Menu
▾
▴
[Euslisp-commit] SF.net SVN: euslisp:[617] trunk/EusLisp/models
|
From: <sn...@us...> - 2013-04-22 13:11:13
|
Revision: 617
http://sourceforge.net/p/euslisp/code/617
Author: snozawa
Date: 2013-04-22 13:10:57 +0000 (Mon, 22 Apr 2013)
Log Message:
-----------
rename laundary -> laundry
Modified Paths:
--------------
trunk/EusLisp/models/load-irt-all-objects.l
trunk/EusLisp/models/room602-scene.l
trunk/EusLisp/models/room610-scene.l
Added Paths:
-----------
trunk/EusLisp/models/laundry-machine-object.l
trunk/EusLisp/models/room602-laundry-machine-object.l
trunk/EusLisp/models/room610-laundry-machine-object.l
Removed Paths:
-------------
trunk/EusLisp/models/laundary-machine-object.l
trunk/EusLisp/models/room602-laundary-machine-object.l
trunk/EusLisp/models/room610-laundary-machine-object.l
Deleted: trunk/EusLisp/models/laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/laundary-machine-object.l 2013-04-22 12:58:42 UTC (rev 616)
+++ trunk/EusLisp/models/laundary-machine-object.l 2013-04-22 13:10:57 UTC (rev 617)
@@ -1,206 +0,0 @@
-;;
-;; DO NOT EDIT THIS FILE
-;; this file is automatically generated from euslisp+euslib version
-;;
-;;
-(defclass laundary-machine-object
- :super cascaded-link
- :slots (sensors
- handle0 handle1 handle2
- button0
- 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 blink2
- )
- (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 517.568 -300.0 1094.55) (float-vector 547.064 -300.0 1047.42) (float-vector 547.064 300.0 1047.42) (float-vector 517.568 300.0 1094.55)))
- (instance face :init :vertices (list (float-vector 574.402 -300.0 997.785) (float-vector 574.402 300.0 997.785) (float-vector 547.064 300.0 1047.42) (float-vector 547.064 -300.0 1047.42)))
- (instance face :init :vertices (list (float-vector 599.473 -300.0 945.827) (float-vector 599.473 -95.7191 945.827) (float-vector 598.07 -92.5 948.734) (float-vector 587.269 2.273737e-13 971.118) (float-vector 598.07 92.5 948.734) (float-vector 599.473 95.7191 945.827) (float-vector 599.473 300.0 945.827) (float-vector 574.402 300.0 997.785) (float-vector 574.402 -300.0 997.785)))
- (instance face :init :vertices (list (float-vector 622.178 300.0 891.754) (float-vector 599.473 300.0 945.827) (float-vector 599.473 95.7191 945.827) (float-vector 622.178 153.9 891.754)))
- (instance face :init :vertices (list (float-vector 622.178 -300.0 891.754) (float-vector 622.178 -153.9 891.754) (float-vector 599.473 -95.7191 945.827) (float-vector 599.473 -300.0 945.827)))
- (instance face :init :vertices (list (float-vector 642.427 300.0 835.779) (float-vector 622.178 300.0 891.754) (float-vector 622.178 153.9 891.754) (float-vector 624.36 160.215 885.722) (float-vector 642.427 174.225 835.779)))
- (instance face :init :vertices (list (float-vector 642.427 -300.0 835.779) (float-vector 642.427 -174.225 835.779) (float-vector 624.36 -160.215 885.722) (float-vector 622.178 -153.9 891.754) (float-vector 622.178 -300.0 891.754)))
- (instance face :init :vertices (list (float-vector 660.141 300.0 778.125) (float-vector 642.427 300.0 835.779) (float-vector 642.427 174.225 835.779) (float-vector 654.545 185.0 796.34) (float-vector 660.141 180.023 778.125)))
- (instance face :init :vertices (list (float-vector 660.141 -300.0 778.125) (float-vector 660.141 -180.023 778.125) (float-vector 654.545 -185.0 796.34) (float-vector 642.427 -174.225 835.779) (float-vector 642.427 -300.0 835.779)))
- (instance face :init :vertices (list (float-vector 675.25 300.0 719.017) (float-vector 660.141 300.0 778.125) (float-vector 660.141 180.023 778.125) (float-vector 675.25 164.283 719.017)))
- (instance face :init :vertices (list (float-vector 675.25 -300.0 719.017) (float-vector 675.25 -164.283 719.017) (float-vector 660.141 -180.023 778.125) (float-vector 660.141 -300.0 778.125)))
- (instance face :init :vertices (list (float-vector 687.694 300.0 658.69) (float-vector 675.25 300.0 719.017) (float-vector 675.25 164.283 719.017) (float-vector 678.482 160.215 703.35) (float-vector 687.694 116.932 658.69)))
- (instance face :init :vertices (list (float-vector 687.694 -300.0 658.69) (float-vector 687.694 -116.932 658.69) (float-vector 678.482 -160.215 703.35) (float-vector 675.25 -164.283 719.017) (float-vector 675.25 -300.0 719.017)))
- (instance face :init :vertices (list (float-vector 697.424 -300.0 597.381) (float-vector 697.424 300.0 597.381) (float-vector 687.694 300.0 658.69) (float-vector 687.694 116.932 658.69) (float-vector 691.795 92.5 632.846) (float-vector 695.956 0.0 606.629) (float-vector 691.795 -92.5 632.846) (float-vector 687.694 -116.932 658.69) (float-vector 687.694 -300.0 658.69)))
