1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room602-tray1-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5
))
(defmethod room602-tray1-object
(:init
(&rest args &key (name "room602-tray1") (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 :room602-tray1-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector -200.0 150.0 15.0) (float-vector -200.0 -150.0 15.0) (float-vector 200.0 -150.0 15.0)))
(instance face :init :vertices (list (float-vector -200.0 150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector -200.0 -150.0 5.0)))
(instance face :init :vertices (list (float-vector 200.0 150.0 15.0) (float-vector 200.0 150.0 5.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 150.0 15.0)))
(instance face :init :vertices (list (float-vector 200.0 -150.0 15.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 150.0 5.0) (float-vector 200.0 150.0 15.0)))
(instance face :init :vertices (list (float-vector -200.0 -150.0 15.0) (float-vector -200.0 -150.0 5.0) (float-vector 200.0 -150.0 5.0) (float-vector 200.0 -150.0 15.0)))
(instance face :init :vertices (list (float-vector -200.0 150.0 15.0) (float-vector -200.0 150.0 5.0) (float-vector -200.0 -150.0 5.0) (float-vector -200.0 -150.0 15.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector -200.0 155.0 37.5) (float-vector -200.0 145.0 37.5) (float-vector 200.0 145.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 155.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector -200.0 145.0 7.5)))
(instance face :init :vertices (list (float-vector 200.0 155.0 37.5) (float-vector 200.0 155.0 7.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 155.0 37.5)))
(instance face :init :vertices (list (float-vector 200.0 145.0 37.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 155.0 7.5) (float-vector 200.0 155.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 145.0 37.5) (float-vector -200.0 145.0 7.5) (float-vector 200.0 145.0 7.5) (float-vector 200.0 145.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 155.0 37.5) (float-vector -200.0 155.0 7.5) (float-vector -200.0 145.0 7.5) (float-vector -200.0 145.0 37.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -155.0 37.5) (float-vector 200.0 -155.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 -145.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector -200.0 -155.0 7.5)))
(instance face :init :vertices (list (float-vector 200.0 -145.0 37.5) (float-vector 200.0 -145.0 7.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -145.0 37.5)))
(instance face :init :vertices (list (float-vector 200.0 -155.0 37.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -145.0 7.5) (float-vector 200.0 -145.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 -155.0 37.5) (float-vector -200.0 -155.0 7.5) (float-vector 200.0 -155.0 7.5) (float-vector 200.0 -155.0 37.5)))
(instance face :init :vertices (list (float-vector -200.0 -145.0 37.5) (float-vector -200.0 -145.0 7.5) (float-vector -200.0 -155.0 7.5) (float-vector -200.0 -155.0 37.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 195.302 150.0 9.2101) (float-vector 195.302 -150.0 9.2101) (float-vector 214.113 -150.0 60.8932) (float-vector 214.113 150.0 60.8932))
:holes (list
(instance hole :init :vertices (list (float-vector 208.127 50.0 44.4486) (float-vector 208.127 -50.0 44.4486) (float-vector 201.287 -50.0 25.6547) (float-vector 201.287 50.0 25.6547)))
))
(instance face :init :vertices (list (float-vector 204.698 -150.0 5.7899) (float-vector 223.51 -150.0 57.473) (float-vector 214.113 -150.0 60.8932) (float-vector 195.302 -150.0 9.2101)))
(instance face :init :vertices (list (float-vector 204.698 150.0 5.7899) (float-vector 223.51 150.0 57.473) (float-vector 223.51 -150.0 57.473) (float-vector 204.698 -150.0 5.7899))
:holes (list
(instance hole :init :vertices (list (float-vector 210.684 -50.0 22.2345) (float-vector 217.524 -50.0 41.0284) (float-vector 217.524 50.0 41.0284) (float-vector 210.684 50.0 22.2345)))
))
(instance face :init :vertices (list (float-vector 214.113 150.0 60.8932) (float-vector 214.113 -150.0 60.8932) (float-vector 223.51 -150.0 57.473) (float-vector 223.51 150.0 57.473)))
(instance face :init :vertices (list (float-vector 204.698 150.0 5.7899) (float-vector 204.698 -150.0 5.7899) (float-vector 195.302 -150.0 9.2101) (float-vector 195.302 150.0 9.2101)))
(instance face :init :vertices (list (float-vector 195.302 150.0 9.2101) (float-vector 214.113 150.0 60.8932) (float-vector 223.51 150.0 57.473) (float-vector 204.698 150.0 5.7899)))
(instance face :init :vertices (list (float-vector 201.287 -50.0 25.6547) (float-vector 208.127 -50.0 44.4486) (float-vector 217.524 -50.0 41.0284) (float-vector 210.684 -50.0 22.2345)))
(instance face :init :vertices (list (float-vector 217.524 50.0 41.0284) (float-vector 217.524 -50.0 41.0284) (float-vector 208.127 -50.0 44.4486) (float-vector 208.127 50.0 44.4486)))
