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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass uchida-2400-desk-object
:super cascaded-link
:slots (sensors
))
(defmethod uchida-2400-desk-object
(:init
(&rest args &key (name "uchida-2400-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 :uchida-2400-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 490.0 1180.0 647.5) (float-vector -490.0 1180.0 647.5) (float-vector -490.0 -1180.0 647.5) (float-vector 490.0 -1180.0 647.5)))
(instance face :init :vertices (list (float-vector -490.0 1180.0 597.5) (float-vector 490.0 1180.0 597.5) (float-vector 490.0 -1180.0 597.5) (float-vector -490.0 -1180.0 597.5)))
(instance face :init :vertices (list (float-vector 490.0 1180.0 647.5) (float-vector 490.0 1180.0 597.5) (float-vector -490.0 1180.0 597.5) (float-vector -490.0 1180.0 647.5)))
(instance face :init :vertices (list (float-vector 490.0 -1180.0 647.5) (float-vector 490.0 -1180.0 597.5) (float-vector 490.0 1180.0 597.5) (float-vector 490.0 1180.0 647.5)))
(instance face :init :vertices (list (float-vector -490.0 -1180.0 647.5) (float-vector -490.0 -1180.0 597.5) (float-vector 490.0 -1180.0 597.5) (float-vector 490.0 -1180.0 647.5)))
(instance face :init :vertices (list (float-vector -490.0 1180.0 647.5) (float-vector -490.0 1180.0 597.5) (float-vector -490.0 -1180.0 597.5) (float-vector -490.0 -1180.0 647.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -60.0 1200.0 715.0) (float-vector -700.0 1200.0 715.0) (float-vector -700.0 -1200.0 715.0) (float-vector -60.0 -1200.0 715.0)))
(instance face :init :vertices (list (float-vector -700.0 1200.0 682.0) (float-vector -60.0 1200.0 682.0) (float-vector -60.0 -1200.0 682.0) (float-vector -700.0 -1200.0 682.0)))
(instance face :init :vertices (list (float-vector -60.0 1200.0 715.0) (float-vector -60.0 1200.0 682.0) (float-vector -700.0 1200.0 682.0) (float-vector -700.0 1200.0 715.0)))
(instance face :init :vertices (list (float-vector -60.0 -1200.0 715.0) (float-vector -60.0 -1200.0 682.0) (float-vector -60.0 1200.0 682.0) (float-vector -60.0 1200.0 715.0)))
(instance face :init :vertices (list (float-vector -700.0 -1200.0 715.0) (float-vector -700.0 -1200.0 682.0) (float-vector -60.0 -1200.0 682.0) (float-vector -60.0 -1200.0 715.0)))
(instance face :init :vertices (list (float-vector -700.0 1200.0 715.0) (float-vector -700.0 1200.0 682.0) (float-vector -700.0 -1200.0 682.0) (float-vector -700.0 -1200.0 715.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 700.0 1200.0 715.0) (float-vector 60.0 1200.0 715.0) (float-vector 60.0 -1200.0 715.0) (float-vector 700.0 -1200.0 715.0)))
(instance face :init :vertices (list (float-vector 60.0 1200.0 682.0) (float-vector 700.0 1200.0 682.0) (float-vector 700.0 -1200.0 682.0) (float-vector 60.0 -1200.0 682.0)))
(instance face :init :vertices (list (float-vector 700.0 1200.0 715.0) (float-vector 700.0 1200.0 682.0) (float-vector 60.0 1200.0 682.0) (float-vector 60.0 1200.0 715.0)))
(instance face :init :vertices (list (float-vector 700.0 -1200.0 715.0) (float-vector 700.0 -1200.0 682.0) (float-vector 700.0 1200.0 682.0) (float-vector 700.0 1200.0 715.0)))
(instance face :init :vertices (list (float-vector 60.0 -1200.0 715.0) (float-vector 60.0 -1200.0 682.0) (float-vector 700.0 -1200.0 682.0) (float-vector 700.0 -1200.0 715.0)))
