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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room73b2-locker1-object
:super cascaded-link
:slots (sensors
handle0
joint0 ))
(defmethod room73b2-locker1-object
(:init
(&rest args &key (name "room73b2-locker1") (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 225.0 225.0 2150.0) (float-vector -225.0 225.0 2150.0) (float-vector -225.0 -225.0 2150.0) (float-vector 225.0 -225.0 2150.0)))
(instance face :init :vertices (list (float-vector -225.0 225.0 2130.0) (float-vector 225.0 225.0 2130.0) (float-vector 225.0 -225.0 2130.0) (float-vector -225.0 -225.0 2130.0)))
(instance face :init :vertices (list (float-vector 225.0 225.0 2150.0) (float-vector 225.0 225.0 2130.0) (float-vector -225.0 225.0 2130.0) (float-vector -225.0 225.0 2150.0)))
(instance face :init :vertices (list (float-vector 225.0 -225.0 2150.0) (float-vector 225.0 -225.0 2130.0) (float-vector 225.0 225.0 2130.0) (float-vector 225.0 225.0 2150.0)))
(instance face :init :vertices (list (float-vector -225.0 -225.0 2150.0) (float-vector -225.0 -225.0 2130.0) (float-vector 225.0 -225.0 2130.0) (float-vector 225.0 -225.0 2150.0)))
(instance face :init :vertices (list (float-vector -225.0 225.0 2150.0) (float-vector -225.0 225.0 2130.0) (float-vector -225.0 -225.0 2130.0) (float-vector -225.0 -225.0 2150.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 225.0 225.0 60.0) (float-vector -225.0 225.0 60.0) (float-vector -225.0 -225.0 60.0) (float-vector 225.0 -225.0 60.0)))
(instance face :init :vertices (list (float-vector -225.0 225.0 0.0) (float-vector 225.0 225.0 0.0) (float-vector 225.0 -225.0 0.0) (float-vector -225.0 -225.0 0.0)))
(instance face :init :vertices (list (float-vector 225.0 225.0 60.0) (float-vector 225.0 225.0 0.0) (float-vector -225.0 225.0 0.0) (float-vector -225.0 225.0 60.0)))
(instance face :init :vertices (list (float-vector 225.0 -225.0 60.0) (float-vector 225.0 -225.0 0.0) (float-vector 225.0 225.0 0.0) (float-vector 225.0 225.0 60.0)))
(instance face :init :vertices (list (float-vector -225.0 -225.0 60.0) (float-vector -225.0 -225.0 0.0) (float-vector 225.0 -225.0 0.0) (float-vector 225.0 -225.0 60.0)))
(instance face :init :vertices (list (float-vector -225.0 225.0 60.0) (float-vector -225.0 225.0 0.0) (float-vector -225.0 -225.0 0.0) (float-vector -225.0 -225.0 60.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -210.5 210.0 2130.0) (float-vector -225.5 210.0 2130.0) (float-vector -225.5 -210.0 2130.0) (float-vector -210.5 -210.0 2130.0)))
(instance face :init :vertices (list (float-vector -225.5 210.0 60.0) (float-vector -210.5 210.0 60.0) (float-vector -210.5 -210.0 60.0) (float-vector -225.5 -210.0 60.0)))
(instance face :init :vertices (list (float-vector -210.5 210.0 2130.0) (float-vector -210.5 210.0 60.0) (float-vector -225.5 210.0 60.0) (float-vector -225.5 210.0 2130.0)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 2130.0) (float-vector -210.5 -210.0 60.0) (float-vector -210.5 210.0 60.0) (float-vector -210.5 210.0 2130.0)))
(instance face :init :vertices (list (float-vector -225.5 -210.0 2130.0) (float-vector -225.5 -210.0 60.0) (float-vector -210.5 -210.0 60.0) (float-vector -210.5 -210.0 2130.0)))
(instance face :init :vertices (list (float-vector -225.5 210.0 2130.0) (float-vector -225.5 210.0 60.0) (float-vector -225.5 -210.0 60.0) (float-vector -225.5 -210.0 2130.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 205.0 225.5 2130.0) (float-vector -225.0 225.5 2130.0) (float-vector -225.0 210.5 2130.0) (float-vector 205.0 210.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 225.5 60.0) (float-vector 205.0 225.5 60.0) (float-vector 205.0 210.5 60.0) (float-vector -225.0 210.5 60.0)))
(instance face :init :vertices (list (float-vector 205.0 225.5 2130.0) (float-vector 205.0 225.5 60.0) (float-vector -225.0 225.5 60.0) (float-vector -225.0 225.5 2130.0)))
(instance face :init :vertices (list (float-vector 205.0 210.5 2130.0) (float-vector 205.0 210.5 60.0) (float-vector 205.0 225.5 60.0) (float-vector 205.0 225.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 210.5 2130.0) (float-vector -225.0 210.5 60.0) (float-vector 205.0 210.5 60.0) (float-vector 205.0 210.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 225.5 2130.0) (float-vector -225.0 225.5 60.0) (float-vector -225.0 210.5 60.0) (float-vector -225.0 210.5 2130.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 205.0 -210.5 2130.0) (float-vector -225.0 -210.5 2130.0) (float-vector -225.0 -225.5 2130.0) (float-vector 205.0 -225.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 -210.5 60.0) (float-vector 205.0 -210.5 60.0) (float-vector 205.0 -225.5 60.0) (float-vector -225.0 -225.5 60.0)))
