[Euslisp-commit] SF.net SVN: euslisp:[604] trunk/EusLisp/models

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

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))))

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