- (instance face :init :vertices (list (float-vector 704.401 -300.0 535.333) (float-vector 704.401 300.0 535.333) (float-vector 697.424 300.0 597.381) (float-vector 697.424 -300.0 597.381)))
- (instance face :init :vertices (list (float-vector 708.599 -300.0 472.791) (float-vector 708.599 300.0 472.791) (float-vector 704.401 300.0 535.333) (float-vector 704.401 -300.0 535.333)))
- (instance face :init :vertices (list (float-vector 710.0 -300.0 410.0) (float-vector 710.0 300.0 410.0) (float-vector 708.599 300.0 472.791) (float-vector 708.599 -300.0 472.791)))
- (instance face :init :vertices (list (float-vector 710.0 -300.0 0.0) (float-vector 710.0 300.0 0.0) (float-vector 710.0 300.0 410.0) (float-vector 710.0 -300.0 410.0)))
- (instance face :init :vertices (list (float-vector 0.0 -300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 710.0 300.0 0.0) (float-vector 710.0 -300.0 0.0)))
- (instance face :init :vertices (list (float-vector 0.0 -300.0 1110.0) (float-vector 0.0 300.0 1110.0) (float-vector 0.0 300.0 0.0) (float-vector 0.0 -300.0 0.0)))
- (instance face :init :vertices (list (float-vector 517.568 300.0 1094.55) (float-vector 547.064 300.0 1047.42) (float-vector 574.402 300.0 997.785) (float-vector 599.473 300.0 945.827) (float-vector 622.178 300.0 891.754) (float-vector 642.427 300.0 835.779) (float-vector 660.141 300.0 778.125) (float-vector 675.25 300.0 719.017) (float-vector 687.694 300.0 658.69) (float-vector 697.424 300.0 597.381) (float-vector 704.401 300.0 535.333) (float-vector 708.599 300.0 472.791) (float-vector 710.0 300.0 410.0) (float-vector 710.0 300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 0.0 300.0 1110.0)))
- (instance face :init :vertices (list (float-vector 0.0 -300.0 1110.0) (float-vector 0.0 -300.0 0.0) (float-vector 710.0 -300.0 0.0) (float-vector 710.0 -300.0 410.0) (float-vector 708.599 -300.0 472.791) (float-vector 704.401 -300.0 535.333) (float-vector 697.424 -300.0 597.381) (float-vector 687.694 -300.0 658.69) (float-vector 675.25 -300.0 719.017) (float-vector 660.141 -300.0 778.125) (float-vector 642.427 -300.0 835.779) (float-vector 622.178 -300.0 891.754) (float-vector 599.473 -300.0 945.827) (float-vector 574.402 -300.0 997.785) (float-vector 547.064 -300.0 1047.42) (float-vector 517.568 -300.0 1094.55)))
- (instance face :init :vertices (list (float-vector 517.568 -300.0 1094.55) (float-vector 517.568 300.0 1094.55) (float-vector 0.0 300.0 1110.0) (float-vector 0.0 -300.0 1110.0)))
- (instance face :init :vertices (list (float-vector 695.956 0.0 606.629) (float-vector 691.795 92.5 632.846) (float-vector 585.107 92.5 571.25) (float-vector 597.5 0.0 549.785)))
- (instance face :init :vertices (list (float-vector 585.107 92.5 571.25) (float-vector 691.795 92.5 632.846) (float-vector 687.694 116.932 658.69) (float-vector 678.482 160.215 703.35) (float-vector 551.25 160.215 629.893)))
- (instance face :init :vertices (list (float-vector 551.25 160.215 629.893) (float-vector 678.482 160.215 703.35) (float-vector 675.25 164.283 719.017) (float-vector 660.141 180.023 778.125) (float-vector 654.545 185.0 796.34) (float-vector 505.0 185.0 710.0)))
- (instance face :init :vertices (list (float-vector 505.0 185.0 710.0) (float-vector 654.545 185.0 796.34) (float-vector 642.427 174.225 835.779) (float-vector 624.36 160.215 885.722) (float-vector 458.75 160.215 790.107)))
- (instance face :init :vertices (list (float-vector 458.75 160.215 790.107) (float-vector 624.36 160.215 885.722) (float-vector 622.178 153.9 891.754) (float-vector 599.473 95.7191 945.827) (float-vector 598.07 92.5 948.734) (float-vector 424.893 92.5 848.75)))
- (instance face :init :vertices (list (float-vector 424.893 92.5 848.75) (float-vector 598.07 92.5 948.734) (float-vector 587.269 2.273737e-13 971.118) (float-vector 412.5 2.273737e-13 870.215)))
- (instance face :init :vertices (list (float-vector 412.5 2.273737e-13 870.215) (float-vector 587.269 2.273737e-13 971.118) (float-vector 598.07 -92.5 948.734) (float-vector 424.893 -92.5 848.75)))
- (instance face :init :vertices (list (float-vector 424.893 -92.5 848.75) (float-vector 598.07 -92.5 948.734) (float-vector 599.473 -95.7191 945.827) (float-vector 622.178 -153.9 891.754) (float-vector 624.36 -160.215 885.722) (float-vector 458.75 -160.215 790.107)))
- (instance face :init :vertices (list (float-vector 458.75 -160.215 790.107) (float-vector 624.36 -160.215 885.722) (float-vector 642.427 -174.225 835.779) (float-vector 654.545 -185.0 796.34) (float-vector 505.0 -185.0 710.0)))
