :init
+ :parent-link blink0 :child-link blink2 :name :drawer2 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer3
+ (setq joint2 (instance linear-joint :init
+ :parent-link blink0 :child-link blink3 :name :drawer3 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 465.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :door-right
+ (setq joint3 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink4 :name :door-right :axis :-z
+ :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+ ;; definition of :door-left
+ (setq joint4 (instance rotational-joint :init
+ :parent-link blink0 :child-link blink5 :name :door-left :axis :z
+ :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+ ;; definition of :handle
+ (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
+ (send self :assoc handle0)
+
+ ;; init-ending
+ (setq links (list blink0 blink1 blink2 blink3 blink4 blink5))
+ (setq joint-list (list joint0 joint1 joint2 joint3 joint4))
+ (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))
+
+ (:drawer1 (&rest args) (forward-message-to joint0 args))
+ (:drawer2 (&rest args) (forward-message-to joint1 args))
+ (:drawer3 (&rest args) (forward-message-to joint2 args))
+ (:door-right (&rest args) (forward-message-to joint3 args))
+ (:door-left (&rest args) (forward-message-to joint4 args))
+ (:handle () (list handle0))
+ (:handle-handle0 () handle0)
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-audio_shelf (&rest args) (instance* room610-audio_shelf-object :init args))
+;; (format *error-output* "(instance room610-audio_shelf-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-bears-panel-object.l
===================================================================
--- trunk/EusLisp/models/room610-bears-panel-object.l (rev 0)
+++ trunk/EusLisp/models/room610-bears-panel-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,136 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-bears-panel-object
+ :super cascaded-link
+ :slots (sensors
+ ))
+(defmethod room610-bears-panel-object
+ (:init
+ (&rest args &key (name "room610-bears-panel") (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 :room610-bears-panel-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -15.0 -167.321 530.0) (float-vector -15.0 -170.0 540.0) (float-vector -15.0 -160.622 575.0) (float-vector -15.0 -135.0 600.622) (float-vector -15.0 -100.0 610.0) (float-vector -15.0 -65.0 600.622) (float-vector -15.0 -39.3782 575.0) (float-vector -15.0 -30.0 540.0) (float-vector -15.0 -32.6795 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -167.321 530.0) (float-vector 15.0 -167.321 530.0) (float-vector 15.0 -170.0 540.0) (float-vector -15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -167.321 530.0) (float-vector 15.0 -32.6795 530.0) (float-vector 15.0 -30.0 540.0) (float-vector 15.0 -39.3782 575.0) (float-vector 15.0 -65.0 600.622) (float-vector 15.0 -100.0 610.0) (float-vector 15.0 -135.0 600.622) (float-vector 15.0 -160.622 575.0) (float-vector 15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -160.622 575.0) (float-vector -15.0 -160.622 575.0) (float-vector -15.0 -170.0 540.0) (float-vector 15.0 -170.0 540.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -135.0 600.622) (float-vector -15.0 -135.0 600.622) (float-vector -15.0 -160.622 575.0) (float-vector 15.0 -160.622 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -100.0 610.0) (float-vector -15.0 -100.0 610.0) (float-vector -15.0 -135.0 600.622) (float-vector 15.0 -135.0 600.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -65.0 600.622) (float-vector -15.0 -65.0 600.622) (float-vector -15.0 -100.0 610.0) (float-vector 15.0 -100.0 610.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -39.3782 575.0) (float-vector -15.0 -39.3782 575.0) (float-vector -15.0 -65.0 600.622) (float-vector 15.0 -65.0 600.