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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass 3t-600-clean-locker-object
:super cascaded-link
:slots (sensors
handle0
joint0 ))
(defmethod 3t-600-clean-locker-object
(:init
(&rest args &key (name "3t-600-clean-locker") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1
)
(send-super* :init :name name args)
;; definition of link
;; definition of :root
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 300.0 1790.0) (float-vector -200.0 300.0 1790.0) (float-vector -200.0 -300.0 1790.0) (float-vector 200.0 -300.0 1790.0)))
(instance face :init :vertices (list (float-vector -200.0 300.0 1781.0) (float-vector 200.0 300.0 1781.0) (float-vector 200.0 -300.0 1781.0) (float-vector -200.0 -300.0 1781.0)))
(instance face :init :vertices (list (float-vector 200.0 300.0 1790.0) (float-vector 200.0 300.0 1781.0) (float-vector -200.0 300.0 1781.0) (float-vector -200.0 300.0 1790.0)))
(instance face :init :vertices (list (float-vector 200.0 -300.0 1790.0) (float-vector 200.0 -300.0 1781.0) (float-vector 200.0 300.0 1781.0) (float-vector 200.0 300.0 1790.0)))
(instance face :init :vertices (list (float-vector -200.0 -300.0 1790.0) (float-vector -200.0 -300.0 1781.0) (float-vector 200.0 -300.0 1781.0) (float-vector 200.0 -300.0 1790.0)))
(instance face :init :vertices (list (float-vector -200.0 300.0 1790.0) (float-vector -200.0 300.0 1781.0) (float-vector -200.0 -300.0 1781.0) (float-vector -200.0 -300.0 1790.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 300.0 44.0) (float-vector -200.0 300.0 44.0) (float-vector -200.0 -300.0 44.0) (float-vector 200.0 -300.0 44.0)))
(instance face :init :vertices (list (float-vector -200.0 300.0 0.0) (float-vector 200.0 300.0 0.0) (float-vector 200.0 -300.0 0.0) (float-vector -200.0 -300.0 0.0)))
(instance face :init :vertices (list (float-vector 200.0 300.0 44.0) (float-vector 200.0 300.0 0.0) (float-vector -200.0 300.0 0.0) (float-vector -200.0 300.0 44.0)))
(instance face :init :vertices (list (float-vector 200.0 -300.0 44.0) (float-vector 200.0 -300.0 0.0) (float-vector 200.0 300.0 0.0) (float-vector 200.0 300.0 44.0)))
(instance face :init :vertices (list (float-vector -200.0 -300.0 44.0) (float-vector -200.0 -300.0 0.0) (float-vector 200.0 -300.0 0.0) (float-vector 200.0 -300.0 44.0)))
(instance face :init :vertices (list (float-vector -200.0 300.0 44.0) (float-vector -200.0 300.0 0.0) (float-vector -200.0 -300.0 0.0) (float-vector -200.0 -300.0 44.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -191.5 291.0 1781.5) (float-vector -200.5 291.0 1781.5) (float-vector -200.5 -291.0 1781.5) (float-vector -191.5 -291.0 1781.5)))
(instance face :init :vertices (list (float-vector -200.5 291.0 44.5) (float-vector -191.5 291.0 44.5) (float-vector -191.5 -291.0 44.5) (float-vector -200.5 -291.0 44.5)))
(instance face :init :vertices (list (float-vector -191.5 291.0 1781.5) (float-vector -191.5 291.0 44.5) (float-vector -200.5 291.0 44.5) (float-vector -200.5 291.0 1781.5)))
(instance face :init :vertices (list (float-vector -191.5 -291.0 1781.5) (float-vector -191.5 -291.0 44.5) (float-vector -191.5 291.0 44.5) (float-vector -191.5 291.0 1781.5)))