- (instance face :init :vertices (list (float-vector 505.0 -185.0 710.0) (float-vector 654.545 -185.0 796.34) (float-vector 660.141 -180.023 778.125) (float-vector 675.25 -164.283 719.017) (float-vector 678.482 -160.215 703.35) (float-vector 551.25 -160.215 629.893)))
- (instance face :init :vertices (list (float-vector 551.25 -160.215 629.893) (float-vector 678.482 -160.215 703.35) (float-vector 687.694 -116.932 658.69) (float-vector 691.795 -92.5 632.846) (float-vector 585.107 -92.5 571.25)))
- (instance face :init :vertices (list (float-vector 585.107 -92.5 571.25) (float-vector 691.795 -92.5 632.846) (float-vector 695.956 0.0 606.629) (float-vector 597.5 0.0 549.785)))
- (instance face :init :vertices (list (float-vector 597.5 0.0 549.785) (float-vector 585.107 92.5 571.25) (float-vector 551.25 160.215 629.893) (float-vector 505.0 185.0 710.0) (float-vector 458.75 160.215 790.107) (float-vector 424.893 92.5 848.75) (float-vector 412.5 2.273737e-13 870.215) (float-vector 424.893 -92.5 848.75) (float-vector 458.75 -160.215 790.107) (float-vector 505.0 -185.0 710.0) (float-vector 551.25 -160.215 629.893) (float-vector 585.107 -92.5 571.25)))
- ))
- ))
- (dolist (b (cdr bc)) (send (car bc) :assoc b))
- (send (elt bc 0) :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 2.842171e-14 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 2.842171e-14 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 2.842171e-14 10.0) (float-vector -25.0 2.842171e-14 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 2.842171e-14 0.0) (float-vector -25.0 2.842171e-14 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
- (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 1.705303e-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 -2.842171e-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 -1.136868e-13) (float-vector 87.5 58.4456 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector -87.5 58.4456 0.0) (float-vector -151.554 122.5 0.0) (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 1.136868e-13 385.0 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 -1.136868e-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 0.0) (float-vector 151.554 122.5 -1.136868e-13) (float-vector 151.554 122.5 30.0)))
- (instance face :init :vertices (list (float-vector -2.842171e-13 35.0 30.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector 87.5 58.4456 0.0) (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 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector -2.842171e-13 35.0 30.0)))
- (instance face :init :vertices (list (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 0.0) (float-vector -87.5 58.4456 0.0) (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 0.0) (float-vector -151.554 122.5 0.0) (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 0.0) (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 1.705303e-13 385.0 30.0) (float-vector 1.136868e-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 0.0) (float-vector 1.136868e-13 385.0 0.0) (float-vector 1.705303e-13 385.0 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 1.136868e-13) (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 1.136868e-13 425.0 0.0) (float-vector 1.705303e-13 425.0 30.0) (float-vector 107.5 396.195 30.0) (float-vector 107.5 396.195 1.136868e-13)))
- (instance face :init :vertices (list (float-vector -107.5 396.195 0.0) (float-vector -107.5 396.195 30.0) (float-vector 1.705303e-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 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 0.0) (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 0.0)))
- (instance face :init :vertices (list (float-vector -3.979039e-13 -5.0 0.0) (float-vector -3.979039e-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 -3.979039e-13 -5.0 30.0) (float-vector -3.979039e-13 -5.0 0.0)))
- (instance face :init :vertices (list (float-vector 186.195 102.5 0.0) (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 1.705303e-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 -3.979039e-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 -2.842171e-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 1.705303e-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 0.0) (float-vector 107.5 23.8045 0.0) (float-vector -3.979039e-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 0.0) (float-vector -186.195 317.5 0.0) (float-vector -107.5 396.195 0.0) (float-vector 1.136868e-13 425.0 0.0) (float-vector 107.5 396.195 1.136868e-13) (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 1.136868e-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 0.0) (float-vector -151.554 122.5 0.0) (float-vector -87.5 58.4456 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector 87.5 58.4456 0.0) (float-vector 151.554 122.5 -1.136868e-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 0.0)))
