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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass 73b2-cupboard-without-door-object
:super cascaded-link
:slots (sensors
handle0
joint0 joint1 joint2 ))
(defmethod 73b2-cupboard-without-door-object
(:init
(&rest args &key (name "73b2-cupboard-without-door") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2 blink3
)
(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 176.5 293.0 1816.0) (float-vector -176.5 293.0 1816.0) (float-vector -176.5 -293.0 1816.0) (float-vector 176.5 -293.0 1816.0)))
(instance face :init :vertices (list (float-vector -176.5 293.0 1796.0) (float-vector 176.5 293.0 1796.0) (float-vector 176.5 -293.0 1796.0) (float-vector -176.5 -293.0 1796.0)))
(instance face :init :vertices (list (float-vector 176.5 293.0 1816.0) (float-vector 176.5 293.0 1796.0) (float-vector -176.5 293.0 1796.0) (float-vector -176.5 293.0 1816.0)))
(instance face :init :vertices (list (float-vector 176.5 -293.0 1816.0) (float-vector 176.5 -293.0 1796.0) (float-vector 176.5 293.0 1796.0) (float-vector 176.5 293.0 1816.0)))
(instance face :init :vertices (list (float-vector -176.5 -293.0 1816.0) (float-vector -176.5 -293.0 1796.0) (float-vector 176.5 -293.0 1796.0) (float-vector 176.5 -293.0 1816.0)))
(instance face :init :vertices (list (float-vector -176.5 293.0 1816.0) (float-vector -176.5 293.0 1796.0) (float-vector -176.5 -293.0 1796.0) (float-vector -176.5 -293.0 1816.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 166.5 293.0 84.5) (float-vector -176.5 293.0 84.5) (float-vector -176.5 -293.0 84.5) (float-vector 166.5 -293.0 84.5)))
(instance face :init :vertices (list (float-vector -176.5 293.0 -0.5) (float-vector 166.5 293.0 -0.5) (float-vector 166.5 -293.0 -0.5) (float-vector -176.5 -293.0 -0.5)))
(instance face :init :vertices (list (float-vector 166.5 293.0 84.5) (float-vector 166.5 293.0 -0.5) (float-vector -176.5 293.0 -0.5) (float-vector -176.5 293.0 84.5)))
(instance face :init :vertices (list (float-vector 166.5 -293.0 84.5) (float-vector 166.5 -293.0 -0.5) (float-vector 166.5 293.0 -0.5) (float-vector 166.5 293.0 84.5)))
(instance face :init :vertices (list (float-vector -176.5 -293.0 84.5) (float-vector -176.5 -293.0 -0.5) (float-vector 166.5 -293.0 -0.5) (float-vector 166.5 -293.0 84.5)))
(instance face :init :vertices (list (float-vector -176.5 293.0 84.5) (float-vector -176.5 293.0 -0.5) (float-vector -176.5 -293.0 -0.5) (float-vector -176.5 -293.0 84.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -166.0 283.0 1795.5) (float-vector -176.0 283.0 1795.5) (float-vector -176.0 -283.0 1795.5) (float-vector -166.0 -283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.0 283.0 84.5) (float-vector -166.0 283.0 84.5) (float-vector -166.0 -283.0 84.5) (float-vector -176.0 -283.0 84.5)))
(instance face :init :vertices (list (float-vector -166.0 283.0 1795.5) (float-vector -166.0 283.0 84.5) (float-vector -176.0 283.0 84.5) (float-vector -176.0 283.0 1795.5)))
(instance face :init :vertices (list (float-vector -166.0 -283.0 1795.5) (float-vector -166.0 -283.0 84.5) (float-vector -166.0 283.0 84.5) (float-vector -166.0 283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.0 -283.0 1795.5) (float-vector -176.0 -283.0 84.5) (float-vector -166.0 -283.0 84.5) (float-vector -166.0 -283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.0 283.0 1795.5) (float-vector -176.0 283.0 84.5) (float-vector -176.0 -283.0 84.5) (float-vector -176.0 -283.0 1795.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 166.5 293.0 1795.5) (float-vector -176.5 293.0 1795.5) (float-vector -176.5 283.0 1795.5) (float-vector 166.5 283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 293.0 84.5) (float-vector 166.5 293.0 84.5) (float-vector 166.5 283.0 84.5) (float-vector -176.5 283.0 84.5)))
