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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass hrp2-rack-object
:super cascaded-link
:slots (sensors
))
(defmethod hrp2-rack-object
(:init
(&rest args &key (name "hrp2-rack") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
)
(send-super* :init :name name args)
;; definition of link
;; definition of :hrp2-rack-bodyset2
(setq bc (list
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 390.0 -245.0 80.0) (float-vector 390.0 -275.0 55.0) (float-vector 390.0 275.0 55.0) (float-vector 390.0 275.0 820.0) (float-vector 390.0 -275.0 820.0) (float-vector 390.0 -245.0 55.0) (float-vector 390.0 -245.0 795.0) (float-vector 390.0 245.0 795.0) (float-vector 390.0 245.0 80.0)))
(instance face :init :vertices (list (float-vector -390.0 -275.0 55.0) (float-vector 390.0 -275.0 55.0) (float-vector 390.0 -245.0 80.0) (float-vector -390.0 -245.0 80.0)))
(instance face :init :vertices (list (float-vector -390.0 275.0 55.0) (float-vector 390.0 275.0 55.0) (float-vector 390.0 -275.0 55.0) (float-vector -390.0 -275.0 55.0)))
(instance face :init :vertices (list (float-vector -390.0 275.0 820.0) (float-vector 390.0 275.0 820.0) (float-vector 390.0 275.0 55.0) (float-vector -390.0 275.0 55.0)))
(instance face :init :vertices (list (float-vector -390.0 -275.0 820.0) (float-vector 390.0 -275.0 820.0) (float-vector 390.0 275.0 820.0) (float-vector -390.0 275.0 820.0)))
(instance face :init :vertices (list (float-vector -390.0 -245.0 55.0) (float-vector 390.0 -245.0 55.0) (float-vector 390.0 -275.0 820.0) (float-vector -390.0 -275.0 820.0)))
(instance face :init :vertices (list (float-vector -390.0 -245.0 795.0) (float-vector 390.0 -245.0 795.0) (float-vector 390.0 -245.0 55.0) (float-vector -390.0 -245.0 55.0)))
(instance face :init :vertices (list (float-vector -390.0 245.0 795.0) (float-vector 390.0 245.0 795.0) (float-vector 390.0 -245.0 795.0) (float-vector -390.0 -245.0 795.0)))
(instance face :init :vertices (list (float-vector -390.0 245.0 80.0) (float-vector 390.0 245.0 80.0) (float-vector 390.0 245.0 795.0) (float-vector -390.0 245.0 795.0)))
(instance face :init :vertices (list (float-vector -390.0 -245.0 80.0) (float-vector 390.0 -245.0 80.0) (float-vector 390.0 245.0 80.0) (float-vector -390.0 245.0 80.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 384.486 225.0 -11.25) (float-vector 387.5 225.0 -2.010614e-13) (float-vector 384.486 225.0 11.25) (float-vector 376.25 225.0 19.4856) (float-vector 365.0 225.0 22.5) (float-vector 353.75 225.0 19.4856) (float-vector 345.514 225.0 11.25) (float-vector 342.5 225.0 -1.815215e-13) (float-vector 345.514 225.0 -11.25) (float-vector 353.75 225.0 -19.4856) (float-vector 365.0 225.0 -22.5) (float-vector 376.25 225.0 -19.4856)))
(instance face :init :vertices (list (float-vector 387.5 275.0 -2.371436e-13) (float-vector 384.486 275.0 -11.25) (float-vector 376.25 275.0 -19.4856) (float-vector 365.0 275.0 -22.5) (float-vector 353.75 275.0 -19.4856) (float-vector 345.514 275.0 -11.25) (float-vector 342.5 275.0 -2.176037e-13) (float-vector 345.514 275.0 11.25) (float-vector 353.75 275.0 19.4856) (float-vector 365.0 275.0 22.5) (float-vector 376.25 275.0 19.4856) (float-vector 384.486 275.0 11.25)))
(instance face :init :vertices (list (float-vector 384.486 225.0 -11.25) (float-vector 384.486 275.0 -11.25) (float-vector 387.5 275.0 -2.371436e-13) (float-vector 387.5 225.0 -2.010614e-13)))
(instance face :init :vertices (list (float-vector 376.25 225.0 -19.4856) (float-vector 376.25 275.0 -19.4856) (float-vector 384.486 275.0 -11.25) (float-vector 384.486 225.0 -11.25)))