- (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 1.705303e-13 385.0 30.0) (float-vector 1.136868e-13 385.0 0.0)))
- (instance face :init :vertices (list (float-vector 1.136868e-13 385.0 0.0) (float-vector 1.705303e-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 0.0)))
- (instance face :init :vertices (list (float-vector -175.0 210.0 0.0) (float-vector -175.0 210.0 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 -87.5 58.4456 30.0) (float-vector -87.5 58.4456 0.0)))
- (instance face :init :vertices (list (float-vector -87.5 58.4456 0.0) (float-vector -87.5 58.4456 30.0) (float-vector -2.842171e-13 35.0 30.0) (float-vector -2.842171e-13 35.0 0.0)))
- (instance face :init :vertices (list (float-vector -2.842171e-13 35.0 0.0) (float-vector -2.842171e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 0.0)))
- (instance face :init :vertices (list (float-vector 87.5 58.4456 0.0) (float-vector 87.5 58.4456 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 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 -210.0 770.0) :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 600.0 240.0 930.0) :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
-
- ;; 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 :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"))
- (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"))
- (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"))
- (send self :assoc button0)
-
- ;; 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))
-
- (: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)
- (:handle-open-button () handle2)
- (:attention () (list ))
- (:button () (list button0))
- (:button-open () button0)
- )
-
-(defun laundary-machine (&rest args) (instance* laundary-machine-object :init args))
-;; (format *error-output* "(instance laundary-machine-object :init) for generating model~%")
Added: trunk/EusLisp/models/laundry-machine-object.l
===================================================================
--- trunk/EusLisp/models/laundry-machine-object.l (rev 0)
+++ trunk/EusLisp/models/laundry-machine-object.l 2013-04-22 13:10:57 UTC (rev 617)
@@ -0,0 +1,206 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass laundry-machine-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2
+ button0
+ joint0 joint1 ))
+(defmethod laundry-machine-object
+ (:init
+ (&rest args &key (name "laundry-machine") (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 'b0
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 517.568 -300.0 1094.55) (float-vector 547.064 -300.0 1047.42) (float-vector 547.064 300.0 1047.42) (float-vector 517.568 300.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 574.402 -300.0 997.785) (float-vector 574.402 300.0 997.785) (float-vector 547.064 300.0 1047.42) (float-vector 547.064 -300.0 1047.42)))
+ (instance face :init :vertices (list (float-vector 599.473 -300.0 945.827) (float-vector 599.473 -95.7191 945.827) (float-vector 598.07 -92.5 948.734) (float-vector 587.269 2.273737e-13 971.118) (float-vector 598.07 92.5 948.734) (float-vector 599.473 95.7191 945.827) (float-vector 599.473 300.0 945.827) (float-vector 574.402 300.0 997.785) (float-vector 574.402 -300.0 997.785)))
+ (instance face :init :vertices (list (float-vector 622.178 300.0 891.754) (float-vector 599.473 300.0 945.827) (float-vector 599.473 95.7191 945.827) (float-vector 622.178 153.9 891.754)))
+ (instance face :init :vertices (list (float-vector 622.178 -300.0 891.754) (float-vector 622.178 -153.9 891.754) (float-vector 599.473 -95.7191 945.827) (float-vector 599.473 -300.0 945.827)))
+ (instance face :init :vertices (list (float-vector 642.427 300.0 835.779) (float-vector 622.178 300.0 891.754) (float-vector 622.178 153.9 891.754) (float-vector 624.36 160.215 885.722) (float-vector 642.427 174.225 835.779)))
+ (instance face :init :vertices (list (float-vector 642.427 -300.0 835.779) (float-vector 642.427 -174.225 835.779) (float-vector 624.36 -160.215 885.722) (float-vector 622.178 -153.9 891.754) (float-vector 622.178 -300.0 891.754)))
+ (instance face :init :vertices (list (float-vector 660.141 300.0 778.125) (float-vector 642.427 300.0 835.779) (float-vector 642.427 174.225 835.779) (float-vector 654.545 185.0 796.34) (float-vector 660.141 180.023 778.125)))