(instance face :init :vertices (list (float-vector 205.0 -210.5 2130.0) (float-vector 205.0 -210.5 60.0) (float-vector -225.0 -210.5 60.0) (float-vector -225.0 -210.5 2130.0)))
(instance face :init :vertices (list (float-vector 205.0 -225.5 2130.0) (float-vector 205.0 -225.5 60.0) (float-vector 205.0 -210.5 60.0) (float-vector 205.0 -210.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 -225.5 2130.0) (float-vector -225.0 -225.5 60.0) (float-vector 205.0 -225.5 60.0) (float-vector 205.0 -225.5 2130.0)))
(instance face :init :vertices (list (float-vector -225.0 -210.5 2130.0) (float-vector -225.0 -210.5 60.0) (float-vector -225.0 -225.5 60.0) (float-vector -225.0 -225.5 2130.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 204.5 210.0 1794.5) (float-vector -210.5 210.0 1794.5) (float-vector -210.5 -210.0 1794.5) (float-vector 204.5 -210.0 1794.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1779.5) (float-vector 204.5 210.0 1779.5) (float-vector 204.5 -210.0 1779.5) (float-vector -210.5 -210.0 1779.5)))
(instance face :init :vertices (list (float-vector 204.5 210.0 1794.5) (float-vector 204.5 210.0 1779.5) (float-vector -210.5 210.0 1779.5) (float-vector -210.5 210.0 1794.5)))
(instance face :init :vertices (list (float-vector 204.5 -210.0 1794.5) (float-vector 204.5 -210.0 1779.5) (float-vector 204.5 210.0 1779.5) (float-vector 204.5 210.0 1794.5)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 1794.5) (float-vector -210.5 -210.0 1779.5) (float-vector 204.5 -210.0 1779.5) (float-vector 204.5 -210.0 1794.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1794.5) (float-vector -210.5 210.0 1779.5) (float-vector -210.5 -210.0 1779.5) (float-vector -210.5 -210.0 1794.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 204.5 210.0 1447.5) (float-vector -210.5 210.0 1447.5) (float-vector -210.5 -210.0 1447.5) (float-vector 204.5 -210.0 1447.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1432.5) (float-vector 204.5 210.0 1432.5) (float-vector 204.5 -210.0 1432.5) (float-vector -210.5 -210.0 1432.5)))
(instance face :init :vertices (list (float-vector 204.5 210.0 1447.5) (float-vector 204.5 210.0 1432.5) (float-vector -210.5 210.0 1432.5) (float-vector -210.5 210.0 1447.5)))
(instance face :init :vertices (list (float-vector 204.5 -210.0 1447.5) (float-vector 204.5 -210.0 1432.5) (float-vector 204.5 210.0 1432.5) (float-vector 204.5 210.0 1447.5)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 1447.5) (float-vector -210.5 -210.0 1432.5) (float-vector 204.5 -210.0 1432.5) (float-vector 204.5 -210.0 1447.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1447.5) (float-vector -210.5 210.0 1432.5) (float-vector -210.5 -210.0 1432.5) (float-vector -210.5 -210.0 1447.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 204.5 210.0 1100.5) (float-vector -210.5 210.0 1100.5) (float-vector -210.5 -210.0 1100.5) (float-vector 204.5 -210.0 1100.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1085.5) (float-vector 204.5 210.0 1085.5) (float-vector 204.5 -210.0 1085.5) (float-vector -210.5 -210.0 1085.5)))
(instance face :init :vertices (list (float-vector 204.5 210.0 1100.5) (float-vector 204.5 210.0 1085.5) (float-vector -210.5 210.0 1085.5) (float-vector -210.5 210.0 1100.5)))
(instance face :init :vertices (list (float-vector 204.5 -210.0 1100.5) (float-vector 204.5 -210.0 1085.5) (float-vector 204.5 210.0 1085.5) (float-vector 204.5 210.0 1100.5)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 1100.5) (float-vector -210.5 -210.0 1085.5) (float-vector 204.5 -210.0 1085.5) (float-vector 204.5 -210.0 1100.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 1100.5) (float-vector -210.5 210.0 1085.5) (float-vector -210.5 -210.0 1085.5) (float-vector -210.5 -210.0 1100.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 204.5 210.0 753.5) (float-vector -210.5 210.0 753.5) (float-vector -210.5 -210.0 753.5) (float-vector 204.5 -210.0 753.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 738.5) (float-vector 204.5 210.0 738.5) (float-vector 204.5 -210.0 738.5) (float-vector -210.5 -210.0 738.5)))
(instance face :init :vertices (list (float-vector 204.5 210.0 753.5) (float-vector 204.5 210.0 738.5) (float-vector -210.5 210.0 738.5) (float-vector -210.5 210.0 753.5)))