(instance face :init :vertices (list (float-vector -200.5 -291.0 1781.5) (float-vector -200.5 -291.0 44.5) (float-vector -191.5 -291.0 44.5) (float-vector -191.5 -291.0 1781.5)))
(instance face :init :vertices (list (float-vector -200.5 291.0 1781.5) (float-vector -200.5 291.0 44.5) (float-vector -200.5 -291.0 44.5) (float-vector -200.5 -291.0 1781.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 300.5 1781.5) (float-vector -200.0 300.5 1781.5) (float-vector -200.0 291.5 1781.5) (float-vector 200.0 291.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 300.5 44.5) (float-vector 200.0 300.5 44.5) (float-vector 200.0 291.5 44.5) (float-vector -200.0 291.5 44.5)))
(instance face :init :vertices (list (float-vector 200.0 300.5 1781.5) (float-vector 200.0 300.5 44.5) (float-vector -200.0 300.5 44.5) (float-vector -200.0 300.5 1781.5)))
(instance face :init :vertices (list (float-vector 200.0 291.5 1781.5) (float-vector 200.0 291.5 44.5) (float-vector 200.0 300.5 44.5) (float-vector 200.0 300.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 291.5 1781.5) (float-vector -200.0 291.5 44.5) (float-vector 200.0 291.5 44.5) (float-vector 200.0 291.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 300.5 1781.5) (float-vector -200.0 300.5 44.5) (float-vector -200.0 291.5 44.5) (float-vector -200.0 291.5 1781.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 -291.5 1781.5) (float-vector -200.0 -291.5 1781.5) (float-vector -200.0 -300.5 1781.5) (float-vector 200.0 -300.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 -291.5 44.5) (float-vector 200.0 -291.5 44.5) (float-vector 200.0 -300.5 44.5) (float-vector -200.0 -300.5 44.5)))
(instance face :init :vertices (list (float-vector 200.0 -291.5 1781.5) (float-vector 200.0 -291.5 44.5) (float-vector -200.0 -291.5 44.5) (float-vector -200.0 -291.5 1781.5)))
(instance face :init :vertices (list (float-vector 200.0 -300.5 1781.5) (float-vector 200.0 -300.5 44.5) (float-vector 200.0 -291.5 44.5) (float-vector 200.0 -291.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 -300.5 1781.5) (float-vector -200.0 -300.5 44.5) (float-vector 200.0 -300.5 44.5) (float-vector 200.0 -300.5 1781.5)))
(instance face :init :vertices (list (float-vector -200.0 -291.5 1781.5) (float-vector -200.0 -291.5 44.5) (float-vector -200.0 -300.5 44.5) (float-vector -200.0 -300.5 1781.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -50.5 291.0 1480.5) (float-vector -191.5 291.0 1480.5) (float-vector -191.5 -291.0 1480.5) (float-vector -50.5 -291.0 1480.5)))
(instance face :init :vertices (list (float-vector -191.5 291.0 1471.5) (float-vector -50.5 291.0 1471.5) (float-vector -50.5 -291.0 1471.5) (float-vector -191.5 -291.0 1471.5)))
(instance face :init :vertices (list (float-vector -50.5 291.0 1480.5) (float-vector -50.5 291.0 1471.5) (float-vector -191.5 291.0 1471.5) (float-vector -191.5 291.0 1480.5)))
(instance face :init :vertices (list (float-vector -50.5 -291.0 1480.5) (float-vector -50.5 -291.0 1471.5) (float-vector -50.5 291.0 1471.5) (float-vector -50.5 291.0 1480.5)))
(instance face :init :vertices (list (float-vector -191.5 -291.0 1480.5) (float-vector -191.5 -291.0 1471.5) (float-vector -50.5 -291.0 1471.5) (float-vector -50.5 -291.0 1480.5)))