+ (instance face :init :vertices (list (float-vector 660.141 -300.0 778.125) (float-vector 660.141 -180.023 778.125) (float-vector 654.545 -185.0 796.34) (float-vector 642.427 -174.225 835.779) (float-vector 642.427 -300.0 835.779)))
+ (instance face :init :vertices (list (float-vector 675.25 300.0 719.017) (float-vector 660.141 300.0 778.125) (float-vector 660.141 180.023 778.125) (float-vector 675.25 164.283 719.017)))
+ (instance face :init :vertices (list (float-vector 675.25 -300.0 719.017) (float-vector 675.25 -164.283 719.017) (float-vector 660.141 -180.023 778.125) (float-vector 660.141 -300.0 778.125)))
+ (instance face :init :vertices (list (float-vector 687.694 300.0 658.69) (float-vector 675.25 300.0 719.017) (float-vector 675.25 164.283 719.017) (float-vector 678.482 160.215 703.35) (float-vector 687.694 116.932 658.69)))
+ (instance face :init :vertices (list (float-vector 687.694 -300.0 658.69) (float-vector 687.694 -116.932 658.69) (float-vector 678.482 -160.215 703.35) (float-vector 675.25 -164.283 719.017) (float-vector 675.25 -300.0 719.017)))
+ (instance face :init :vertices (list (float-vector 697.424 -300.0 597.381) (float-vector 697.424 300.0 597.381) (float-vector 687.694 300.0 658.69) (float-vector 687.694 116.932 658.69) (float-vector 691.795 92.5 632.846) (float-vector 695.956 0.0 606.629) (float-vector 691.795 -92.5 632.846) (float-vector 687.694 -116.932 658.69) (float-vector 687.694 -300.0 658.69)))
+ (instance face :init :vertices (list (float-vector 704.401 -300.0 535.333) (float-vector 704.401 300.0 535.333) (float-vector 697.424 300.0 597.381) (float-vector 697.424 -300.0 597.381)))
+ (instance face :init :vertices (list (float-vector 708.599 -300.0 472.791) (float-vector 708.599 300.0 472.791) (float-vector 704.401 300.0 535.333) (float-vector 704.401 -300.0 535.333)))
+ (instance face :init :vertices (list (float-vector 710.0 -300.0 410.0) (float-vector 710.0 300.0 410.0) (float-vector 708.599 300.0 472.791) (float-vector 708.599 -300.0 472.791)))
+ (instance face :init :vertices (list (float-vector 710.0 -300.0 0.0) (float-vector 710.0 300.0 0.0) (float-vector 710.0 300.0 410.0) (float-vector 710.0 -300.0 410.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 710.0 300.0 0.0) (float-vector 710.0 -300.0 0.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -300.0 1110.0) (float-vector 0.0 300.0 1110.0) (float-vector 0.0 300.0 0.0) (float-vector 0.0 -300.0 0.0)))
+ (instance face :init :vertices (list (float-vector 517.568 300.0 1094.55) (float-vector 547.064 300.0 1047.42) (float-vector 574.402 300.0 997.785) (float-vector 599.473 300.0 945.827) (float-vector 622.178 300.0 891.754) (float-vector 642.427 300.0 835.779) (float-vector 660.141 300.0 778.125) (float-vector 675.25 300.0 719.017) (float-vector 687.694 300.0 658.69) (float-vector 697.424 300.0 597.381) (float-vector 704.401 300.0 535.333) (float-vector 708.599 300.0 472.791) (float-vector 710.0 300.0 410.0) (float-vector 710.0 300.0 0.0) (float-vector 0.0 300.0 0.0) (float-vector 0.0 300.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 0.0 -300.0 1110.0) (float-vector 0.0 -300.0 0.0) (float-vector 710.0 -300.0 0.0) (float-vector 710.0 -300.0 410.0) (float-vector 708.599 -300.0 472.791) (float-vector 704.401 -300.0 535.333) (float-vector 697.424 -300.0 597.381) (float-vector 687.694 -300.0 658.69) (float-vector 675.25 -300.0 719.017) (float-vector 660.141 -300.0 778.125) (float-vector 642.427 -300.0 835.779) (float-vector 622.178 -300.0 891.754) (float-vector 599.473 -300.0 945.827) (float-vector 574.402 -300.0 997.785) (float-vector 547.064 -300.0 1047.42) (float-vector 517.568 -300.0 1094.55)))
+ (instance face :init :vertices (list (float-vector 517.568 -300.0 1094.55) (float-vector 517.568 300.0 1094.55) (float-vector 0.0 300.0 1110.0) (float-vector 0.0 -300.0 1110.0)))
+ (instance face :init :vertices (list (float-vector 695.956 0.0 606.629) (float-vector 691.795 92.5 632.846) (float-vector 585.107 92.5 571.25) (float-vector 597.5 0.0 549.785)))
+ (instance face :init :vertices (list (float-vector 585.107 92.5 571.25) (float-vector 691.795 92.5 632.846) (float-vector 687.694 116.932 658.69) (float-vector 678.482 160.215 703.35) (float-vector 551.25 160.215 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 160.215 629.893) (float-vector 678.482 160.215 703.35) (float-vector 675.25 164.283 719.017) (float-vector 660.141 180.023 778.125) (float-vector 654.545 185.0 796.34) (float-vector 505.0 185.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 185.0 710.0) (float-vector 654.545 185.0 796.34) (float-vector 642.427 174.225 835.779) (float-vector 624.36 160.215 885.722) (float-vector 458.75 160.215 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 160.215 790.107) (float-vector 624.36 160.215 885.722) (float-vector 622.178 153.9 891.754) (float-vector 599.473 95.7191 945.827) (float-vector 598.07 92.5 948.734) (float-vector 424.893 92.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 92.5 848.75) (float-vector 598.07 92.5 948.734) (float-vector 587.269 2.273737e-13 971.118) (float-vector 412.5 2.273737e-13 870.215)))
