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[Euslisp-commit] SF.net SVN: euslisp:[609] trunk/EusLisp/models
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From: <sn...@us...> - 2013-04-19 04:51:20
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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~%")
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