(instance face :init :vertices (list (float-vector 166.5 293.0 1795.5) (float-vector 166.5 293.0 84.5) (float-vector -176.5 293.0 84.5) (float-vector -176.5 293.0 1795.5)))
(instance face :init :vertices (list (float-vector 166.5 283.0 1795.5) (float-vector 166.5 283.0 84.5) (float-vector 166.5 293.0 84.5) (float-vector 166.5 293.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 283.0 1795.5) (float-vector -176.5 283.0 84.5) (float-vector 166.5 283.0 84.5) (float-vector 166.5 283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 293.0 1795.5) (float-vector -176.5 293.0 84.5) (float-vector -176.5 283.0 84.5) (float-vector -176.5 283.0 1795.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 166.5 -283.0 1795.5) (float-vector -176.5 -283.0 1795.5) (float-vector -176.5 -293.0 1795.5) (float-vector 166.5 -293.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 -283.0 84.5) (float-vector 166.5 -283.0 84.5) (float-vector 166.5 -293.0 84.5) (float-vector -176.5 -293.0 84.5)))
(instance face :init :vertices (list (float-vector 166.5 -283.0 1795.5) (float-vector 166.5 -283.0 84.5) (float-vector -176.5 -283.0 84.5) (float-vector -176.5 -283.0 1795.5)))
(instance face :init :vertices (list (float-vector 166.5 -293.0 1795.5) (float-vector 166.5 -293.0 84.5) (float-vector 166.5 -283.0 84.5) (float-vector 166.5 -283.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 -293.0 1795.5) (float-vector -176.5 -293.0 84.5) (float-vector 166.5 -293.0 84.5) (float-vector 166.5 -293.0 1795.5)))
(instance face :init :vertices (list (float-vector -176.5 -283.0 1795.5) (float-vector -176.5 -283.0 84.5) (float-vector -176.5 -293.0 84.5) (float-vector -176.5 -293.0 1795.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 166.5 283.0 770.0) (float-vector -166.5 283.0 770.0) (float-vector -166.5 -283.0 770.0) (float-vector 166.5 -283.0 770.0)))
(instance face :init :vertices (list (float-vector -166.5 283.0 760.0) (float-vector 166.5 283.0 760.0) (float-vector 166.5 -283.0 760.0) (float-vector -166.5 -283.0 760.0)))
(instance face :init :vertices (list (float-vector 166.5 283.0 770.0) (float-vector 166.5 283.0 760.0) (float-vector -166.5 283.0 760.0) (float-vector -166.5 283.0 770.0)))
(instance face :init :vertices (list (float-vector 166.5 -283.0 770.0) (float-vector 166.5 -283.0 760.0) (float-vector 166.5 283.0 760.0) (float-vector 166.5 283.0 770.0)))
(instance face :init :vertices (list (float-vector -166.5 -283.0 770.0) (float-vector -166.5 -283.0 760.0) (float-vector 166.5 -283.0 760.0) (float-vector 166.5 -283.0 770.0)))
(instance face :init :vertices (list (float-vector -166.5 283.0 770.0) (float-vector -166.5 283.0 760.0) (float-vector -166.5 -283.0 760.0) (float-vector -166.5 -283.0 770.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 166.5 283.0 890.0) (float-vector -166.5 283.0 890.0) (float-vector -166.5 -283.0 890.0) (float-vector 166.5 -283.0 890.0)))
(instance face :init :vertices (list (float-vector -166.5 283.0 880.0) (float-vector 166.5 283.0 880.0) (float-vector 166.5 -283.0 880.0) (float-vector -166.5 -283.0 880.0)))
(instance face :init :vertices (list (float-vector 166.5 283.0 890.0) (float-vector 166.5 283.0 880.0) (float-vector -166.5 283.0 880.0) (float-vector -166.5 283.0 890.0)))
(instance face :init :vertices (list (float-vector 166.5 -283.0 890.0) (float-vector 166.5 -283.0 880.0) (float-vector 166.5 283.0 880.0) (float-vector 166.5 283.0 890.0)))
(instance face :init :vertices (list (float-vector -166.5 -283.0 890.0) (float-vector -166.5 -283.0 880.0) (float-vector 166.5 -283.0 880.0) (float-vector 166.5 -283.0 890.0)))
(instance face :init :vertices (list (float-vector -166.5 283.0 890.0) (float-vector -166.5 283.0 880.0) (float-vector -166.5 -283.0 880.0) (float-vector -166.5 -283.0 890.0)))