+ (instance face :init :vertices (list (float-vector 412.5 2.273737e-13 870.215) (float-vector 587.269 2.273737e-13 971.118) (float-vector 598.07 -92.5 948.734) (float-vector 424.893 -92.5 848.75)))
+ (instance face :init :vertices (list (float-vector 424.893 -92.5 848.75) (float-vector 598.07 -92.5 948.734) (float-vector 599.473 -95.7191 945.827) (float-vector 622.178 -153.9 891.754) (float-vector 624.36 -160.215 885.722) (float-vector 458.75 -160.215 790.107)))
+ (instance face :init :vertices (list (float-vector 458.75 -160.215 790.107) (float-vector 624.36 -160.215 885.722) (float-vector 642.427 -174.225 835.779) (float-vector 654.545 -185.0 796.34) (float-vector 505.0 -185.0 710.0)))
+ (instance face :init :vertices (list (float-vector 505.0 -185.0 710.0) (float-vector 654.545 -185.0 796.34) (float-vector 660.141 -180.023 778.125) (float-vector 675.25 -164.283 719.017) (float-vector 678.482 -160.215 703.35) (float-vector 551.25 -160.215 629.893)))
+ (instance face :init :vertices (list (float-vector 551.25 -160.215 629.893) (float-vector 678.482 -160.215 703.35) (float-vector 687.694 -116.932 658.69) (float-vector 691.795 -92.5 632.846) (float-vector 585.107 -92.5 571.25)))
+ (instance face :init :vertices (list (float-vector 585.107 -92.5 571.25) (float-vector 691.795 -92.5 632.846) (float-vector 695.956 0.0 606.629) (float-vector 597.5 0.0 549.785)))
+ (instance face :init :vertices (list (float-vector 597.5 0.0 549.785) (float-vector 585.107 92.5 571.25) (float-vector 551.25 160.215 629.893) (float-vector 505.0 185.0 710.0) (float-vector 458.75 160.215 790.107) (float-vector 424.893 92.5 848.75) (float-vector 412.5 2.273737e-13 870.215) (float-vector 424.893 -92.5 848.75) (float-vector 458.75 -160.215 790.107) (float-vector 505.0 -185.0 710.0) (float-vector 551.25 -160.215 629.893) (float-vector 585.107 -92.5 571.25)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :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 2.842171e-14 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 2.842171e-14 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 2.842171e-14 10.0) (float-vector -25.0 2.842171e-14 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 2.842171e-14 0.0) (float-vector -25.0 2.842171e-14 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
+ (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 1.705303e-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 -2.842171e-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 -1.136868e-13) (float-vector 87.5 58.4456 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector -87.5 58.4456 0.0) (float-vector -151.554 122.5 0.0) (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 1.136868e-13 385.0 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 -1.136868e-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 0.0) (float-vector 151.554 122.5 -1.136868e-13) (float-vector 151.554 122.5 30.0)))
+ (instance face :init :vertices (list (float-vector -2.842171e-13 35.0 30.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector 87.5 58.4456 0.0) (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 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector -2.842171e-13 35.0 30.0)))
+ (instance face :init :vertices (list (float-vector -151.554 122.5 30.0) (float-vector -151.554 122.5 0.0) (float-vector -87.5 58.4456 0.0) (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 0.0) (float-vector -151.554 122.5 0.0) (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 0.0) (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 1.705303e-13 385.0 30.0) (float-vector 1.136868e-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 0.0) (float-vector 1.136868e-13 385.0 0.0) (float-vector 1.705303e-13 385.0 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 1.136868e-13) (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 1.136868e-13 425.0 0.0) (float-vector 1.705303e-13 425.0 30.0) (float-vector 107.5 396.195 30.0) (float-vector 107.5 396.195 1.136868e-13)))
+ (instance face :init :vertices (list (float-vector -107.5 396.195 0.0) (float-vector -107.5 396.195 30.0) (float-vector 1.705303e-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 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 0.0) (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 0.0)))