(instance face :init :vertices (list (float-vector 204.5 -210.0 753.5) (float-vector 204.5 -210.0 738.5) (float-vector 204.5 210.0 738.5) (float-vector 204.5 210.0 753.5)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 753.5) (float-vector -210.5 -210.0 738.5) (float-vector 204.5 -210.0 738.5) (float-vector 204.5 -210.0 753.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 753.5) (float-vector -210.5 210.0 738.5) (float-vector -210.5 -210.0 738.5) (float-vector -210.5 -210.0 753.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 204.5 210.0 406.5) (float-vector -210.5 210.0 406.5) (float-vector -210.5 -210.0 406.5) (float-vector 204.5 -210.0 406.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 391.5) (float-vector 204.5 210.0 391.5) (float-vector 204.5 -210.0 391.5) (float-vector -210.5 -210.0 391.5)))
(instance face :init :vertices (list (float-vector 204.5 210.0 406.5) (float-vector 204.5 210.0 391.5) (float-vector -210.5 210.0 391.5) (float-vector -210.5 210.0 406.5)))
(instance face :init :vertices (list (float-vector 204.5 -210.0 406.5) (float-vector 204.5 -210.0 391.5) (float-vector 204.5 210.0 391.5) (float-vector 204.5 210.0 406.5)))
(instance face :init :vertices (list (float-vector -210.5 -210.0 406.5) (float-vector -210.5 -210.0 391.5) (float-vector 204.5 -210.0 391.5) (float-vector 204.5 -210.0 406.5)))
(instance face :init :vertices (list (float-vector -210.5 210.0 406.5) (float-vector -210.5 210.0 391.5) (float-vector -210.5 -210.0 391.5) (float-vector -210.5 -210.0 406.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(send (elt bc 1) :set-color :beige)
(send (elt bc 2) :set-color :beige)
(send (elt bc 3) :set-color :beige)
(send (elt bc 4) :set-color :beige)
(send (elt bc 5) :set-color :beige)
(send (elt bc 6) :set-color :beige)
(send (elt bc 7) :set-color :beige)
(send (elt bc 8) :set-color :beige)
(send (elt bc 9) :set-color :beige)
(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 :room73b2-locker1-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 10.0 0.0) (float-vector -10.0 -440.0 0.0) (float-vector -10.0 -440.0 2070.0) (float-vector -10.0 10.0 2070.0)))
(instance face :init :vertices (list (float-vector 10.0 -440.0 0.0) (float-vector 10.0 -440.0 2070.0) (float-vector -10.0 -440.0 2070.0) (float-vector -10.0 -440.0 0.0)))
(instance face :init :vertices (list (float-vector 10.0 10.0 0.0) (float-vector 10.0 10.0 2070.0) (float-vector 10.0 -440.0 2070.0) (float-vector 10.0 -440.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 10.0 -410.0 890.0) (float-vector 10.0 -410.0 970.0) (float-vector 10.0 -360.0 970.0) (float-vector 10.0 -360.0 890.0)))
))
(instance face :init :vertices (list (float-vector -10.0 10.0 2070.0) (float-vector -10.0 -440.0 2070.0) (float-vector 10.0 -440.0 2070.0) (float-vector 10.0 10.0 2070.0)))
(instance face :init :vertices (list (float-vector 10.0 10.0 0.0) (float-vector 10.0 -440.0 0.0) (float-vector -10.0 -440.0 0.0) (float-vector -10.0 10.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 10.0 0.0) (float-vector -10.0 10.0 2070.0) (float-vector 10.0 10.0 2070.0) (float-vector 10.0 10.0 0.0)))
(instance face :init :vertices (list (float-vector 0.0 -360.0 970.0) (float-vector 0.0 -410.0 970.0) (float-vector 0.0 -410.0 890.0) (float-vector 0.0 -360.0 890.0)))
(instance face :init :vertices (list (float-vector 0.0 -410.0 890.0) (float-vector 0.0 -410.0 970.0) (float-vector 10.0 -410.0 970.0) (float-vector 10.0 -410.0 890.0)))
(instance face :init :vertices (list (float-vector 10.0 -360.0 970.0) (float-vector 10.0 -410.0 970.0) (float-vector 0.0 -410.0 970.0) (float-vector 0.0 -360.0 970.0)))
(instance face :init :vertices (list (float-vector 10.0 -360.0 890.0) (float-vector 10.0 -360.0 970.0) (float-vector 0.0 -360.0 970.0) (float-vector 0.0 -360.0 890.0)))
(instance face :init :vertices (list (float-vector 0.0 -360.0 890.0) (float-vector 0.0 -410.0 890.0) (float-vector 10.0 -410.0 890.0) (float-vector 10.0 -360.0 890.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :beige)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room73b2-locker1-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 215.0 215.0 60.0) :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 225.0 -187.5 1007.0) :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 room73b2-locker1 (&rest args) (instance* room73b2-locker1-object :init args))
;; (format *error-output* "(instance room73b2-locker1-object :init) for generating model~%")
|