))
))
(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)
(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 :73b2-cupboard-without-door-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 5.5 684.5) (float-vector -5.0 5.5 684.5) (float-vector -5.0 -287.5 684.5) (float-vector 5.0 -287.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 5.5 -0.5) (float-vector 5.0 5.5 -0.5) (float-vector 5.0 -287.5 -0.5) (float-vector -5.0 -287.5 -0.5)))
(instance face :init :vertices (list (float-vector 5.0 5.5 684.5) (float-vector 5.0 5.5 -0.5) (float-vector -5.0 5.5 -0.5) (float-vector -5.0 5.5 684.5)))
(instance face :init :vertices (list (float-vector 5.0 -287.5 684.5) (float-vector 5.0 -287.5 -0.5) (float-vector 5.0 5.5 -0.5) (float-vector 5.0 5.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 -287.5 684.5) (float-vector -5.0 -287.5 -0.5) (float-vector 5.0 -287.5 -0.5) (float-vector 5.0 -287.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 5.5 684.5) (float-vector -5.0 5.5 -0.5) (float-vector -5.0 -287.5 -0.5) (float-vector -5.0 -287.5 684.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :lightgoldenrodyellow)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :73b2-cupboard-without-door-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 :73b2-cupboard-without-door-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 287.5 684.5) (float-vector -5.0 287.5 684.5) (float-vector -5.0 -5.5 684.5) (float-vector 5.0 -5.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 287.5 -0.5) (float-vector 5.0 287.5 -0.5) (float-vector 5.0 -5.5 -0.5) (float-vector -5.0 -5.5 -0.5)))
(instance face :init :vertices (list (float-vector 5.0 287.5 684.5) (float-vector 5.0 287.5 -0.5) (float-vector -5.0 287.5 -0.5) (float-vector -5.0 287.5 684.5)))
(instance face :init :vertices (list (float-vector 5.0 -5.5 684.5) (float-vector 5.0 -5.5 -0.5) (float-vector 5.0 287.5 -0.5) (float-vector 5.0 287.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 -5.5 684.5) (float-vector -5.0 -5.5 -0.5) (float-vector 5.0 -5.5 -0.5) (float-vector 5.0 -5.5 684.5)))
(instance face :init :vertices (list (float-vector -5.0 287.5 684.5) (float-vector -5.0 287.5 -0.5) (float-vector -5.0 -5.5 -0.5) (float-vector -5.0 -5.5 684.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :lightgoldenrodyellow)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :73b2-cupboard-without-door-bodyset3 :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 :73b2-cupboard-without-door-bodyset4
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -166.5 283.0 -52.5) (float-vector -166.5 -283.0 -52.5) (float-vector -166.5 -283.0 52.5) (float-vector -166.5 283.0 52.5)))
(instance face :init :vertices (list (float-vector 166.5 -283.0 -52.5) (float-vector 166.5 -283.0 52.5) (float-vector -166.5 -283.0 52.5) (float-vector -166.5 -283.0 -52.5)))
(instance face :init :vertices (list (float-vector 166.5 283.0 -52.5) (float-vector 166.5 283.0 52.5) (float-vector 166.5 273.0 52.5) (float-vector 166.5 273.0 -42.5) (float-vector 166.5 -273.0 -42.5) (float-vector 166.5 -273.0 52.5) (float-vector 166.5 -283.0 52.5) (float-vector 166.5 -283.0 -52.5)))
(instance face :init :vertices (list (float-vector -166.5 283.0 52.5) (float-vector -166.5 -283.0 52.5) (float-vector 166.5 -283.0 52.5) (float-vector 166.5 -273.0 52.5) (float-vector -156.5 -273.0 52.5) (float-vector -156.5 273.0 52.5) (float-vector 166.5 273.0 52.5) (float-vector 166.5 283.0 52.5)))
(instance face :init :vertices (list (float-vector 166.5 283.0 -52.5) (float-vector 166.5 -283.0 -52.5) (float-vector -166.5 -283.0 -52.5) (float-vector -166.5 283.0 -52.5)))