(instance face :init :vertices (list (float-vector 60.0 1200.0 715.0) (float-vector 60.0 1200.0 682.0) (float-vector 60.0 -1200.0 682.0) (float-vector 60.0 -1200.0 715.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -595.0 1225.0 0.0) (float-vector -475.0 1225.0 0.0) (float-vector -475.0 1225.0 530.0) (float-vector 475.0 1225.0 530.0) (float-vector 475.0 1225.0 0.0) (float-vector 595.0 1225.0 0.0) (float-vector 595.0 1225.0 665.0) (float-vector 80.0 1225.0 665.0) (float-vector 60.0 1225.0 645.0) (float-vector -60.0 1225.0 645.0) (float-vector -80.0 1225.0 665.0) (float-vector -595.0 1225.0 665.0)))
(instance face :init :vertices (list (float-vector -475.0 1175.0 0.0) (float-vector -595.0 1175.0 0.0) (float-vector -595.0 1175.0 665.0) (float-vector -80.0 1175.0 665.0) (float-vector -60.0 1175.0 645.0) (float-vector 60.0 1175.0 645.0) (float-vector 80.0 1175.0 665.0) (float-vector 595.0 1175.0 665.0) (float-vector 595.0 1175.0 0.0) (float-vector 475.0 1175.0 0.0) (float-vector 475.0 1175.0 530.0) (float-vector -475.0 1175.0 530.0)))
(instance face :init :vertices (list (float-vector -595.0 1225.0 0.0) (float-vector -595.0 1175.0 0.0) (float-vector -475.0 1175.0 0.0) (float-vector -475.0 1225.0 0.0)))
(instance face :init :vertices (list (float-vector -595.0 1225.0 665.0) (float-vector -595.0 1175.0 665.0) (float-vector -595.0 1175.0 0.0) (float-vector -595.0 1225.0 0.0)))
(instance face :init :vertices (list (float-vector -80.0 1225.0 665.0) (float-vector -80.0 1175.0 665.0) (float-vector -595.0 1175.0 665.0) (float-vector -595.0 1225.0 665.0)))
(instance face :init :vertices (list (float-vector -60.0 1225.0 645.0) (float-vector -60.0 1175.0 645.0) (float-vector -80.0 1175.0 665.0) (float-vector -80.0 1225.0 665.0)))
(instance face :init :vertices (list (float-vector 60.0 1225.0 645.0) (float-vector 60.0 1175.0 645.0) (float-vector -60.0 1175.0 645.0) (float-vector -60.0 1225.0 645.0)))
(instance face :init :vertices (list (float-vector 80.0 1225.0 665.0) (float-vector 80.0 1175.0 665.0) (float-vector 60.0 1175.0 645.0) (float-vector 60.0 1225.0 645.0)))
(instance face :init :vertices (list (float-vector 595.0 1225.0 665.0) (float-vector 595.0 1175.0 665.0) (float-vector 80.0 1175.0 665.0) (float-vector 80.0 1225.0 665.0)))
(instance face :init :vertices (list (float-vector 595.0 1225.0 0.0) (float-vector 595.0 1175.0 0.0) (float-vector 595.0 1175.0 665.0) (float-vector 595.0 1225.0 665.0)))
(instance face :init :vertices (list (float-vector 475.0 1225.0 0.0) (float-vector 475.0 1175.0 0.0) (float-vector 595.0 1175.0 0.0) (float-vector 595.0 1225.0 0.0)))
(instance face :init :vertices (list (float-vector 475.0 1225.0 530.0) (float-vector 475.0 1175.0 530.0) (float-vector 475.0 1175.0 0.0) (float-vector 475.0 1225.0 0.0)))
(instance face :init :vertices (list (float-vector -475.0 1225.0 530.0) (float-vector -475.0 1175.0 530.0) (float-vector 475.0 1175.0 530.0) (float-vector 475.0 1225.0 530.0)))
(instance face :init :vertices (list (float-vector -475.0 1225.0 0.0) (float-vector -475.0 1175.0 0.0) (float-vector -475.0 1175.0 530.0) (float-vector -475.0 1225.0 530.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -595.0 -1175.0 0.0) (float-vector -475.0 -1175.0 0.0) (float-vector -475.0 -1175.0 530.0) (float-vector 475.0 -1175.0 530.0) (float-vector 475.0 -1175.0 0.0) (float-vector 595.0 -1175.0 0.0) (float-vector 595.0 -1175.0 665.0) (float-vector 80.0 -1175.0 665.0) (float-vector 60.0 -1175.0 645.0) (float-vector -60.0 -1175.0 645.0) (float-vector -80.0 -1175.0 665.0) (float-vector -595.0 -1175.0 665.0)))