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -30.0 540.0) (float-vector -15.0 -30.0 540.0) (float-vector -15.0 -39.3782 575.0) (float-vector 15.0 -39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -32.6795 530.0) (float-vector -15.0 -32.6795 530.0) (float-vector -15.0 -30.0 540.0) (float-vector 15.0 -30.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 232.679 530.0) (float-vector -15.0 239.378 555.0) (float-vector -15.0 265.0 580.622) (float-vector -15.0 300.0 590.0) (float-vector -15.0 335.0 580.622) (float-vector -15.0 360.622 555.0) (float-vector -15.0 367.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 232.679 530.0) (float-vector 15.0 232.679 530.0) (float-vector 15.0 239.378 555.0) (float-vector -15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 232.679 530.0) (float-vector 15.0 367.321 530.0) (float-vector 15.0 360.622 555.0) (float-vector 15.0 335.0 580.622) (float-vector 15.0 300.0 590.0) (float-vector 15.0 265.0 580.622) (float-vector 15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 265.0 580.622) (float-vector -15.0 265.0 580.622) (float-vector -15.0 239.378 555.0) (float-vector 15.0 239.378 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 300.0 590.0) (float-vector -15.0 300.0 590.0) (float-vector -15.0 265.0 580.622) (float-vector 15.0 265.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 335.0 580.622) (float-vector -15.0 335.0 580.622) (float-vector -15.0 300.0 590.0) (float-vector 15.0 300.0 590.0)))
+ (instance face :init :vertices (list (float-vector 15.0 360.622 555.0) (float-vector -15.0 360.622 555.0) (float-vector -15.0 335.0 580.622) (float-vector 15.0 335.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 367.321 530.0) (float-vector -15.0 367.321 530.0) (float-vector -15.0 360.622 555.0) (float-vector 15.0 360.622 555.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -230.0 200.0) (float-vector 15.0 -230.0 430.0) (float-vector 15.0 -370.0 430.0) (float-vector 15.0 -370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -230.0 200.0) (float-vector -15.0 -230.0 200.0) (float-vector -15.0 -230.0 430.0) (float-vector 15.0 -230.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -370.0 430.0) (float-vector -15.0 -370.0 430.0) (float-vector -15.0 -370.0 200.0) (float-vector 15.0 -370.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -230.0 200.0) (float-vector -15.0 -370.0 200.0) (float-vector -15.0 -370.0 430.0) (float-vector -15.0 -230.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 170.0 200.0) (float-vector 15.0 170.0 430.0) (float-vector 15.0 30.0 430.0) (float-vector 15.0 30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 170.0 200.0) (float-vector -15.0 170.0 200.0) (float-vector -15.0 170.0 430.0) (float-vector 15.0 170.0 430.0)))
+ (instance face :init :vertices (list (float-vector 15.0 30.0 430.0) (float-vector -15.0 30.0 430.0) (float-vector -15.0 30.0 200.0) (float-vector 15.0 30.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 170.0 200.0) (float-vector -15.0 30.0 200.0) (float-vector -15.0 30.0 430.0) (float-vector -15.0 170.0 430.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 0.0) (float-vector -25.0 -400.0 200.0) (float-vector -25.0 400.0 200.0) (float-vector -25.0 400.0 0.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 0.0) (float-vector 25.0 -400.0 0.0) (float-vector 25.0 -400.0 200.0) (float-vector -25.0 -400.0 200.0)))
+ (instance face :init :vertices (list (float-vector 25.0 -400.0 0.0) (float-vector 25.0 400.0 0.0) (float-vector 25.0 400.0 200.0) (float-vector 25.0 -400.0 200.0)))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 200.0) (float-vector -25.0 400.0 200.0) (float-vector -25.0 -400.0 200.0) (float-vector 25.0 -400.0 200.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector -15.0 230.0 200.0) (float-vector -15.0 370.0 200.0) (float-vector 15.0 370.0 200.0) (float-vector 15.0 230.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -170.0 200.0) (float-vector -15.0 -30.0 200.0) (float-vector 15.0 -30.0 200.0) (float-vector 15.0 -170.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 30.0 200.0) (float-vector -15.0 170.0 200.0) (float-vector 15.0 170.0 200.0) (float-vector 15.0 30.0 200.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -370.0 200.0) (float-vector -15.0 -230.0 200.0) (float-vector 15.0 -230.0 200.0) (float-vector 15.0 -370.0 200.0)))