+ (instance face :init :vertices (list (float-vector -3.979039e-13 -5.0 0.0) (float-vector -3.979039e-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 -3.979039e-13 -5.0 30.0) (float-vector -3.979039e-13 -5.0 0.0)))
+ (instance face :init :vertices (list (float-vector 186.195 102.5 0.0) (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 1.705303e-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 -3.979039e-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 -2.842171e-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 1.705303e-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 0.0) (float-vector 107.5 23.8045 0.0) (float-vector -3.979039e-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 0.0) (float-vector -186.195 317.5 0.0) (float-vector -107.5 396.195 0.0) (float-vector 1.136868e-13 425.0 0.0) (float-vector 107.5 396.195 1.136868e-13) (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 1.136868e-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 0.0) (float-vector -151.554 122.5 0.0) (float-vector -87.5 58.4456 0.0) (float-vector -2.842171e-13 35.0 0.0) (float-vector 87.5 58.4456 0.0) (float-vector 151.554 122.5 -1.136868e-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 0.0)))
+ (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 1.705303e-13 385.0 30.0) (float-vector 1.136868e-13 385.0 0.0)))
+ (instance face :init :vertices (list (float-vector 1.136868e-13 385.0 0.0) (float-vector 1.705303e-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 0.0)))
+ (instance face :init :vertices (list (float-vector -175.0 210.0 0.0) (float-vector -175.0 210.0 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 -87.5 58.4456 30.0) (float-vector -87.5 58.4456 0.0)))
+ (instance face :init :vertices (list (float-vector -87.5 58.4456 0.0) (float-vector -87.5 58.4456 30.0) (float-vector -2.842171e-13 35.0 30.0) (float-vector -2.842171e-13 35.0 0.0)))
+ (instance face :init :vertices (list (float-vector -2.842171e-13 35.0 0.0) (float-vector -2.842171e-13 35.0 30.0) (float-vector 87.5 58.4456 30.0) (float-vector 87.5 58.4456 0.0)))
+ (instance face :init :vertices (list (float-vector 87.5 58.4456 0.0) (float-vector 87.5 58.4456 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 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 -210.0 770.0) :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 600.0 240.0 930.0) :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
+
+ ;; 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 :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"))
+ (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"))
+ (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"))
+ (send self :assoc button0)
+
+ ;; 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))
+
+ (: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)
+ (:handle-open-button () handle2)
+ (:attention () (list ))
+ (:button () (list button0))
+ (:button-open () button0)
+ )
+
+(defun laundry-machine (&rest args) (instance* laundry-machine-object :init args))
+;; (format *error-output* "(instance laundry-machine-object :init) for generating model~%")
Modified: trunk/EusLisp/models/load-irt-all-objects.l
===================================================================
--- trunk/EusLisp/models/load-irt-all-objects.l 2013-04-22 12:58:42 UTC (rev 616)
+++ trunk/EusLisp/models/load-irt-all-objects.l 2013-04-22 13:10:57 UTC (rev 617)
@@ -365,8 +365,8 @@
(warning-message 2 "loading square-600-closet-object.l (square-600-closet) for make model~%")
(load "models/square-600-closet-object.l")
-(warning-message 2 "loading laundary-machine-object.l (laundary-machine) for make model~%")
-(load "models/laundary-machine-object.l")
+(warning-message 2 "loading laundry-machine-object.l (laundry-machine) for make model~%")
+(load "models/laundry-machine-object.l")
(warning-message 2 "loading washing-machine-object.l (washing-machine) for make model~%")
(load "models/washing-machine-object.l")
@@ -405,4 +405,4 @@
(load "models/bidirectional-arrow-object.l")
;;
;;