(instance face :init :vertices (list (float-vector 210.684 50.0 22.2345) (float-vector 217.524 50.0 41.0284) (float-vector 208.127 50.0 44.4486) (float-vector 201.287 50.0 25.6547)))
(instance face :init :vertices (list (float-vector 201.287 50.0 25.6547) (float-vector 201.287 -50.0 25.6547) (float-vector 210.684 -50.0 22.2345) (float-vector 210.684 50.0 22.2345)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -204.698 150.0 5.2899) (float-vector -204.698 -150.0 5.2899) (float-vector -223.51 -150.0 56.973) (float-vector -223.51 150.0 56.973))
:holes (list
(instance hole :init :vertices (list (float-vector -217.524 50.0 40.5284) (float-vector -217.524 -50.0 40.5284) (float-vector -210.684 -50.0 21.7345) (float-vector -210.684 50.0 21.7345)))
))
(instance face :init :vertices (list (float-vector -195.302 -150.0 8.7101) (float-vector -214.113 -150.0 60.3932) (float-vector -223.51 -150.0 56.973) (float-vector -204.698 -150.0 5.2899)))
(instance face :init :vertices (list (float-vector -195.302 150.0 8.7101) (float-vector -214.113 150.0 60.3932) (float-vector -214.113 -150.0 60.3932) (float-vector -195.302 -150.0 8.7101))
:holes (list
(instance hole :init :vertices (list (float-vector -201.287 -50.0 25.1547) (float-vector -208.127 -50.0 43.9486) (float-vector -208.127 50.0 43.9486) (float-vector -201.287 50.0 25.1547)))
))
(instance face :init :vertices (list (float-vector -223.51 150.0 56.973) (float-vector -223.51 -150.0 56.973) (float-vector -214.113 -150.0 60.3932) (float-vector -214.113 150.0 60.3932)))
(instance face :init :vertices (list (float-vector -195.302 150.0 8.7101) (float-vector -195.302 -150.0 8.7101) (float-vector -204.698 -150.0 5.2899) (float-vector -204.698 150.0 5.2899)))
(instance face :init :vertices (list (float-vector -204.698 150.0 5.2899) (float-vector -223.51 150.0 56.973) (float-vector -214.113 150.0 60.3932) (float-vector -195.302 150.0 8.7101)))
(instance face :init :vertices (list (float-vector -210.684 -50.0 21.7345) (float-vector -217.524 -50.0 40.5284) (float-vector -208.127 -50.0 43.9486) (float-vector -201.287 -50.0 25.1547)))
(instance face :init :vertices (list (float-vector -208.127 50.0 43.9486) (float-vector -208.127 -50.0 43.9486) (float-vector -217.524 -50.0 40.5284) (float-vector -217.524 50.0 40.5284)))
(instance face :init :vertices (list (float-vector -201.287 50.0 25.1547) (float-vector -208.127 50.0 43.9486) (float-vector -217.524 50.0 40.5284) (float-vector -210.684 50.0 21.7345)))
(instance face :init :vertices (list (float-vector -210.684 50.0 21.7345) (float-vector -210.684 -50.0 21.7345) (float-vector -201.287 -50.0 25.1547) (float-vector -201.287 50.0 25.1547)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :saddlebrown)
(send (elt bc 1) :set-color :saddlebrown)
(send (elt bc 2) :set-color :saddlebrown)
(send (elt bc 3) :set-color :saddlebrown)
(send (elt bc 4) :set-color :saddlebrown)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room602-tray1-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 200.0 0.0 55.0) :rot #2f((1.110223e-16 -1.0 -1.110223e-16) (1.110223e-16 -1.110223e-16 1.0) (-1.0 -1.110223e-16 1.110223e-16)) :name ":rarm-handle"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -200.0 0.0 55.0) :rot #2f((1.110223e-16 -1.0 -1.110223e-16) (1.110223e-16 -1.110223e-16 1.0) (-1.0 -1.110223e-16 1.110223e-16)) :name ":larm-handle"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 200.0 -120.0 55.0) :rot #2f((-0.707107 -7.216450e-16 -0.707107) (0.707107 -5.551115e-16 -0.707107) (1.665335e-16 -1.0 8.881784e-16)) :name "handle2"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 200.0 120.0 55.0) :rot #2f((-0.707107 8.881784e-16 -0.707107) (-0.707107 -4.996004e-16 0.707107) (2.775558e-16 1.0 9.436896e-16)) :name "handle3"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -200.0 -120.0 55.0) :rot #2f((0.707107 -5.551115e-16 -0.707107) (0.707107 6.106227e-16 0.707107) (0.0 -1.0 8.326673e-16)) :name "handle4"))
(send blink0 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector -200.0 120.0 55.0) :rot #2f((0.707107 6.661338e-16 -0.707107) (-0.707107 5.828671e-16 -0.707107) (-5.551115e-17 1.0 8.604228e-16)) :name "handle5"))
(send blink0 :assoc handle5)
;; 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 handle2 handle3 handle4 handle5) args))
(:handle-rarm-handle (&rest args) (forward-message-to handle0 args))
(:handle-larm-handle (&rest args) (forward-message-to handle1 args))
(:handle-handle2 (&rest args) (forward-message-to handle2 args))
(:handle-handle3 (&rest args) (forward-message-to handle3 args))
(:handle-handle4 (&rest args) (forward-message-to handle4 args))
(:handle-handle5 (&rest args) (forward-message-to handle5 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room602-tray1 (&rest args) (instance* room602-tray1-object :init args))
;; (format *error-output* "(instance room602-tray1-object :init) for generating model~%")
|