+))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 0.0) (float-vector -25.0 400.0 0.0) (float-vector -25.0 400.0 200.0) (float-vector 25.0 400.0 200.0)))
+ (instance face :init :vertices (list (float-vector -25.0 400.0 0.0) (float-vector 25.0 400.0 0.0) (float-vector 25.0 -400.0 0.0) (float-vector -25.0 -400.0 0.0)))
+ (instance face :init :vertices (list (float-vector -15.0 230.0 200.0) (float-vector -15.0 230.0 430.0) (float-vector -15.0 370.0 430.0) (float-vector -15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 230.0 200.0) (float-vector 15.0 230.0 430.0) (float-vector -15.0 230.0 430.0) (float-vector -15.0 230.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 370.0 430.0) (float-vector 15.0 370.0 430.0) (float-vector 15.0 370.0 200.0) (float-vector -15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 370.0 430.0) (float-vector 15.0 230.0 430.0) (float-vector 15.0 230.0 200.0) (float-vector 15.0 370.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -170.0 200.0) (float-vector -15.0 -170.0 430.0) (float-vector -15.0 -30.0 430.0) (float-vector -15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -170.0 200.0) (float-vector 15.0 -170.0 430.0) (float-vector -15.0 -170.0 430.0) (float-vector -15.0 -170.0 200.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -30.0 430.0) (float-vector 15.0 -30.0 430.0) (float-vector 15.0 -30.0 200.0) (float-vector -15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector 15.0 -30.0 430.0) (float-vector 15.0 -170.0 430.0) (float-vector 15.0 -170.0 200.0) (float-vector 15.0 -30.0 200.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 430.0) (float-vector -25.0 -400.0 530.0) (float-vector -25.0 400.0 530.0) (float-vector -25.0 400.0 430.0)))
+ (instance face :init :vertices (list (float-vector -25.0 -400.0 430.0) (float-vector 25.0 -400.0 430.0) (float-vector 25.0 -400.0 530.0) (float-vector -25.0 -400.0 530.0)))
+ (instance face :init :vertices (list (float-vector 25.0 -400.0 430.0) (float-vector 25.0 400.0 430.0) (float-vector 25.0 400.0 530.0) (float-vector 25.0 -400.0 530.0)))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 530.0) (float-vector -25.0 400.0 530.0) (float-vector -25.0 -400.0 530.0) (float-vector 25.0 -400.0 530.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector -15.0 167.321 530.0) (float-vector 15.0 167.321 530.0) (float-vector 15.0 32.6795 530.0) (float-vector -15.0 32.6795 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 367.321 530.0) (float-vector 15.0 367.321 530.0) (float-vector 15.0 232.679 530.0) (float-vector -15.0 232.679 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -32.6795 530.0) (float-vector 15.0 -32.6795 530.0) (float-vector 15.0 -167.321 530.0) (float-vector -15.0 -167.321 530.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -367.321 530.0) (float-vector -15.0 -232.679 530.0) (float-vector 15.0 -232.679 530.0) (float-vector 15.0 -367.321 530.0)))
+))
+ (instance face :init :vertices (list (float-vector 25.0 400.0 430.0) (float-vector -25.0 400.0 430.0) (float-vector -25.0 400.0 530.0) (float-vector 25.0 400.0 530.0)))
+ (instance face :init :vertices (list (float-vector -25.0 400.0 430.0) (float-vector 25.0 400.0 430.0) (float-vector 25.0 -400.0 430.0) (float-vector -25.0 -400.0 430.0))
+ :holes (list
+ (instance hole :init :vertices (list (float-vector 15.0 -170.0 430.0) (float-vector 15.0 -30.0 430.0) (float-vector -15.0 -30.0 430.0) (float-vector -15.0 -170.0 430.0)))