(instance face :init :vertices (list (float-vector 365.0 225.0 -22.5) (float-vector 365.0 275.0 -22.5) (float-vector 376.25 275.0 -19.4856) (float-vector 376.25 225.0 -19.4856)))
(instance face :init :vertices (list (float-vector 353.75 225.0 -19.4856) (float-vector 353.75 275.0 -19.4856) (float-vector 365.0 275.0 -22.5) (float-vector 365.0 225.0 -22.5)))
(instance face :init :vertices (list (float-vector 345.514 225.0 -11.25) (float-vector 345.514 275.0 -11.25) (float-vector 353.75 275.0 -19.4856) (float-vector 353.75 225.0 -19.4856)))
(instance face :init :vertices (list (float-vector 342.5 225.0 -1.815215e-13) (float-vector 342.5 275.0 -2.176037e-13) (float-vector 345.514 275.0 -11.25) (float-vector 345.514 225.0 -11.25)))
(instance face :init :vertices (list (float-vector 345.514 225.0 11.25) (float-vector 345.514 275.0 11.25) (float-vector 342.5 275.0 -2.176037e-13) (float-vector 342.5 225.0 -1.815215e-13)))
(instance face :init :vertices (list (float-vector 353.75 225.0 19.4856) (float-vector 353.75 275.0 19.4856) (float-vector 345.514 275.0 11.25) (float-vector 345.514 225.0 11.25)))
(instance face :init :vertices (list (float-vector 365.0 225.0 22.5) (float-vector 365.0 275.0 22.5) (float-vector 353.75 275.0 19.4856) (float-vector 353.75 225.0 19.4856)))
(instance face :init :vertices (list (float-vector 376.25 225.0 19.4856) (float-vector 376.25 275.0 19.4856) (float-vector 365.0 275.0 22.5) (float-vector 365.0 225.0 22.5)))
(instance face :init :vertices (list (float-vector 384.486 225.0 11.25) (float-vector 384.486 275.0 11.25) (float-vector 376.25 275.0 19.4856) (float-vector 376.25 225.0 19.4856)))
(instance face :init :vertices (list (float-vector 387.5 225.0 -2.010614e-13) (float-vector 387.5 275.0 -2.371436e-13) (float-vector 384.486 275.0 11.25) (float-vector 384.486 225.0 11.25)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 382.321 240.0 55.0) (float-vector 385.0 250.0 55.0) (float-vector 382.321 260.0 55.0) (float-vector 375.0 267.321 55.0) (float-vector 365.0 270.0 55.0) (float-vector 355.0 267.321 55.0) (float-vector 347.679 260.0 55.0) (float-vector 345.0 250.0 55.0) (float-vector 347.679 240.0 55.0) (float-vector 355.0 232.679 55.0) (float-vector 365.0 230.0 55.0) (float-vector 375.0 232.679 55.0)))
(instance face :init :vertices (list (float-vector 385.0 250.0 7.5) (float-vector 382.321 240.0 7.5) (float-vector 375.0 232.679 7.5) (float-vector 365.0 230.0 7.5) (float-vector 355.0 232.679 7.5) (float-vector 347.679 240.0 7.5) (float-vector 345.0 250.0 7.5) (float-vector 347.679 260.0 7.5) (float-vector 355.0 267.321 7.5) (float-vector 365.0 270.0 7.5) (float-vector 375.0 267.321 7.5) (float-vector 382.321 260.0 7.5)))
(instance face :init :vertices (list (float-vector 382.321 240.0 55.0) (float-vector 382.321 240.0 7.5) (float-vector 385.0 250.0 7.5) (float-vector 385.0 250.0 55.0)))
(instance face :init :vertices (list (float-vector 375.0 232.679 55.0) (float-vector 375.0 232.679 7.5) (float-vector 382.321 240.0 7.5) (float-vector 382.321 240.0 55.0)))
(instance face :init :vertices (list (float-vector 365.0 230.0 55.0) (float-vector 365.0 230.0 7.5) (float-vector 375.0 232.679 7.5) (float-vector 375.0 232.679 55.0)))
(instance face :init :vertices (list (float-vector 355.0 232.679 55.0) (float-vector 355.0 232.679 7.5) (float-vector 365.0 230.0 7.5) (float-vector 365.0 230.0 55.0)))
