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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass plus-900-square-desk-object
:super cascaded-link
:slots (sensors
handle0 handle1
))
(defmethod plus-900-square-desk-object
(:init
(&rest args &key (name "plus-900-square-desk") (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 :plus-900-square-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 450.0 450.0 700.0) (float-vector -450.0 450.0 700.0) (float-vector -450.0 -450.0 700.0) (float-vector 450.0 -450.0 700.0)))
(instance face :init :vertices (list (float-vector -450.0 450.0 670.0) (float-vector 450.0 450.0 670.0) (float-vector 450.0 -450.0 670.0) (float-vector -450.0 -450.0 670.0)))
(instance face :init :vertices (list (float-vector 450.0 450.0 700.0) (float-vector 450.0 450.0 670.0) (float-vector -450.0 450.0 670.0) (float-vector -450.0 450.0 700.0)))
(instance face :init :vertices (list (float-vector 450.0 -450.0 700.0) (float-vector 450.0 -450.0 670.0) (float-vector 450.0 450.0 670.0) (float-vector 450.0 450.0 700.0)))
(instance face :init :vertices (list (float-vector -450.0 -450.0 700.0) (float-vector -450.0 -450.0 670.0) (float-vector 450.0 -450.0 670.0) (float-vector 450.0 -450.0 700.0)))
(instance face :init :vertices (list (float-vector -450.0 450.0 700.0) (float-vector -450.0 450.0 670.0) (float-vector -450.0 -450.0 670.0) (float-vector -450.0 -450.0 700.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 38.9711 -22.5 670.0) (float-vector 45.0 0.0 670.0) (float-vector 38.9711 22.5 670.0) (float-vector 22.5 38.9711 670.0) (float-vector 2.131628e-14 45.0 670.0) (float-vector -22.5 38.9711 670.0) (float-vector -38.9711 22.5 670.0) (float-vector -45.0 3.907985e-14 670.0) (float-vector -38.9711 -22.5 670.0) (float-vector -22.5 -38.9711 670.0) (float-vector -6.750156e-14 -45.0 670.0) (float-vector 22.5 -38.9711 670.0)))
(instance face :init :vertices (list (float-vector 45.0 0.0 0.0) (float-vector 38.9711 -22.5 0.0) (float-vector 22.5 -38.9711 0.0) (float-vector -6.750156e-14 -45.0 0.0) (float-vector -22.5 -38.9711 0.0) (float-vector -38.9711 -22.5 0.0) (float-vector -45.0 3.907985e-14 0.0) (float-vector -38.9711 22.5 0.0) (float-vector -22.5 38.9711 0.0) (float-vector 2.131628e-14 45.0 0.0) (float-vector 22.5 38.9711 0.0) (float-vector 38.9711 22.5 0.0)))
(instance face :init :vertices (list (float-vector 38.9711 -22.5 670.0) (float-vector 38.9711 -22.5 0.0) (float-vector 45.0 0.0 0.0) (float-vector 45.0 0.0 670.0)))
(instance face :init :vertices (list (float-vector 22.5 -38.9711 670.0) (float-vector 22.5 -38.9711 0.0) (float-vector 38.9711 -22.5 0.0) (float-vector 38.9711 -22.5 670.0)))
(instance face :init :vertices (list (float-vector -6.750156e-14 -45.0 670.0) (float-vector -6.750156e-14 -45.0 0.0) (float-vector 22.5 -38.9711 0.0) (float-vector 22.5 -38.9711 670.0)))
(instance face :init :vertices (list (float-vector -22.5 -38.9711 670.0) (float-vector -22.5 -38.9711 0.0) (float-vector -6.750156e-14 -45.0 0.0) (float-vector -6.750156e-14 -45.0 670.0)))
(instance face :init :vertices (list (float-vector -38.9711 -22.5 670.0) (float-vector -38.9711 -22.5 0.0) (float-vector -22.5 -38.9711 0.0) (float-vector -22.5 -38.9711 670.0)))
(instance face :init :vertices (list (float-vector -45.0 3.907985e-14 670.0) (float-vector -45.0 3.907985e-14 0.0) (float-vector -38.9711 -22.5 0.0) (float-vector -38.9711 -22.5 670.0)))
(instance face :init :vertices (list (float-vector -38.9711 22.5 670.0) (float-vector -38.9711 22.5 0.0) (float-vector -45.0 3.907985e-14 0.0) (float-vector -45.0 3.907985e-14 670.0)))
(instance face :init :vertices (list (float-vector -22.5 38.9711 670.0) (float-vector -22.5 38.9711 0.0) (float-vector -38.9711 22.5 0.0) (float-vector -38.9711 22.5 670.0)))
(instance face :init :vertices (list (float-vector 2.131628e-14 45.0 670.0) (float-vector 2.131628e-14 45.0 0.0) (float-vector -22.5 38.9711 0.0) (float-vector -22.5 38.9711 670.0)))