(instance face :init :vertices (list (float-vector -475.0 -1225.0 0.0) (float-vector -595.0 -1225.0 0.0) (float-vector -595.0 -1225.0 665.0) (float-vector -80.0 -1225.0 665.0) (float-vector -60.0 -1225.0 645.0) (float-vector 60.0 -1225.0 645.0) (float-vector 80.0 -1225.0 665.0) (float-vector 595.0 -1225.0 665.0) (float-vector 595.0 -1225.0 0.0) (float-vector 475.0 -1225.0 0.0) (float-vector 475.0 -1225.0 530.0) (float-vector -475.0 -1225.0 530.0)))
(instance face :init :vertices (list (float-vector -595.0 -1175.0 0.0) (float-vector -595.0 -1225.0 0.0) (float-vector -475.0 -1225.0 0.0) (float-vector -475.0 -1175.0 0.0)))
(instance face :init :vertices (list (float-vector -595.0 -1175.0 665.0) (float-vector -595.0 -1225.0 665.0) (float-vector -595.0 -1225.0 0.0) (float-vector -595.0 -1175.0 0.0)))
(instance face :init :vertices (list (float-vector -80.0 -1175.0 665.0) (float-vector -80.0 -1225.0 665.0) (float-vector -595.0 -1225.0 665.0) (float-vector -595.0 -1175.0 665.0)))
(instance face :init :vertices (list (float-vector -60.0 -1175.0 645.0) (float-vector -60.0 -1225.0 645.0) (float-vector -80.0 -1225.0 665.0) (float-vector -80.0 -1175.0 665.0)))
(instance face :init :vertices (list (float-vector 60.0 -1175.0 645.0) (float-vector 60.0 -1225.0 645.0) (float-vector -60.0 -1225.0 645.0) (float-vector -60.0 -1175.0 645.0)))
(instance face :init :vertices (list (float-vector 80.0 -1175.0 665.0) (float-vector 80.0 -1225.0 665.0) (float-vector 60.0 -1225.0 645.0) (float-vector 60.0 -1175.0 645.0)))
(instance face :init :vertices (list (float-vector 595.0 -1175.0 665.0) (float-vector 595.0 -1225.0 665.0) (float-vector 80.0 -1225.0 665.0) (float-vector 80.0 -1175.0 665.0)))
(instance face :init :vertices (list (float-vector 595.0 -1175.0 0.0) (float-vector 595.0 -1225.0 0.0) (float-vector 595.0 -1225.0 665.0) (float-vector 595.0 -1175.0 665.0)))
(instance face :init :vertices (list (float-vector 475.0 -1175.0 0.0) (float-vector 475.0 -1225.0 0.0) (float-vector 595.0 -1225.0 0.0) (float-vector 595.0 -1175.0 0.0)))
(instance face :init :vertices (list (float-vector 475.0 -1175.0 530.0) (float-vector 475.0 -1225.0 530.0) (float-vector 475.0 -1225.0 0.0) (float-vector 475.0 -1175.0 0.0)))
(instance face :init :vertices (list (float-vector -475.0 -1175.0 530.0) (float-vector -475.0 -1225.0 530.0) (float-vector 475.0 -1225.0 530.0) (float-vector 475.0 -1175.0 530.0)))
(instance face :init :vertices (list (float-vector -475.0 -1175.0 0.0) (float-vector -475.0 -1225.0 0.0) (float-vector -475.0 -1225.0 530.0) (float-vector -475.0 -1175.0 530.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.2894 -1213.25 963.0) (float-vector 16.5 -1205.0 963.0) (float-vector 14.2894 -1196.75 963.0) (float-vector 8.25 -1190.71 963.0) (float-vector 1.065814e-14 -1188.5 963.0) (float-vector -8.25 -1190.71 963.0) (float-vector -14.2894 -1196.75 963.0) (float-vector -16.5 -1205.0 963.0) (float-vector -14.2894 -1213.25 963.0) (float-vector -8.25 -1219.29 963.0) (float-vector -3.019807e-14 -1221.5 963.0) (float-vector 8.25 -1219.29 963.0)))