(instance face :init :vertices (list (float-vector 347.679 240.0 55.0) (float-vector 347.679 240.0 7.5) (float-vector 355.0 232.679 7.5) (float-vector 355.0 232.679 55.0)))
(instance face :init :vertices (list (float-vector 345.0 250.0 55.0) (float-vector 345.0 250.0 7.5) (float-vector 347.679 240.0 7.5) (float-vector 347.679 240.0 55.0)))
(instance face :init :vertices (list (float-vector 347.679 260.0 55.0) (float-vector 347.679 260.0 7.5) (float-vector 345.0 250.0 7.5) (float-vector 345.0 250.0 55.0)))
(instance face :init :vertices (list (float-vector 355.0 267.321 55.0) (float-vector 355.0 267.321 7.5) (float-vector 347.679 260.0 7.5) (float-vector 347.679 260.0 55.0)))
(instance face :init :vertices (list (float-vector 365.0 270.0 55.0) (float-vector 365.0 270.0 7.5) (float-vector 355.0 267.321 7.5) (float-vector 355.0 267.321 55.0)))
(instance face :init :vertices (list (float-vector 375.0 267.321 55.0) (float-vector 375.0 267.321 7.5) (float-vector 365.0 270.0 7.5) (float-vector 365.0 270.0 55.0)))
(instance face :init :vertices (list (float-vector 382.321 260.0 55.0) (float-vector 382.321 260.0 7.5) (float-vector 375.0 267.321 7.5) (float-vector 375.0 267.321 55.0)))
(instance face :init :vertices (list (float-vector 385.0 250.0 55.0) (float-vector 385.0 250.0 7.5) (float-vector 382.321 260.0 7.5) (float-vector 382.321 260.0 55.0)))
))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 387.5 -225.0 2.371436e-13) (float-vector 384.486 -225.0 -11.25) (float-vector 376.25 -225.0 -19.4856) (float-vector 365.0 -225.0 -22.5) (float-vector 353.75 -225.0 -19.4856) (float-vector 345.514 -225.0 -11.25) (float-vector 342.5 -225.0 2.566836e-13) (float-vector 345.514 -225.0 11.25) (float-vector 353.75 -225.0 19.4856) (float-vector 365.0 -225.0 22.5) (float-vector 376.25 -225.0 19.4856) (float-vector 384.486 -225.0 11.25)))
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(instance face :init :vertices (list (float-vector 365.0 -275.0 -22.5) (float-vector 365.0 -225.0 -22.5) (float-vector 376.25 -225.0 -19.4856) (float-vector 376.25 -275.0 -19.4856)))
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(instance face :init :vertices (list (float-vector 345.514 -275.0 -11.25) (float-vector 345.514 -225.0 -11.25) (float-vector 353.75 -225.0 -19.4856) (float-vector 353.75 -275.0 -19.4856)))
(instance face :init :vertices (list (float-vector 342.5 -275.0 2.927658e-13) (float-vector 342.5 -225.0 2.566836e-13) (float-vector 345.514 -225.0 -11.25) (float-vector 345.514 -275.0 -11.25)))
(instance face :init :vertices (list (float-vector 345.514 -275.0 11.25) (float-vector 345.514 -225.0 11.25) (float-vector 342.5 -225.0 2.566836e-13) (float-vector 342.5 -275.0 2.927658e-13)))
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(instance face :init :vertices (list (float-vector 365.0 -275.0 22.5) (float-vector 365.0 -225.0 22.5) (float-vector 353.75 -225.0 19.4856) (float-vector 353.75 -275.0 19.4856)))
(instance face :init :vertices (list (float-vector 376.25 -275.0 19.4856) (float-vector 376.25 -225.0 19.4856) (float-vector 365.0 -225.0 22.5) (float-vector 365.0 -275.0 22.5)))
(instance face :init :vertices (list (float-vector 384.486 -275.0 11.25) (float-vector 384.486 -225.0 11.25) (float-vector 376.25 -225.0 19.4856) (float-vector 376.25 -275.0 19.4856)))