(instance face :init :vertices (list (float-vector -191.5 291.0 1480.5) (float-vector -191.5 291.0 1471.5) (float-vector -191.5 -291.0 1471.5) (float-vector -191.5 -291.0 1480.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 108.66 -291.0 1746.0) (float-vector 110.0 -291.0 1751.0) (float-vector 108.66 -291.0 1756.0) (float-vector 105.0 -291.0 1759.66) (float-vector 100.0 -291.0 1761.0) (float-vector 95.0 -291.0 1759.66) (float-vector 91.3397 -291.0 1756.0) (float-vector 90.0 -291.0 1751.0) (float-vector 91.3397 -291.0 1746.0) (float-vector 95.0 -291.0 1742.34) (float-vector 100.0 -291.0 1741.0) (float-vector 105.0 -291.0 1742.34)))
(instance face :init :vertices (list (float-vector 110.0 291.0 1751.0) (float-vector 108.66 291.0 1746.0) (float-vector 105.0 291.0 1742.34) (float-vector 100.0 291.0 1741.0) (float-vector 95.0 291.0 1742.34) (float-vector 91.3397 291.0 1746.0) (float-vector 90.0 291.0 1751.0) (float-vector 91.3397 291.0 1756.0) (float-vector 95.0 291.0 1759.66) (float-vector 100.0 291.0 1761.0) (float-vector 105.0 291.0 1759.66) (float-vector 108.66 291.0 1756.0)))
(instance face :init :vertices (list (float-vector 108.66 -291.0 1746.0) (float-vector 108.66 291.0 1746.0) (float-vector 110.0 291.0 1751.0) (float-vector 110.0 -291.0 1751.0)))
(instance face :init :vertices (list (float-vector 105.0 -291.0 1742.34) (float-vector 105.0 291.0 1742.34) (float-vector 108.66 291.0 1746.0) (float-vector 108.66 -291.0 1746.0)))
(instance face :init :vertices (list (float-vector 100.0 -291.0 1741.0) (float-vector 100.0 291.0 1741.0) (float-vector 105.0 291.0 1742.34) (float-vector 105.0 -291.0 1742.34)))
(instance face :init :vertices (list (float-vector 95.0 -291.0 1742.34) (float-vector 95.0 291.0 1742.34) (float-vector 100.0 291.0 1741.0) (float-vector 100.0 -291.0 1741.0)))
(instance face :init :vertices (list (float-vector 91.3397 -291.0 1746.0) (float-vector 91.3397 291.0 1746.0) (float-vector 95.0 291.0 1742.34) (float-vector 95.0 -291.0 1742.34)))
(instance face :init :vertices (list (float-vector 90.0 -291.0 1751.0) (float-vector 90.0 291.0 1751.0) (float-vector 91.3397 291.0 1746.0) (float-vector 91.3397 -291.0 1746.0)))
(instance face :init :vertices (list (float-vector 91.3397 -291.0 1756.0) (float-vector 91.3397 291.0 1756.0) (float-vector 90.0 291.0 1751.0) (float-vector 90.0 -291.0 1751.0)))
(instance face :init :vertices (list (float-vector 95.0 -291.0 1759.66) (float-vector 95.0 291.0 1759.66) (float-vector 91.3397 291.0 1756.0) (float-vector 91.3397 -291.0 1756.0)))
(instance face :init :vertices (list (float-vector 100.0 -291.0 1761.0) (float-vector 100.0 291.0 1761.0) (float-vector 95.0 291.0 1759.66) (float-vector 95.0 -291.0 1759.66)))
(instance face :init :vertices (list (float-vector 105.0 -291.0 1759.66) (float-vector 105.0 291.0 1759.66) (float-vector 100.0 291.0 1761.0) (float-vector 100.0 -291.0 1761.0)))
(instance face :init :vertices (list (float-vector 108.66 -291.0 1756.0) (float-vector 108.66 291.0 1756.0) (float-vector 105.0 291.0 1759.66) (float-vector 105.0 -291.0 1759.66)))
(instance face :init :vertices (list (float-vector 110.0 -291.0 1751.0) (float-vector 110.0 291.0 1751.0) (float-vector 108.66 291.0 1756.0) (float-vector 108.66 -291.0 1756.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray)
(send (elt bc 1) :set-color :gray)
(send (elt bc 2) :set-color :gray)
