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[Euslisp-commit] SF.net SVN: euslisp:[614] trunk/EusLisp/models
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From: <sn...@us...> - 2013-04-22 10:48:42
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Revision: 614
http://sourceforge.net/p/euslisp/code/614
Author: snozawa
Date: 2013-04-22 10:48:29 +0000 (Mon, 22 Apr 2013)
Log Message:
-----------
fix number of joint and links for laundry
Modified Paths:
--------------
trunk/EusLisp/models/laundary-machine-object.l
trunk/EusLisp/models/room602-laundary-machine-object.l
trunk/EusLisp/models/room610-laundary-machine-object.l
Modified: trunk/EusLisp/models/laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/laundary-machine-object.l 2013-04-20 13:27:54 UTC (rev 613)
+++ trunk/EusLisp/models/laundary-machine-object.l 2013-04-22 10:48:29 UTC (rev 614)
@@ -8,12 +8,12 @@
:slots (sensors
handle0 handle1 handle2
button0
- joint0 ))
+ joint0 joint1 ))
(defmethod laundary-machine-object
(:init
(&rest args &key (name "laundary-machine") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
- blink0 blink1
+ blink0 blink1 blink2
)
(send-super* :init :name name args)
@@ -22,22 +22,6 @@
;; 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)))
@@ -78,9 +62,31 @@
))
(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 'button
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 21.6506 -12.5 10.0) (float-vector 25.0 0.0 10.0) (float-vector 21.6506 12.5 10.0) (float-vector 12.5 21.6506 10.0) (float-vector 0.0 25.0 10.0) (float-vector -12.5 21.6506 10.0) (float-vector -21.6506 12.5 10.0) (float-vector -25.0 0.0 10.0) (float-vector -21.6506 -12.5 10.0) (float-vector -12.5 -21.6506 10.0) (float-vector -5.684342e-14 -25.0 10.0) (float-vector 12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 25.0 0.0 1.136868e-13) (float-vector 21.6506 -12.5 0.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 0.0 -25.0 0.0) (float-vector -12.5 -21.6506 0.0) (float-vector -21.6506 -12.5 0.0) (float-vector -25.0 0.0 0.0) (float-vector -21.6506 12.5 0.0) (float-vector -12.5 21.6506 0.0) (float-vector 0.0 25.0 0.0) (float-vector 12.5 21.6506 0.0) (float-vector 21.6506 12.5 0.0)))
+ (instance face :init :vertices (list (float-vector 21.6506 -12.5 10.0) (float-vector 21.6506 -12.5 0.0) (float-vector 25.0 0.0 1.136868e-13) (float-vector 25.0 0.0 10.0)))
+ (instance face :init :vertices (list (float-vector 12.5 -21.6506 10.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 21.6506 -12.5 0.0) (float-vector 21.6506 -12.5 10.0)))
+ (instance face :init :vertices (list (float-vector -5.684342e-14 -25.0 10.0) (float-vector 0.0 -25.0 0.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector -12.5 -21.6506 10.0) (float-vector -12.5 -21.6506 0.0) (float-vector 0.0 -25.0 0.0) (float-vector -5.684342e-14 -25.0 10.0)))
+ (instance face :init :vertices (list (float-vector -21.6506 -12.5 10.0) (float-vector -21.6506 -12.5 0.0) (float-vector -12.5 -21.6506 0.0) (float-vector -12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector -25.0 0.0 10.0) (float-vector -25.0 0.0 0.0) (float-vector -21.6506 -12.5 0.0) (float-vector -21.6506 -12.5 10.0)))
+ (instance face :init :vertices (list (float-vector -21.6506 12.5 10.0) (float-vector -21.6506 12.5 0.0) (float-vector -25.0 0.0 0.0) (float-vector -25.0 0.0 10.0)))
+ (instance face :init :vertices (list (float-vector -12.5 21.6506 10.0) (float-vector -12.5 21.6506 0.0) (float-vector -21.6506 12.5 0.0) (float-vector -21.6506 12.5 10.0)))
+ (instance face :init :vertices (list (float-vector 0.0 25.0 10.0) (float-vector 0.0 25.0 0.0) (float-vector -12.5 21.6506 0.0) (float-vector -12.5 21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 12.5 21.6506 10.0) (float-vector 12.5 21.6506 0.0) (float-vector 0.0 25.0 0.0) (float-vector 0.0 25.0 10.0)))