+ (instance hole :init :vertices (list (float-vector 15.0 230.0 430.0) (float-vector 15.0 370.0 430.0) (float-vector -15.0 370.0 430.0) (float-vector -15.0 230.0 430.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 170.0 430.0) (float-vector -15.0 30.0 430.0) (float-vector 15.0 30.0 430.0) (float-vector 15.0 170.0 430.0)))
+ (instance hole :init :vertices (list (float-vector -15.0 -230.0 430.0) (float-vector -15.0 -370.0 430.0) (float-vector 15.0 -370.0 430.0) (float-vector 15.0 -230.0 430.0)))
+))
+ (instance face :init :vertices (list (float-vector -15.0 167.321 530.0) (float-vector -15.0 170.0 540.0) (float-vector 15.0 170.0 540.0) (float-vector 15.0 167.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 170.0 540.0) (float-vector -15.0 160.622 575.0) (float-vector 15.0 160.622 575.0) (float-vector 15.0 170.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 160.622 575.0) (float-vector -15.0 135.0 600.622) (float-vector 15.0 135.0 600.622) (float-vector 15.0 160.622 575.0)))
+ (instance face :init :vertices (list (float-vector -15.0 135.0 600.622) (float-vector -15.0 100.0 610.0) (float-vector 15.0 100.0 610.0) (float-vector 15.0 135.0 600.622)))
+ (instance face :init :vertices (list (float-vector -15.0 100.0 610.0) (float-vector -15.0 65.0 600.622) (float-vector 15.0 65.0 600.622) (float-vector 15.0 100.0 610.0)))
+ (instance face :init :vertices (list (float-vector -15.0 65.0 600.622) (float-vector -15.0 39.3782 575.0) (float-vector 15.0 39.3782 575.0) (float-vector 15.0 65.0 600.622)))
+ (instance face :init :vertices (list (float-vector -15.0 39.3782 575.0) (float-vector -15.0 30.0 540.0) (float-vector 15.0 30.0 540.0) (float-vector 15.0 39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector 15.0 30.0 540.0) (float-vector 15.0 32.6795 530.0) (float-vector 15.0 167.321 530.0) (float-vector 15.0 170.0 540.0) (float-vector 15.0 160.622 575.0) (float-vector 15.0 135.0 600.622) (float-vector 15.0 100.0 610.0) (float-vector 15.0 65.0 600.622) (float-vector 15.0 39.3782 575.0)))
+ (instance face :init :vertices (list (float-vector -15.0 30.0 540.0) (float-vector -15.0 32.6795 530.0) (float-vector 15.0 32.6795 530.0) (float-vector 15.0 30.0 540.0)))
+ (instance face :init :vertices (list (float-vector -15.0 32.6795 530.0) (float-vector -15.0 30.0 540.0) (float-vector -15.0 39.3782 575.0) (float-vector -15.0 65.0 600.622) (float-vector -15.0 100.0 610.0) (float-vector -15.0 135.0 600.622) (float-vector -15.0 160.622 575.0) (float-vector -15.0 170.0 540.0) (float-vector -15.0 167.321 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -232.679 530.0) (float-vector -15.0 -239.378 555.0) (float-vector 15.0 -239.378 555.0) (float-vector 15.0 -232.679 530.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -239.378 555.0) (float-vector -15.0 -265.0 580.622) (float-vector 15.0 -265.0 580.622) (float-vector 15.0 -239.378 555.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -265.0 580.622) (float-vector -15.0 -300.0 590.0) (float-vector 15.0 -300.0 590.0) (float-vector 15.0 -265.0 580.622)))
+ (instance face :init :vertices (list (float-vector -15.0 -300.0 590.0) (float-vector -15.0 -335.0 580.622) (float-vector 15.0 -335.0 580.622) (float-vector 15.0 -300.0 590.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -335.0 580.622) (float-vector -15.0 -360.622 555.0) (float-vector 15.0 -360.622 555.0) (float-vector 15.0 -335.0 580.622)))
+ (instance face :init :vertices (list (float-vector 15.0 -360.622 555.0) (float-vector 15.0 -367.321 530.0) (float-vector 15.0 -232.679 530.0) (float-vector 15.0 -239.378 555.0) (float-vector 15.0 -265.0 580.622) (float-vector 15.0 -300.0 590.0) (float-vector 15.0 -335.0 580.622)))
+ (instance face :init :vertices (list (float-vector -15.0 -360.622 555.0) (float-vector -15.0 -367.321 530.0) (float-vector 15.0 -367.321 530.0) (float-vector 15.0 -360.622 555.0)))