(instance face :init :vertices (list (float-vector 16.5 -1205.0 530.0) (float-vector 14.2894 -1213.25 530.0) (float-vector 8.25 -1219.29 530.0) (float-vector -3.019807e-14 -1221.5 530.0) (float-vector -8.25 -1219.29 530.0) (float-vector -14.2894 -1213.25 530.0) (float-vector -16.5 -1205.0 530.0) (float-vector -14.2894 -1196.75 530.0) (float-vector -8.25 -1190.71 530.0) (float-vector 1.065814e-14 -1188.5 530.0) (float-vector 8.25 -1190.71 530.0) (float-vector 14.2894 -1196.75 530.0)))
(instance face :init :vertices (list (float-vector 14.2894 -1213.25 963.0) (float-vector 14.2894 -1213.25 530.0) (float-vector 16.5 -1205.0 530.0) (float-vector 16.5 -1205.0 963.0)))
(instance face :init :vertices (list (float-vector 8.25 -1219.29 963.0) (float-vector 8.25 -1219.29 530.0) (float-vector 14.2894 -1213.25 530.0) (float-vector 14.2894 -1213.25 963.0)))
(instance face :init :vertices (list (float-vector -3.019807e-14 -1221.5 963.0) (float-vector -3.019807e-14 -1221.5 530.0) (float-vector 8.25 -1219.29 530.0) (float-vector 8.25 -1219.29 963.0)))
(instance face :init :vertices (list (float-vector -8.25 -1219.29 963.0) (float-vector -8.25 -1219.29 530.0) (float-vector -3.019807e-14 -1221.5 530.0) (float-vector -3.019807e-14 -1221.5 963.0)))
(instance face :init :vertices (list (float-vector -14.2894 -1213.25 963.0) (float-vector -14.2894 -1213.25 530.0) (float-vector -8.25 -1219.29 530.0) (float-vector -8.25 -1219.29 963.0)))
(instance face :init :vertices (list (float-vector -16.5 -1205.0 963.0) (float-vector -16.5 -1205.0 530.0) (float-vector -14.2894 -1213.25 530.0) (float-vector -14.2894 -1213.25 963.0)))
(instance face :init :vertices (list (float-vector -14.2894 -1196.75 963.0) (float-vector -14.2894 -1196.75 530.0) (float-vector -16.5 -1205.0 530.0) (float-vector -16.5 -1205.0 963.0)))
(instance face :init :vertices (list (float-vector -8.25 -1190.71 963.0) (float-vector -8.25 -1190.71 530.0) (float-vector -14.2894 -1196.75 530.0) (float-vector -14.2894 -1196.75 963.0)))
(instance face :init :vertices (list (float-vector 1.065814e-14 -1188.5 963.0) (float-vector 1.065814e-14 -1188.5 530.0) (float-vector -8.25 -1190.71 530.0) (float-vector -8.25 -1190.71 963.0)))
(instance face :init :vertices (list (float-vector 8.25 -1190.71 963.0) (float-vector 8.25 -1190.71 530.0) (float-vector 1.065814e-14 -1188.5 530.0) (float-vector 1.065814e-14 -1188.5 963.0)))
(instance face :init :vertices (list (float-vector 14.2894 -1196.75 963.0) (float-vector 14.2894 -1196.75 530.0) (float-vector 8.25 -1190.71 530.0) (float-vector 8.25 -1190.71 963.0)))
(instance face :init :vertices (list (float-vector 16.5 -1205.0 963.0) (float-vector 16.5 -1205.0 530.0) (float-vector 14.2894 -1196.75 530.0) (float-vector 14.2894 -1196.75 963.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 14.2894 1196.75 963.0) (float-vector 16.5 1205.0 963.0) (float-vector 14.2894 1213.25 963.0) (float-vector 8.25 1219.29 963.0) (float-vector 1.065814e-14 1221.5 963.0) (float-vector -8.25 1219.29 963.0) (float-vector -14.2894 1213.25 963.0) (float-vector -16.5 1205.0 963.0) (float-vector -14.2894 1196.75 963.0) (float-vector -8.25 1190.71 963.0) (float-vector -3.019807e-14 1188.5 963.0) (float-vector 8.25 1190.71 963.0)))