(instance face :init :vertices (list (float-vector -166.5 283.0 -52.5) (float-vector -166.5 283.0 52.5) (float-vector 166.5 283.0 52.5) (float-vector 166.5 283.0 -52.5)))
(instance face :init :vertices (list (float-vector -156.5 273.0 52.5) (float-vector -156.5 -273.0 52.5) (float-vector -156.5 -273.0 -42.5) (float-vector -156.5 273.0 -42.5)))
(instance face :init :vertices (list (float-vector -156.5 -273.0 -42.5) (float-vector -156.5 -273.0 52.5) (float-vector 166.5 -273.0 52.5) (float-vector 166.5 -273.0 -42.5)))
(instance face :init :vertices (list (float-vector 166.5 273.0 -42.5) (float-vector 166.5 273.0 52.5) (float-vector -156.5 273.0 52.5) (float-vector -156.5 273.0 -42.5)))
(instance face :init :vertices (list (float-vector -156.5 273.0 -42.5) (float-vector -156.5 -273.0 -42.5) (float-vector 166.5 -273.0 -42.5) (float-vector 166.5 273.0 -42.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 176.0 293.0 62.5) (float-vector 166.0 293.0 62.5) (float-vector 166.0 -293.0 62.5) (float-vector 176.0 -293.0 62.5)))
(instance face :init :vertices (list (float-vector 166.0 293.0 -52.5) (float-vector 176.0 293.0 -52.5) (float-vector 176.0 -293.0 -52.5) (float-vector 166.0 -293.0 -52.5)))
(instance face :init :vertices (list (float-vector 176.0 293.0 62.5) (float-vector 176.0 293.0 -52.5) (float-vector 166.0 293.0 -52.5) (float-vector 166.0 293.0 62.5)))
(instance face :init :vertices (list (float-vector 176.0 -293.0 62.5) (float-vector 176.0 -293.0 -52.5) (float-vector 176.0 293.0 -52.5) (float-vector 176.0 293.0 62.5)))
(instance face :init :vertices (list (float-vector 166.0 -293.0 62.5) (float-vector 166.0 -293.0 -52.5) (float-vector 176.0 -293.0 -52.5) (float-vector 176.0 -293.0 62.5)))
(instance face :init :vertices (list (float-vector 166.0 293.0 62.5) (float-vector 166.0 293.0 -52.5) (float-vector 166.0 -293.0 -52.5) (float-vector 166.0 -293.0 62.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :lightgoldenrodyellow)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :73b2-cupboard-without-door-bodyset4 :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 0.0 0.0 822.0) :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 blink2 :newcoords (make-coords :pos (float-vector 171.0 -288.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink2)
(send blink3 :newcoords (make-coords :pos (float-vector 171.0 288.0 80.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink3)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :drawer
(setq joint0 (instance linear-joint :init
:parent-link blink0 :child-link blink1 :name :drawer :axis (float-vector 1.0 0.0 0.0)
:min 0.0 :max 353.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :door-lower-right
(setq joint1 (instance rotational-joint :init
:parent-link blink0 :child-link blink2 :name :door-lower-right :axis :-z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :door-lower-left
(setq joint2 (instance rotational-joint :init
:parent-link blink0 :child-link blink3 :name :door-lower-left :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 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
(send blink0 :assoc handle0)
;; init-ending
(setq links (list blink0 blink1 blink2 blink3))
(setq joint-list (list joint0 joint1 joint2))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:drawer (&rest args) (forward-message-to joint0 args))
(:door-lower-right (&rest args) (forward-message-to joint1 args))
(:door-lower-left (&rest args) (forward-message-to joint2 args))
(:handle (&rest args) (forward-message-to-all (list handle0) args))
(:handle-handle0 (&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 73b2-cupboard-without-door (&rest args) (instance* 73b2-cupboard-without-door-object :init args))
;; (format *error-output* "(instance 73b2-cupboard-without-door-object :init) for generating model~%")
|