+ (instance face :init :vertices (list (float-vector 21.6506 12.5 10.0) (float-vector 21.6506 12.5 0.0) (float-vector 12.5 21.6506 0.0) (float-vector 12.5 21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 25.0 0.0 10.0) (float-vector 25.0 0.0 1.136868e-13) (float-vector 21.6506 12.5 0.0) (float-vector 21.6506 12.5 10.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'button :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
@@ -143,6 +149,8 @@
;; definition of assoc
(send blink1 :newcoords (make-coords :pos (float-vector 640.0 90.0 770.0) :rot #2f((0.34202 0.0 0.939693) (0.0 1.0 0.0) (-0.939693 0.0 0.34202))))
(send blink0 :assoc blink1)
+ (send blink2 :newcoords (make-coords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 0.5))))
+ (send blink0 :assoc blink2)
(send self :assoc blink0)
;; definition of end-coords
@@ -154,22 +162,27 @@
: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 :joint1
+ (setq joint1 (instance linear-joint :init
+ :parent-link blink0 :child-link blink2 :name :joint1 :axis (float-vector 0.0 0.0 1.0)
+ :min -90.0 :max 90.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 505.0 0.0 580.0) :rot #2f((0.5 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 0.5)) :name "contents"))
(send self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 640.0 190.0 770.0) :rot #2f((-3.330669e-16 -0.34202 -0.939693) (-1.0 4.440892e-16 1.665335e-16) (3.330669e-16 0.939693 -0.34202)) :name "handle-cap"))
+ (setq handle1 (make-cascoords :pos (float-vector 640.0 490.0 770.0) :rot #2f((-3.330669e-16 -0.34202 -0.939693) (-1.0 4.440892e-16 1.665335e-16) (3.330669e-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 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 0.5)) :name "open-button"))
+ (setq handle2 (make-cascoords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 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 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 0.5)) :name "open"))
+ (setq button0 (make-cascoords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 0.0 0.866025) (0.0 1.0 0.0) (-0.866025 0.0 0.5)) :name "open"))
(send self :assoc button0)
;; init-ending
- (setq links (list blink0 blink1))
- (setq joint-list (list joint0))
+ (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)
@@ -179,6 +192,7 @@
(forward-message-to-all (list) args))
(:joint0 (&rest args) (forward-message-to joint0 args))
+ (:joint1 (&rest args) (forward-message-to joint1 args))
(:handle () (list handle0 handle1 handle2))
(:handle-contents () handle0)
(:handle-handle-cap () handle1)
Modified: trunk/EusLisp/models/room602-laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/room602-laundary-machine-object.l 2013-04-20 13:27:54 UTC (rev 613)
+++ trunk/EusLisp/models/room602-laundary-machine-object.l 2013-04-22 10:48:29 UTC (rev 614)
@@ -8,12 +8,12 @@
:slots (sensors
handle0 handle1 handle2
button0
- joint0 ))
+ joint0 joint1 ))
(defmethod room602-laundary-machine-object
(:init
(&rest args &key (name "room602-laundary-machine") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
- blink0 blink1
+ blink0 blink1 blink2
)
(send-super* :init :name name args)
@@ -22,45 +22,29 @@
;; 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 4.547474e-13 1094.55) (float-vector 547.064 4.547474e-13 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 4.547474e-13 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 517.568 9.094947e-13 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 9.094947e-13 997.785) (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 9.094947e-13 997.785)))
(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 4.547474e-13 891.754) (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 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 4.547474e-13 891.754)))
+ (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 4.547474e-13 658.69) (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 4.547474e-13 658.69)))