(instance face :init :vertices (list (float-vector 16.5 1205.0 530.0) (float-vector 14.2894 1196.75 530.0) (float-vector 8.25 1190.71 530.0) (float-vector -3.019807e-14 1188.5 530.0) (float-vector -8.25 1190.71 530.0) (float-vector -14.2894 1196.75 530.0) (float-vector -16.5 1205.0 530.0) (float-vector -14.2894 1213.25 530.0) (float-vector -8.25 1219.29 530.0) (float-vector 1.065814e-14 1221.5 530.0) (float-vector 8.25 1219.29 530.0) (float-vector 14.2894 1213.25 530.0)))
(instance face :init :vertices (list (float-vector 14.2894 1196.75 963.0) (float-vector 14.2894 1196.75 530.0) (float-vector 16.5 1205.0 530.0) (float-vector 16.5 1205.0 963.0)))
(instance face :init :vertices (list (float-vector 8.25 1190.71 963.0) (float-vector 8.25 1190.71 530.0) (float-vector 14.2894 1196.75 530.0) (float-vector 14.2894 1196.75 963.0)))
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(instance face :init :vertices (list (float-vector 1.136868e-13 992.5 933.0) (float-vector 150.0 992.5 933.0) (float-vector 150.0 993.505 936.75) (float-vector 1.136868e-13 993.505 936.75)))
(instance face :init :vertices (list (float-vector 1.136868e-13 993.505 929.25) (float-vector 150.0 993.505 929.25) (float-vector 150.0 992.5 933.0) (float-vector 1.136868e-13 992.5 933.0)))
(instance face :init :vertices (list (float-vector 1.136868e-13 996.25 926.505) (float-vector 150.0 996.25 926.505) (float-vector 150.0 993.505 929.25) (float-vector 1.136868e-13 993.505 929.25)))
(instance face :init :vertices (list (float-vector 1.136868e-13 1000.0 925.5) (float-vector 150.0 1000.0 925.5) (float-vector 150.0 996.25 926.505) (float-vector 1.136868e-13 996.25 926.505)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray)
(send (elt bc 1) :set-color :lemonchiffon)
(send (elt bc 2) :set-color :lemonchiffon)
(send (elt bc 3) :set-color :gray)
(send (elt bc 4) :set-color :gray)
(send (elt bc 5) :set-color :gray)
(send (elt bc 6) :set-color :gray)
(send (elt bc 7) :set-color :gray)
(send (elt bc 8) :set-color :white)
(send (elt bc 9) :set-color :black)
(send (elt bc 10) :set-color :white)
(send (elt bc 11) :set-color :white)
(send (elt bc 12) :set-color :white)
(send (elt bc 13) :set-color :white)
(send (elt bc 14) :set-color :black)
(send (elt bc 15) :set-color :white)
(send (elt bc 16) :set-color :white)
(send (elt bc 17) :set-color :white)
(send (elt bc 18) :set-color :white)
(send (elt bc 19) :set-color :black)
(send (elt bc 20) :set-color :white)
(send (elt bc 21) :set-color :white)
(send (elt bc 22) :set-color :white)
(send (elt bc 23) :set-color :white)
(send (elt bc 24) :set-color :black)
(send (elt bc 25) :set-color :white)
(send (elt bc 26) :set-color :white)
(send (elt bc 27) :set-color :white)
(send (elt bc 28) :set-color :white)
(send (elt bc 29) :set-color :black)
(send (elt bc 30) :set-color :white)
(send (elt bc 31) :set-color :white)
(send (elt bc 32) :set-color :white)
(send (elt bc 33) :set-color :white)
(send (elt bc 34) :set-color :black)
(send (elt bc 35) :set-color :white)
(send (elt bc 36) :set-color :white)
(send (elt bc 37) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :uchida-2400-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
;; 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 uchida-2400-desk (&rest args) (instance* uchida-2400-desk-object :init args))
;; (format *error-output* "(instance uchida-2400-desk-object :init) for generating model~%")
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