(send (elt bc 3) :set-color :gray)
(send (elt bc 4) :set-color :gray)
(send (elt bc 5) :set-color :gray)
(send (elt bc 6) :set-color :peru)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of :3t-600-clean-locker-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -9.0 9.0 -0.5) (float-vector -9.0 -573.0 -0.5) (float-vector -9.0 -573.0 1736.5) (float-vector -9.0 9.0 1736.5)))
(instance face :init :vertices (list (float-vector 9.0 -573.0 -0.5) (float-vector 9.0 -573.0 1736.5) (float-vector -9.0 -573.0 1736.5) (float-vector -9.0 -573.0 -0.5)))
(instance face :init :vertices (list (float-vector 9.0 9.0 -0.5) (float-vector 9.0 9.0 1736.5) (float-vector 9.0 -573.0 1736.5) (float-vector 9.0 -573.0 -0.5))
:holes (list
(instance hole :init :vertices (list (float-vector 9.0 -558.0 884.0) (float-vector 9.0 -558.0 1010.0) (float-vector 9.0 -528.0 1010.0) (float-vector 9.0 -528.0 884.0)))
))
(instance face :init :vertices (list (float-vector -9.0 9.0 1736.5) (float-vector -9.0 -573.0 1736.5) (float-vector 9.0 -573.0 1736.5) (float-vector 9.0 9.0 1736.5)))
(instance face :init :vertices (list (float-vector 9.0 9.0 -0.5) (float-vector 9.0 -573.0 -0.5) (float-vector -9.0 -573.0 -0.5) (float-vector -9.0 9.0 -0.5)))
(instance face :init :vertices (list (float-vector -9.0 9.0 -0.5) (float-vector -9.0 9.0 1736.5) (float-vector 9.0 9.0 1736.5) (float-vector 9.0 9.0 -0.5)))
(instance face :init :vertices (list (float-vector -6.0 -528.0 1010.0) (float-vector -6.0 -558.0 1010.0) (float-vector -6.0 -558.0 884.0) (float-vector -6.0 -528.0 884.0)))
(instance face :init :vertices (list (float-vector -6.0 -558.0 884.0) (float-vector -6.0 -558.0 1010.0) (float-vector 9.0 -558.0 1010.0) (float-vector 9.0 -558.0 884.0)))
(instance face :init :vertices (list (float-vector 9.0 -528.0 1010.0) (float-vector 9.0 -558.0 1010.0) (float-vector -6.0 -558.0 1010.0) (float-vector -6.0 -528.0 1010.0)))
(instance face :init :vertices (list (float-vector 9.0 -528.0 884.0) (float-vector 9.0 -528.0 1010.0) (float-vector -6.0 -528.0 1010.0) (float-vector -6.0 -528.0 884.0)))
(instance face :init :vertices (list (float-vector -6.0 -528.0 884.0) (float-vector -6.0 -558.0 884.0) (float-vector 9.0 -558.0 884.0) (float-vector 9.0 -528.0 884.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :3t-600-clean-locker-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send blink1 :newcoords (make-coords :pos (float-vector 191.0 282.0 44.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :door
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :door :axis :z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 200.0 -268.5 991.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "door-handle"))
(send blink1 :assoc handle0)
;; init-ending
(setq links (list blink0 blink1))
(setq joint-list (list joint0))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:door (&rest args) (forward-message-to joint0 args))
(:handle (&rest args) (forward-message-to-all (list handle0) args))
(:handle-door-handle (&rest args) (forward-message-to handle0 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun 3t-600-clean-locker (&rest args) (instance* 3t-600-clean-locker-object :init args))
;; (format *error-output* "(instance 3t-600-clean-locker-object :init) for generating model~%")
|