+ (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 1.136868e-13 600.0 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 1.136868e-13 600.0 1110.0) (float-vector 1.136868e-13 600.0 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 1.136868e-13 600.0 0.0) (float-vector 1.136868e-13 600.0 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 4.547474e-13 658.69) (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 4.547474e-13 891.754) (float-vector 599.473 0.0 945.827) (float-vector 574.402 0.0 997.785) (float-vector 547.064 4.547474e-13 1047.42) (float-vector 517.568 4.547474e-13 1094.55)))
- (instance face :init :vertices (list (float-vector 517.568 4.547474e-13 1094.55) (float-vector 517.568 600.0 1094.55) (float-vector 1.136868e-13 600.0 1110.0) (float-vector 0.0 0.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 710.0 9.094947e-13 410.0) (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 9.094947e-13 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 600.0 410.0) (float-vector 710.0 9.094947e-13 410.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 0.0) (float-vector 5.684342e-14 600.0 0.0) (float-vector 710.0 600.0 0.0) (float-vector 710.0 9.094947e-13 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 0.0 1110.0) (float-vector 5.684342e-14 600.0 1110.0) (float-vector 5.684342e-14 600.0 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 5.684342e-14 600.0 0.0) (float-vector 5.684342e-14 600.0 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 9.094947e-13 0.0) (float-vector 710.0 9.094947e-13 410.0) (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 9.094947e-13 997.785) (float-vector 547.064 0.0 1047.42) (float-vector 517.568 9.094947e-13 1094.55)))
+ (instance face :init :vertices (list (float-vector 517.568 9.094947e-13 1094.55) (float-vector 517.568 600.0 1094.55) (float-vector 5.684342e-14 600.0 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)))
@@ -78,60 +62,82 @@
))
(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 'button
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 21.6506 -12.5 10.0) (float-vector 25.0 -9.094947e-13 10.0) (float-vector 21.6506 12.5 10.0) (float-vector 12.5 21.6506 10.0) (float-vector 0.0 25.0 10.0) (float-vector -12.5 21.6506 10.0) (float-vector -21.6506 12.5 10.0) (float-vector -25.0 0.0 10.0) (float-vector -21.6506 -12.5 10.0) (float-vector -12.5 -21.6506 10.0) (float-vector -1.136868e-13 -25.0 10.0) (float-vector 12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 25.0 0.0 0.0) (float-vector 21.6506 -12.5 0.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 1.136868e-13 -25.0 0.0) (float-vector -12.5 -21.6506 2.273737e-13) (float-vector -21.6506 -12.5 0.0) (float-vector -25.0 0.0 1.136868e-13) (float-vector -21.6506 12.5 0.0) (float-vector -12.5 21.6506 0.0) (float-vector -1.136868e-13 25.0 0.0) (float-vector 12.5 21.6506 0.0) (float-vector 21.6506 12.5 0.0)))
+ (instance face :init :vertices (list (float-vector 21.6506 -12.5 10.0) (float-vector 21.6506 -12.5 0.0) (float-vector 25.0 0.0 0.0) (float-vector 25.0 -9.094947e-13 10.0)))
+ (instance face :init :vertices (list (float-vector 12.5 -21.6506 10.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 21.6506 -12.5 0.0) (float-vector 21.6506 -12.5 10.0)))
+ (instance face :init :vertices (list (float-vector -1.136868e-13 -25.0 10.0) (float-vector 1.136868e-13 -25.0 0.0) (float-vector 12.5 -21.6506 1.136868e-13) (float-vector 12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector -12.5 -21.6506 10.0) (float-vector -12.5 -21.6506 2.273737e-13) (float-vector 1.136868e-13 -25.0 0.0) (float-vector -1.136868e-13 -25.0 10.0)))
+ (instance face :init :vertices (list (float-vector -21.6506 -12.5 10.0) (float-vector -21.6506 -12.5 0.0) (float-vector -12.5 -21.6506 2.273737e-13) (float-vector -12.5 -21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector -25.0 0.0 10.0) (float-vector -25.0 0.0 1.136868e-13) (float-vector -21.6506 -12.5 0.0) (float-vector -21.6506 -12.5 10.0)))
+ (instance face :init :vertices (list (float-vector -21.6506 12.5 10.0) (float-vector -21.6506 12.5 0.0) (float-vector -25.0 0.0 1.136868e-13) (float-vector -25.0 0.0 10.0)))