+ (instance face :init :vertices (list (float-vector -15.0 -367.321 530.0) (float-vector -15.0 -360.622 555.0) (float-vector -15.0 -335.0 580.622) (float-vector -15.0 -300.0 590.0) (float-vector -15.0 -265.0 580.622) (float-vector -15.0 -239.378 555.0) (float-vector -15.0 -232.679 530.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :yellow)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-bears-panel-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))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle () (list ))
+ (:attention () (list ))
+ (:button () (list ))
+ )
+
+(defun room610-bears-panel (&rest args) (instance* room610-bears-panel-object :init args))
+;; (format *error-output* "(instance room610-bears-panel-object :init) for generating model~%")
Added: trunk/EusLisp/models/room610-cabinet-mamoru-object.l
===================================================================
--- trunk/EusLisp/models/room610-cabinet-mamoru-object.l (rev 0)
+++ trunk/EusLisp/models/room610-cabinet-mamoru-object.l 2013-04-15 04:33:39 UTC (rev 603)
@@ -0,0 +1,169 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass room610-cabinet-mamoru-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1
+ joint0 joint1 ))
+(defmethod room610-cabinet-mamoru-object
+ (:init
+ (&rest args &key (name "room610-cabinet-mamoru") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :root
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 759.0) (float-vector -197.5 400.0 759.0) (float-vector -197.5 -400.0 759.0) (float-vector 147.5 -400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 749.0) (float-vector 147.5 400.0 749.0) (float-vector 147.5 -400.0 749.0) (float-vector -197.5 -400.0 749.0)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 759.0) (float-vector 147.5 400.0 749.0) (float-vector -197.5 400.0 749.0) (float-vector -197.5 400.0 759.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 759.0) (float-vector 147.5 -400.0 749.0) (float-vector 147.5 400.0 749.0) (float-vector 147.5 400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 759.0) (float-vector -197.5 -400.0 749.0) (float-vector 147.5 -400.0 749.0) (float-vector 147.5 -400.0 759.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 759.0) (float-vector -197.5 400.0 749.0) (float-vector -197.5 -400.0 749.0) (float-vector -197.5 -400.0 759.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 10.0) (float-vector -197.5 400.0 10.0) (float-vector -197.5 -400.0 10.0) (float-vector 147.5 -400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 0.0) (float-vector 147.5 400.0 0.0) (float-vector 147.5 -400.0 0.0) (float-vector -197.5 -400.0 0.0)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 10.0) (float-vector 147.5 400.0 0.0) (float-vector -197.5 400.0 0.0) (float-vector -197.5 400.0 10.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 10.0) (float-vector 147.5 -400.0 0.0) (float-vector 147.5 400.0 0.0) (float-vector 147.5 400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 10.0) (float-vector -197.5 -400.0 0.0) (float-vector 147.5 -400.0 0.0) (float-vector 147.5 -400.0 10.0)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 10.0) (float-vector -197.5 400.0 0.0) (float-vector -197.5 -400.0 0.0) (float-vector -197.5 -400.0 10.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -187.0 390.0 748.5) (float-vector -197.0 390.0 748.5) (float-vector -197.0 -390.0 748.5) (float-vector -187.0 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 390.0 9.5) (float-vector -187.0 390.0 9.5) (float-vector -187.0 -390.0 9.5) (float-vector -197.0 -390.0 9.5)))
+ (instance face :init :vertices (list (float-vector -187.0 390.0 748.5) (float-vector -187.0 390.0 9.5) (float-vector -197.0 390.0 9.5) (float-vector -197.0 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -187.0 -390.0 748.5) (float-vector -187.0 -390.0 9.5) (float-vector -187.0 390.0 9.5) (float-vector -187.0 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 -390.0 748.5) (float-vector -197.0 -390.0 9.5) (float-vector -187.0 -390.0 9.5) (float-vector -187.0 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.0 390.0 748.5) (float-vector -197.0 390.0 9.5) (float-vector -197.0 -390.0 9.5) (float-vector -197.0 -390.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 400.0 748.5) (float-vector -197.5 400.0 748.5) (float-vector -197.5 390.0 748.5) (float-vector 147.5 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 9.5) (float-vector 147.5 400.0 9.5) (float-vector 147.5 390.0 9.5) (float-vector -197.5 390.0 9.5)))