(instance face :init :vertices (list (float-vector 22.5 38.9711 670.0) (float-vector 22.5 38.9711 0.0) (float-vector 2.131628e-14 45.0 0.0) (float-vector 2.131628e-14 45.0 670.0)))
(instance face :init :vertices (list (float-vector 38.9711 22.5 670.0) (float-vector 38.9711 22.5 0.0) (float-vector 22.5 38.9711 0.0) (float-vector 22.5 38.9711 670.0)))
(instance face :init :vertices (list (float-vector 45.0 0.0 670.0) (float-vector 45.0 0.0 0.0) (float-vector 38.9711 22.5 0.0) (float-vector 38.9711 22.5 670.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -300.52 335.876 50.0) (float-vector -335.876 300.52 50.0) (float-vector 300.52 -335.876 50.0) (float-vector 335.876 -300.52 50.0)))
(instance face :init :vertices (list (float-vector -335.876 300.52 0.0) (float-vector -300.52 335.876 0.0) (float-vector 335.876 -300.52 0.0) (float-vector 300.52 -335.876 0.0)))
(instance face :init :vertices (list (float-vector -300.52 335.876 50.0) (float-vector -300.52 335.876 0.0) (float-vector -335.876 300.52 0.0) (float-vector -335.876 300.52 50.0)))
(instance face :init :vertices (list (float-vector 335.876 -300.52 50.0) (float-vector 335.876 -300.52 0.0) (float-vector -300.52 335.876 0.0) (float-vector -300.52 335.876 50.0)))
(instance face :init :vertices (list (float-vector 300.52 -335.876 50.0) (float-vector 300.52 -335.876 0.0) (float-vector 335.876 -300.52 0.0) (float-vector 335.876 -300.52 50.0)))
(instance face :init :vertices (list (float-vector -335.876 300.52 50.0) (float-vector -335.876 300.52 0.0) (float-vector 300.52 -335.876 0.0) (float-vector 300.52 -335.876 50.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 335.876 300.52 50.0) (float-vector 300.52 335.876 50.0) (float-vector -335.876 -300.52 50.0) (float-vector -300.52 -335.876 50.0)))
(instance face :init :vertices (list (float-vector 300.52 335.876 0.0) (float-vector 335.876 300.52 0.0) (float-vector -300.52 -335.876 0.0) (float-vector -335.876 -300.52 0.0)))
(instance face :init :vertices (list (float-vector 335.876 300.52 50.0) (float-vector 335.876 300.52 0.0) (float-vector 300.52 335.876 0.0) (float-vector 300.52 335.876 50.0)))
(instance face :init :vertices (list (float-vector -300.52 -335.876 50.0) (float-vector -300.52 -335.876 0.0) (float-vector 335.876 300.52 0.0) (float-vector 335.876 300.52 50.0)))
(instance face :init :vertices (list (float-vector -335.876 -300.52 50.0) (float-vector -335.876 -300.52 0.0) (float-vector -300.52 -335.876 0.0) (float-vector -300.52 -335.876 50.0)))
(instance face :init :vertices (list (float-vector 300.52 335.876 50.0) (float-vector 300.52 335.876 0.0) (float-vector -335.876 -300.52 0.0) (float-vector -335.876 -300.52 50.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :palegoldenrod)
(send (elt bc 1) :set-color :gray60)
(send (elt bc 2) :set-color :gray60)
(send (elt bc 3) :set-color :gray60)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :plus-900-square-desk-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
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 450.0 -300.0 670.0) :rot #2f((-1.0 1.232595e-32 1.224647e-16) (1.224647e-16 2.220446e-16 1.0) (-1.232595e-32 1.0 -2.220446e-16)) :name "handle-l"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 450.0 300.0 670.0) :rot #2f((-1.0 1.232595e-32 -1.224647e-16) (1.224647e-16 2.220446e-16 -1.0) (1.232595e-32 -1.0 -2.220446e-16)) :name "handle-r"))
(send blink0 :assoc handle1)
;; 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 handle0 handle1) args))
(:handle-handle-l (&rest args) (forward-message-to handle0 args))
(:handle-handle-r (&rest args) (forward-message-to handle1 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun plus-900-square-desk (&rest args) (instance* plus-900-square-desk-object :init args))
;; (format *error-output* "(instance plus-900-square-desk-object :init) for generating model~%")
|