+ (instance face :init :vertices (list (float-vector -12.5 21.6506 10.0) (float-vector -12.5 21.6506 0.0) (float-vector -21.6506 12.5 0.0) (float-vector -21.6506 12.5 10.0)))
+ (instance face :init :vertices (list (float-vector 0.0 25.0 10.0) (float-vector -1.136868e-13 25.0 0.0) (float-vector -12.5 21.6506 0.0) (float-vector -12.5 21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 12.5 21.6506 10.0) (float-vector 12.5 21.6506 0.0) (float-vector -1.136868e-13 25.0 0.0) (float-vector 0.0 25.0 10.0)))
+ (instance face :init :vertices (list (float-vector 21.6506 12.5 10.0) (float-vector 21.6506 12.5 0.0) (float-vector 12.5 21.6506 0.0) (float-vector 12.5 21.6506 10.0)))
+ (instance face :init :vertices (list (float-vector 25.0 -9.094947e-13 10.0) (float-vector 25.0 0.0 0.0) (float-vector 21.6506 12.5 0.0) (float-vector 21.6506 12.5 10.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'button :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 2.273737e-13 385.0 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 -2.273737e-13) (float-vector 151.554 122.5 0.0) (float-vector 87.5 58.4456 -1.136868e-13) (float-vector -2.273737e-13 35.0 0.0) (float-vector -87.5 58.4456 -1.136868e-13) (float-vector -151.554 122.5 -1.136868e-13) (float-vector -175.0 210.0 1.136868e-13) (float-vector -151.554 297.5 0.0) (float-vector -87.5 361.554 0.0) (float-vector 2.273737e-13 385.0 0.0) (float-vector 87.5 361.554 1.136868e-13) (float-vector 151.554 297.5 2.273737e-13)))
- (instance face :init :vertices (list (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 0.0) (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 58.4456 30.0) (float-vector 87.5 58.4456 -1.136868e-13) (float-vector 151.554 122.5 0.0) (float-vector 151.554 122.5 30.0)))
- (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 30.0) (float-vector -2.273737e-13 35.0 0.0) (float-vector 87.5 58.4456 -1.136868e-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 -1.136868e-13) (float-vector -2.273737e-13 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 -1.136868e-13) (float-vector -87.5 58.4456 -1.136868e-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 1.136868e-13) (float-vector -151.554 122.5 -1.136868e-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 0.0) (float-vector -175.0 210.0 1.136868e-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 0.0) (float-vector -151.554 297.5 30.0)))
- (instance face :init :vertices (list (float-vector 2.273737e-13 385.0 30.0) (float-vector 2.273737e-13 385.0 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 1.136868e-13) (float-vector 2.273737e-13 385.0 0.0) (float-vector 2.273737e-13 385.0 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 87.5 361.554 1.136868e-13) (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 -2.273737e-13) (float-vector 151.554 297.5 2.273737e-13) (float-vector 151.554 297.5 30.0)))
+ (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 1.136868e-13 385.0 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 1.136868e-13) (float-vector 151.554 122.5 2.273737e-13) (float-vector 87.5 58.4456 -1.136868e-13) (float-vector -2.273737e-13 35.0 2.273737e-13) (float-vector -87.5 58.4456 -1.136868e-13) (float-vector -151.554 122.5 1.136868e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 297.5 1.136868e-13) (float-vector -87.5 361.554 0.0) (float-vector 1.136868e-13 385.0 1.136868e-13) (float-vector 87.5 361.554 2.273737e-13) (float-vector 151.554 297.5 2.273737e-13)))
+ (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 1.136868e-13) (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 -1.136868e-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 -2.273737e-13 35.0 2.273737e-13) (float-vector 87.5 58.4456 -1.136868e-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 -1.136868e-13) (float-vector -2.273737e-13 35.0 2.273737e-13) (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 1.136868e-13) (float-vector -87.5 58.4456 -1.136868e-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 1.136868e-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 1.136868e-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 1.136868e-13) (float-vector -151.554 297.5 30.0)))