(instance face :init :vertices (list (float-vector 387.5 -275.0 2.732259e-13) (float-vector 387.5 -225.0 2.371436e-13) (float-vector 384.486 -225.0 11.25) (float-vector 384.486 -275.0 11.25)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 382.321 -260.0 55.0) (float-vector 385.0 -250.0 55.0) (float-vector 382.321 -240.0 55.0) (float-vector 375.0 -232.679 55.0) (float-vector 365.0 -230.0 55.0) (float-vector 355.0 -232.679 55.0) (float-vector 347.679 -240.0 55.0) (float-vector 345.0 -250.0 55.0) (float-vector 347.679 -260.0 55.0) (float-vector 355.0 -267.321 55.0) (float-vector 365.0 -270.0 55.0) (float-vector 375.0 -267.321 55.0)))
(instance face :init :vertices (list (float-vector 385.0 -250.0 7.5) (float-vector 382.321 -260.0 7.5) (float-vector 375.0 -267.321 7.5) (float-vector 365.0 -270.0 7.5) (float-vector 355.0 -267.321 7.5) (float-vector 347.679 -260.0 7.5) (float-vector 345.0 -250.0 7.5) (float-vector 347.679 -240.0 7.5) (float-vector 355.0 -232.679 7.5) (float-vector 365.0 -230.0 7.5) (float-vector 375.0 -232.679 7.5) (float-vector 382.321 -240.0 7.5)))
(instance face :init :vertices (list (float-vector 382.321 -260.0 55.0) (float-vector 382.321 -260.0 7.5) (float-vector 385.0 -250.0 7.5) (float-vector 385.0 -250.0 55.0)))
(instance face :init :vertices (list (float-vector 375.0 -267.321 55.0) (float-vector 375.0 -267.321 7.5) (float-vector 382.321 -260.0 7.5) (float-vector 382.321 -260.0 55.0)))
(instance face :init :vertices (list (float-vector 365.0 -270.0 55.0) (float-vector 365.0 -270.0 7.5) (float-vector 375.0 -267.321 7.5) (float-vector 375.0 -267.321 55.0)))
(instance face :init :vertices (list (float-vector 355.0 -267.321 55.0) (float-vector 355.0 -267.321 7.5) (float-vector 365.0 -270.0 7.5) (float-vector 365.0 -270.0 55.0)))
(instance face :init :vertices (list (float-vector 347.679 -260.0 55.0) (float-vector 347.679 -260.0 7.5) (float-vector 355.0 -267.321 7.5) (float-vector 355.0 -267.321 55.0)))
(instance face :init :vertices (list (float-vector 345.0 -250.0 55.0) (float-vector 345.0 -250.0 7.5) (float-vector 347.679 -260.0 7.5) (float-vector 347.679 -260.0 55.0)))
(instance face :init :vertices (list (float-vector 347.679 -240.0 55.0) (float-vector 347.679 -240.0 7.5) (float-vector 345.0 -250.0 7.5) (float-vector 345.0 -250.0 55.0)))
(instance face :init :vertices (list (float-vector 355.0 -232.679 55.0) (float-vector 355.0 -232.679 7.5) (float-vector 347.679 -240.0 7.5) (float-vector 347.679 -240.0 55.0)))
(instance face :init :vertices (list (float-vector 365.0 -230.0 55.0) (float-vector 365.0 -230.0 7.5) (float-vector 355.0 -232.679 7.5) (float-vector 355.0 -232.679 55.0)))
(instance face :init :vertices (list (float-vector 375.0 -232.679 55.0) (float-vector 375.0 -232.679 7.5) (float-vector 365.0 -230.0 7.5) (float-vector 365.0 -230.0 55.0)))
(instance face :init :vertices (list (float-vector 382.321 -240.0 55.0) (float-vector 382.321 -240.0 7.5) (float-vector 375.0 -232.679 7.5) (float-vector 375.0 -232.679 55.0)))
(instance face :init :vertices (list (float-vector 385.0 -250.0 55.0) (float-vector 385.0 -250.0 7.5) (float-vector 382.321 -240.0 7.5) (float-vector 382.321 -240.0 55.0)))
))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector -342.5 -225.0 2.371436e-13) (float-vector -345.514 -225.0 -11.25) (float-vector -353.75 -225.0 -19.4856) (float-vector -365.0 -225.0 -22.5) (float-vector -376.25 -225.0 -19.4856) (float-vector -384.486 -225.0 -11.25) (float-vector -387.5 -225.0 2.566836e-13) (float-vector -384.486 -225.0 11.25) (float-vector -376.25 -225.0 19.4856) (float-vector -365.0 -225.0 22.5) (float-vector -353.75 -225.0 19.4856) (float-vector -345.514 -225.0 11.25)))
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(instance face :init :vertices (list (float-vector -365.0 -275.0 -22.5) (float-vector -365.0 -225.0 -22.5) (float-vector -353.75 -225.0 -19.4856) (float-vector -353.75 -275.0 -19.4856)))