-(setq *irt-all-objects* '( (bidirectional-arrow) (arrow) (arrow-1000) (askul-gdh-cupboard) (askul-ntr-cupboard) (toshiba-clacio-refrigerator) (hitachi-fiesta-refrigerator) (refrigerator) (toshiba-microwave-oven) (3t-600-clean-locker) (kokuyo-450-locker) (washing-machine) (laundary-machine) (square-600-closet) (plus-900-square-desk) (plus-1700-desk) (plus-1800-desk) (plus-1800w-desk) (plus-2800-desk) (plus-7000-desk) (plus-6200-desk) (uchida-1500-desk) (uchida-1000-desk) (plus-1800-pdesk) (lion-1800-desk) (unknown-1200-desk) (uchida-1800-desk) (uchida-2400-desk) (uchida-monitor-leg) (uchida-desk) (toyama-900-desk) (desk) (askul-1200x700-desk) (askul-1400-desk) (askul-1200-desk) (askul-corner-desk) (askul-2700-desk) (nissen-1100-desk) (karimoku-1200-desk) (kokuyo-600-sidetable) (toyama-900-sidetable) (toyama-1800-sidetable) (fujitsu-42-plasmatv) (hitachi-42-plasmatv) (sharp-52-aquostv) (ideainternational-300-analog-clock) (casio-330-analog-clock) (maruman-55-analog-clock) (docomo-p504is) (sushi-cup) (tognana-pasta-dish) (frying-pan) (iron-table) (toshiba-iron) (sharp-iron) (akiba-tv-desk) (akiba-desk) (itoki-900-closet) (itoki-900-shelf) (itoki-900-slide-shelf) (naiki-6door-closet) (bariera-900-left) (bariera-900-middle) (bariera-1200-corner) (bariera-1200-middle) (bariera-1200-middle2) (bariera-1200-middle3) (bariera-1200-right) (bariera-1400-middle) (door) (akiba-door) (akiba-door-window) (akiba-room-door) (coe-sofa2) (coe-sofa) (coe-demospace) (sakae-900-desk) (coe-800-shelf) (coe-1200-shelf) (coe-450-shelf) (coe-corner-shelf) (uchida-shelf-1100) (uchida-shelf-1300) (red-chair0) (trashbox) (coe-stairs) (coe-light) (askul-1600-desk) (fridge) (cupboard) (audio_shelf) (asplund-cabinet-4dan) (asplund-cabinet-4danbase) (shelf) (karimoku-kannonbiraki-cabinet) (tray) (bears-panel) (brown-board) (multibox-shelf) (single-arrow) (cardboard-box) (chair) (kettle) (knife) (sponge) (dining-table) (cup) (mug-cup) (ball) (book) (petbottle) (pockey) (plasmatv) (hrp2-rack) (hrp2-shelf) (coffee-cup-cup) (coffee-cup-saucer) (picaladder) (azuma-broom) (azuma-short-broom) (bamboo-broom) (broom) (elevator_call_panel) (elevator_inside_panel) (elevator_call_panel_eng2) (elevator_inside_panel_eng2) (chessboard-108-9x7) (chessboard-30-7x5) (chessboard-30-6x5) (chessboard-10-3x3) (foldable-desk) (gifuplastic-900-cart) (gifuplastic-720-cart)))
\ No newline at end of file
+(setq *irt-all-objects* '( (bidirectional-arrow) (arrow) (arrow-1000) (askul-gdh-cupboard) (askul-ntr-cupboard) (toshiba-clacio-refrigerator) (hitachi-fiesta-refrigerator) (refrigerator) (toshiba-microwave-oven) (3t-600-clean-locker) (kokuyo-450-locker) (washing-machine) (laundry-machine) (square-600-closet) (plus-900-square-desk) (plus-1700-desk) (plus-1800-desk) (plus-1800w-desk) (plus-2800-desk) (plus-7000-desk) (plus-6200-desk) (uchida-1500-desk) (uchida-1000-desk) (plus-1800-pdesk) (lion-1800-desk) (unknown-1200-desk) (uchida-1800-desk) (uchida-2400-desk) (uchida-monitor-leg) (uchida-desk) (toyama-900-desk) (desk) (askul-1200x700-desk) (askul-1400-desk) (askul-1200-desk) (askul-corner-desk) (askul-2700-desk) (nissen-1100-desk) (karimoku-1200-desk) (kokuyo-600-sidetable) (toyama-900-sidetable) (toyama-1800-sidetable) (fujitsu-42-plasmatv) (hitachi-42-plasmatv) (sharp-52-aquostv) (ideainternational-300-analog-clock) (casio-330-analog-clock) (maruman-55-analog-clock) (docomo-p504is) (sushi-cup) (tognana-pasta-dish) (frying-pan) (iron-table) (toshiba-iron) (sharp-iron) (akiba-tv-desk) (akiba-desk) (itoki-900-closet) (itoki-900-shelf) (itoki-900-slide-shelf) (naiki-6door-closet) (bariera-900-left) (bariera-900-middle) (bariera-1200-corner) (bariera-1200-middle) (bariera-1200-middle2) (bariera-1200-middle3) (bariera-1200-right) (bariera-1400-middle) (door) (akiba-door) (akiba-door-window) (akiba-room-door) (coe-sofa2) (coe-sofa) (coe-demospace) (sakae-900-desk) (coe-800-shelf) (coe-1200-shelf) (coe-450-shelf) (coe-corner-shelf) (uchida-shelf-1100) (uchida-shelf-1300) (red-chair0) (trashbox) (coe-stairs) (coe-light) (askul-1600-desk) (fridge) (cupboard) (audio_shelf) (asplund-cabinet-4dan) (asplund-cabinet-4danbase) (shelf) (karimoku-kannonbiraki-cabinet) (tray) (bears-panel) (brown-board) (multibox-shelf) (single-arrow) (cardboard-box) (chair) (kettle) (knife) (sponge) (dining-table) (cup) (mug-cup) (ball) (book) (petbottle) (pockey) (plasmatv) (hrp2-rack) (hrp2-shelf) (coffee-cup-cup) (coffee-cup-saucer) (picaladder) (azuma-broom) (azuma-short-broom) (bamboo-broom) (broom) (elevator_call_panel) (elevator_inside_panel) (elevator_call_panel_eng2) (elevator_inside_panel_eng2) (chessboard-108-9x7) (chessboard-30-7x5) (chessboard-30-6x5) (chessboard-10-3x3) (foldable-desk) (gifuplastic-900-cart) (gifuplastic-720-cart)))
\ No newline at end of file
Deleted: trunk/EusLisp/models/room602-laundary-machine-object.l
===================================================================
--- trunk/EusLisp/models/room602-laundary-machine-object.l 2013-04-22 12:58:42 UTC (rev 616)
++...
[truncated message content] |