+ (instance face :init :vertices (list (float-vector 1.136868e-13 385.0 30.0) (float-vector 1.136868e-13 385.0 1.136868e-13) (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 2.273737e-13) (float-vector 1.136868e-13 385.0 1.136868e-13) (float-vector 1.136868e-13 385.0 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 87.5 361.554 2.273737e-13) (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 1.136868e-13) (float-vector 151.554 297.5 2.273737e-13) (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 -2.273737e-13) (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 -2.273737e-13) (float-vector 107.5 396.195 30.0) (float-vector 186.195 317.5 30.0) (float-vector 186.195 317.5 -2.273737e-13)))
- (instance face :init :vertices (list (float-vector 1.136868e-13 425.0 -1.136868e-13) (float-vector 2.273737e-13 425.0 30.0) (float-vector 107.5 396.195 30.0) (float-vector 107.5 396.195 -2.273737e-13)))
- (instance face :init :vertices (list (float-vector -107.5 396.195 0.0) (float-vector -107.5 396.195 30.0) (float-vector 2.273737e-13 425.0 30.0) (float-vector 1.136868e-13 425.0 -1.136868e-13)))
- (instance face :init :vertices (list (float-vector -186.195 317.5 -1.136868e-13) (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 -2.273737e-13) (float-vector -215.0 210.0 30.0) (float-vector -186.195 317.5 30.0) (float-vector -186.195 317.5 -1.136868e-13)))
- (instance face :init :vertices (list (float-vector -186.195 102.5 0.0) (float-vector -186.195 102.5 30.0) (float-vector -215.0 210.0 30.0) (float-vector -215.0 210.0 -2.273737e-13)))
- (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 0.0)))
- (instance face :init :vertices (list (float-vector -3.410605e-13 -5.0 0.0) (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 0.0) (float-vector 107.5 23.8045 30.0) (float-vector -2.273737e-13 -5.0 30.0) (float-vector -3.410605e-13 -5.0 0.0)))
- (instance face :init :vertices (list (float-vector 186.195 102.5 -1.136868e-13) (float-vector 186.195 102.5 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 215.0 210.0 30.0) (float-vector 186.195 317.5 30.0) (float-vector 107.5 396.195 30.0) (float-vector 2.273737e-13 425.0 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))
+ (instance face :init :vertices (list (float-vector 215.0 210.0 2.273737e-13) (float-vector 186.195 317.5 1.136868e-13) (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 1.136868e-13)))
+ (instance face :init :vertices (list (float-vector 1.136868e-13 425.0 0.0) (float-vector 1.136868e-13 425.0 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 2.273737e-13) (float-vector -107.5 396.195 30.0) (float-vector 1.136868e-13 425.0 30.0) (float-vector 1.136868e-13 425.0 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 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 -186.195 317.5 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 -3.410605e-13 -5.0 2.273737e-13) (float-vector -3.410605e-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 -3.410605e-13 -5.0 30.0) (float-vector -3.410605e-13 -5.0 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -1.136868e-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 1.136868e-13 425.0 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 -3.410605e-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 2.273737e-13 385.0 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 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 1.136868e-13 385.0 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 -1.136868e-13) (float-vector 107.5 23.8045 0.0) (float-vector -3.410605e-13 -5.0 0.0) (float-vector -107.5 23.8045 0.0) (float-vector -186.195 102.5 0.0) (float-vector -215.0 210.0 -2.273737e-13) (float-vector -186.195 317.5 -1.136868e-13) (float-vector -107.5 396.195 0.0) (float-vector 1.136868e-13 425.0 -1.136868e-13) (float-vector 107.5 396.195 -2.273737e-13) (float-vector 186.195 317.5 -2.273737e-13) (float-vector 215.0 210.0 0.0))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 -1.136868e-13) (float-vector 107.5 23.8045 2.273737e-13) (float-vector -3.410605e-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 2.273737e-13) (float-vector 1.136868e-13 425.0 0.0) (float-vector 107.5 396.195 0.0) (float-vector 186.195 317.5 1.136868e-13) (float-vector 215.0 210.0 2.273737e-13))