(instance face :init :vertices (list (float-vector -376.25 -275.0 -19.4856) (float-vector -376.25 -225.0 -19.4856) (float-vector -365.0 -225.0 -22.5) (float-vector -365.0 -275.0 -22.5)))
(instance face :init :vertices (list (float-vector -384.486 -275.0 -11.25) (float-vector -384.486 -225.0 -11.25) (float-vector -376.25 -225.0 -19.4856) (float-vector -376.25 -275.0 -19.4856)))
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(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 390.0 215.0 628.5) (float-vector 390.0 215.0 613.5) (float-vector 410.0 215.0 613.5) (float-vector 410.0 215.0 473.5) (float-vector 390.0 215.0 473.5) (float-vector 390.0 215.0 458.5) (float-vector 430.0 215.0 458.5) (float-vector 430.0 215.0 628.5)))
(instance face :init :vertices (list (float-vector 390.0 225.0 613.5) (float-vector 390.0 225.0 628.5) (float-vector 430.0 225.0 628.5) (float-vector 430.0 225.0 458.5) (float-vector 390.0 225.0 458.5) (float-vector 390.0 225.0 473.5) (float-vector 410.0 225.0 473.5) (float-vector 410.0 225.0 613.5)))
(instance face :init :vertices (list (float-vector 390.0 215.0 628.5) (float-vector 390.0 225.0 628.5) (float-vector 390.0 225.0 613.5) (float-vector 390.0 215.0 613.5)))
(instance face :init :vertices (list (float-vector 430.0 215.0 628.5) (float-vector 430.0 225.0 628.5) (float-vector 390.0 225.0 628.5) (float-vector 390.0 215.0 628.5)))
(instance face :init :vertices (list (float-vector 430.0 215.0 458.5) (float-vector 430.0 225.0 458.5) (float-vector 430.0 225.0 628.5) (float-vector 430.0 215.0 628.5)))
(instance face :init :vertices (list (float-vector 390.0 215.0 458.5) (float-vector 390.0 225.0 458.5) (float-vector 430.0 225.0 458.5) (float-vector 430.0 215.0 458.5)))
(instance face :init :vertices (list (float-vector 390.0 215.0 473.5) (float-vector 390.0 225.0 473.5) (float-vector 390.0 225.0 458.5) (float-vector 390.0 215.0 458.5)))
(instance face :init :vertices (list (float-vector 410.0 215.0 473.5) (float-vector 410.0 225.0 473.5) (float-vector 390.0 225.0 473.5) (float-vector 390.0 215.0 473.5)))
(instance face :init :vertices (list (float-vector 410.0 215.0 613.5) (float-vector 410.0 225.0 613.5) (float-vector 410.0 225.0 473.5) (float-vector 410.0 215.0 473.5)))
(instance face :init :vertices (list (float-vector 390.0 215.0 613.5) (float-vector 390.0 225.0 613.5) (float-vector 410.0 225.0 613.5) (float-vector 410.0 215.0 613.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :lightgrey)
(send (elt bc 1) :set-color :dimgray)
(send (elt bc 2) :set-color :darkgray)
(send (elt bc 3) :set-color :dimgray)
(send (elt bc 4) :set-color :darkgray)
(send (elt bc 5) :set-color :dimgray)
(send (elt bc 6) :set-color :darkgray)
(send (elt bc 7) :set-color :dimgray)
(send (elt bc 8) :set-color :darkgray)
(send (elt bc 9) :set-color :dimgray)
(send (elt bc 10) :set-color :dimgray)
(send (elt bc 11) :set-color :dimgray)
(send (elt bc 12) :set-color :dimgray)
(send (elt bc 13) :set-color :dimgray)
(send (elt bc 14) :set-color :dimgray)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :hrp2-rack-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 self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; init-ending
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun hrp2-rack (&rest args) (instance* hrp2-rack-object :init args))
;; (format *error-output* "(instance hrp2-rack-object :init) for generating model~%")
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