[Euslisp-commit] SF.net SVN: euslisp:[603] trunk/EusLisp/models

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

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]