:holes (list
- (instance hole :init :vertices (list (float-vector 175.0 210.0 -2.273737e-13) (float-vector 151.554 297.5 2.273737e-13) (float-vector 87.5 361.554 1.136868e-13) (float-vector 2.273737e-13 385.0 0.0) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 0.0) (float-vector -175.0 210.0 1.136868e-13) (float-vector -151.554 122.5 -1.136868e-13) (float-vector -87.5 58.4456 -1.136868e-13) (float-vector -2.273737e-13 35.0 0.0) (float-vector 87.5 58.4456 -1.136868e-13) (float-vector 151.554 122.5 0.0)))
+ (instance hole :init :vertices (list (float-vector 175.0 210.0 1.136868e-13) (float-vector 151.554 297.5 2.273737e-13) (float-vector 87.5 361.554 2.273737e-13) (float-vector 1.136868e-13 385.0 1.136868e-13) (float-vector -87.5 361.554 0.0) (float-vector -151.554 297.5 1.136868e-13) (float-vector -175.0 210.0 2.273737e-13) (float-vector -151.554 122.5 1.136868e-13) (float-vector -87.5 58.4456 -1.136868e-13) (float-vector -2.273737e-13 35.0 2.273737e-13) (float-vector 87.5 58.4456 -1.136868e-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 -1.136868e-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 2.273737e-13) (float-vector 175.0 210.0 -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 87.5 361.554 30.0) (float-vector 87.5 361.554 1.136868e-13)))
- (instance face :init :vertices (list (float-vector 87.5 361.554 1.136868e-13) (float-vector 87.5 361.554 30.0) (float-vector 2.273737e-13 385.0 30.0) (float-vector 2.273737e-13 385.0 0.0)))
- (instance face :init :vertices (list (float-vector 2.273737e-13 385.0 0.0) (float-vector 2.273737e-13 385.0 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 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 -175.0 210.0 30.0) (float-vector -175.0 210.0 1.136868e-13)))
- (instance face :init :vertices (list (float-vector -175.0 210.0 1.136868e-13) (float-vector -175.0 210.0 30.0) (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 -1.136868e-13)))
- (instance face :init :vertices (list (float-vector -151.554 122.5 -1.136868e-13) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -1.136868e-13)))
- (instance face :init :vertices (list (float-vector -87.5 58.4456 -1.136868e-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 -1.136868e-13)))
- (instance face :init :vertices (list (float-vector 87.5 58.4456 -1.136868e-13) (float-vector 87.5 58.4456 30.0) (float-vector 151.554 122.5 30.0) (float-vector 151.554 122.5 0.0)))
- (instance face :init :vertices (list (float-vector 151.554 122.5 0.0) (float-vector 151.554 122.5 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 215.0 210.0 2.273737e-13) (float-vector 215.0 210.0 30.0) (float-vector 186.195 102.5 30.0) (float-vector 186.195 102.5 -1.136868e-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 2.273737e-13) (float-vector 175.0 210.0 1.136868e-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 87.5 361.554 30.0) (float-vector 87.5 361.554 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector 87.5 361.554 2.273737e-13) (float-vector 87.5 361.554 30.0) (float-vector 1.136868e-13 385.0 30.0) (float-vector 1.136868e-13 385.0 1.136868e-13)))