+ (instance face :init :vertices (list (float-vector 147.5 400.0 748.5) (float-vector 147.5 400.0 9.5) (float-vector -197.5 400.0 9.5) (float-vector -197.5 400.0 748.5)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 748.5) (float-vector 147.5 390.0 9.5) (float-vector 147.5 400.0 9.5) (float-vector 147.5 400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 390.0 748.5) (float-vector -197.5 390.0 9.5) (float-vector 147.5 390.0 9.5) (float-vector 147.5 390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 400.0 748.5) (float-vector -197.5 400.0 9.5) (float-vector -197.5 390.0 9.5) (float-vector -197.5 390.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 748.5) (float-vector -197.5 -390.0 748.5) (float-vector -197.5 -400.0 748.5) (float-vector 147.5 -400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -390.0 9.5) (float-vector 147.5 -390.0 9.5) (float-vector 147.5 -400.0 9.5) (float-vector -197.5 -400.0 9.5)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 748.5) (float-vector 147.5 -390.0 9.5) (float-vector -197.5 -390.0 9.5) (float-vector -197.5 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector 147.5 -400.0 748.5) (float-vector 147.5 -400.0 9.5) (float-vector 147.5 -390.0 9.5) (float-vector 147.5 -390.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -400.0 748.5) (float-vector -197.5 -400.0 9.5) (float-vector 147.5 -400.0 9.5) (float-vector 147.5 -400.0 748.5)))
+ (instance face :init :vertices (list (float-vector -197.5 -390.0 748.5) (float-vector -197.5 -390.0 9.5) (float-vector -197.5 -400.0 9.5) (float-vector -197.5 -400.0 748.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector -187.5 390.0 30.0) (float-vector -187.5 -390.0 30.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector -187.5 -390.0 20.0)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector 147.5 390.0 20.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 30.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 -390.0 30.0) (float-vector -187.5 -390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 30.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 -390.0 20.0) (float-vector -187.5 -390.0 30.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector -187.5 390.0 30.0) (float-vector -187.5 -390.0 30.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector -187.5 -390.0 20.0)))
+ (instance face :init :vertices (list (float-vector 147.5 390.0 30.0) (float-vector 147.5 390.0 20.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector 147.5 -390.0 30.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 390.0 20.0) (float-vector 147.5 390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 -390.0 30.0) (float-vector -187.5 -390.0 20.0) (float-vector 147.5 -390.0 20.0) (float-vector 147.5 -390.0 30.0)))
+ (instance face :init :vertices (list (float-vector -187.5 390.0 30.0) (float-vector -187.5 390.0 20.0) (float-vector -187.5 -390.0 20.0) (float-vector -187.5 -390.0 30.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :burlywood1)
+ (send (elt bc 1) :set-color :burlywood1)
+ (send (elt bc 2) :set-color :burlywood1)
+ (send (elt bc 3) :set-color :burlywood1)
+ (send (elt bc 4) :set-color :burlywood1)
+ (send (elt bc 5) :set-color :burlywood1)
+ (send (elt bc 6) :set-color :burlywood1)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :room610-cabinet-mamoru-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 10.0 390.0 740.0) (float-vector -10.0 390.0 740.0) (f...
[truncated message content] |