+ (instance face :init :vertices (list (float-vector 1.136868e-13 385.0 1.136868e-13) (float-vector 1.136868e-13 385.0 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 1.136868e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 297.5 1.136868e-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 1.136868e-13)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 1.136868e-13) (float-vector -151.554 122.5 30.0) (float-vector -87.5 58.4456 30.0) (float-vector -87.5 58.4456 -1.136868e-13)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 -1.136868e-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 2.273737e-13)))
+ (instance face :init :vertices (list (float-vector -2.273737e-13 35.0 2.273737e-13) (float-vector -2.273737e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 -1.136868e-13)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 -1.136868e-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 1.136868e-13)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
@@ -141,8 +147,10 @@
(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 -6.816092e-18 0.939693) (3.865598e-17 1.0 -6.816092e-18) (-0.939693 3.865598e-17 0.34202))))
+ (send blink1 :newcoords (make-coords :pos (float-vector 640.0 90.0 770.0) :rot #2f((0.34202 -1.477606e-17 0.939693) (3.069601e-17 1.0 4.551926e-18) (-0.939693 2.728796e-17 0.34202))))
(send blink0 :assoc blink1)
+ (send blink2 :newcoords (make-coords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 1.709814e-17 0.866025) (-3.097593e-17 1.0 -1.859271e-18) (-0.866025 -2.589630e-17 0.5))))
+ (send blink0 :assoc blink2)
(send self :assoc blink0)
;; definition of end-coords
@@ -154,22 +162,27 @@
: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 :joint1
+ (setq joint1 (instance linear-joint :init
+ :parent-link blink0 :child-link blink2 :name :joint1 :axis (float-vector 0.0 0.0 1.0)
+ :min -90.0 :max 90.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 505.0 0.0 580.0) :rot #2f((0.5 1.709814e-17 0.866025) (-3.097593e-17 1.0 -1.859271e-18) (-0.866025 -2.589630e-17 0.5)) :name "contents"))
(send self :assoc handle0)
- (setq handle1 (make-cascoords :pos (float-vector 640.0 190.0 770.0) :rot #2f((-3.053113e-16 -0.34202 -0.939693) (-1.0 6.938894e-16 1.110223e-16) (6.106227e-16 0.939693 -0.34202)) :name "handle-cap"))
+ (setq handle1 (make-cascoords :pos (float-vector 640.0 490.0 770.0) :rot #2f((-3.053113e-16 -0.34202 -0.939693) (-1.0 6.938894e-16 1.110223e-16) (6.106227e-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 6.517221e-17 0.866025) (-7.904999e-17 1.0 -2.961485e-17) (-0.866025 -5.365188e-17 0.5)) :name "open-button"))
+ (setq handle2 (make-cascoords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 1.709814e-17 0.866025) (-3.097593e-17 1.0 -1.859271e-18) (-0.866025 -2.589630e-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 1.709814e-17 0.866025) (-3.097593e-17 1.0 -1.859271e-18) (-0.866025 -2.589630e-17 0.5)) :name "open"))
+ (setq button0 (make-cascoords :pos (float-vector 600.0 540.0 930.0) :rot #2f((0.5 1.709814e-17 0.866025) (-3.097593e-17 1.0 -1.859271e-18) (-0.866025 -2.589630e-17 0.5)) :name "open"))
(send self :assoc button0)
;; init-ending
- (setq links (list blink0 blink1))
- (setq joint-list (list joint0))
+ (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)
@@ -179,6 +192,7 @@
(forward-message-to-all (list) args))
(:joint0 (&rest args) (forward-message-to joint0 args))
+ (:joint1 (&rest args) (forward-message-to joint1 args))
(:handle () (list handle0 handle1 handle2))
(:handle-contents () handle0)
(:handle-handle-cap () handle1)
Modified: trunk/EusLisp/models/room610-laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/room610-laundary-machine-object.l 2013-04-20 13:27:54 UTC (rev 613)
+++ trunk/EusLisp/models/room610-laundary-machine-object.l 2013-04-22 10:48:29 UTC (rev 614)
@@ -8,12 +8,12 @@
:slots (sensors
handle0 handle1 handle2
button0
- joint0 ))
+ joint0 joint1 ))
(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
+ blink0 blink1 blink2
)
(send-super* :init :name name args)
@@ -22,22 +22,6 @@
;; 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)))
@@ -78,60 +62,82 @@
))
(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 'button
+ (set...
[truncated message content] |
