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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room602-door-right-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3
joint0 joint1 joint2 ))
(defmethod room602-door-right-object
(:init
(&rest args &key (name "room602-door-right") (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 :room602-door-right-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -12.0 22.0 1900.0) (float-vector -22.0 22.0 1900.0) (float-vector -22.0 12.0 1900.0) (float-vector -12.0 12.0 1900.0)))
(instance face :init :vertices (list (float-vector -22.0 22.0 0.0) (float-vector -12.0 22.0 0.0) (float-vector -12.0 12.0 0.0) (float-vector -22.0 12.0 0.0)))
(instance face :init :vertices (list (float-vector -12.0 22.0 1900.0) (float-vector -12.0 22.0 0.0) (float-vector -22.0 22.0 0.0) (float-vector -22.0 22.0 1900.0)))
(instance face :init :vertices (list (float-vector -12.0 12.0 1900.0) (float-vector -12.0 12.0 0.0) (float-vector -12.0 22.0 0.0) (float-vector -12.0 22.0 1900.0)))
(instance face :init :vertices (list (float-vector -22.0 12.0 1900.0) (float-vector -22.0 12.0 0.0) (float-vector -12.0 12.0 0.0) (float-vector -12.0 12.0 1900.0)))
(instance face :init :vertices (list (float-vector -22.0 22.0 1900.0) (float-vector -22.0 22.0 0.0) (float-vector -22.0 12.0 0.0) (float-vector -22.0 12.0 1900.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :darkseagreen2)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room602-door-right-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 :room602-door-right-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.5 783.0 1900.0) (float-vector -17.5 783.0 1900.0) (float-vector -17.5 -17.0 1900.0) (float-vector 17.5 -17.0 1900.0)))
(instance face :init :vertices (list (float-vector -17.5 783.0 0.0) (float-vector 17.5 783.0 0.0) (float-vector 17.5 -17.0 0.0) (float-vector -17.5 -17.0 0.0)))
(instance face :init :vertices (list (float-vector 17.5 783.0 1900.0) (float-vector 17.5 783.0 0.0) (float-vector -17.5 783.0 0.0) (float-vector -17.5 783.0 1900.0)))
(instance face :init :vertices (list (float-vector 17.5 -17.0 1900.0) (float-vector 17.5 -17.0 0.0) (float-vector 17.5 783.0 0.0) (float-vector 17.5 783.0 1900.0)))
(instance face :init :vertices (list (float-vector -17.5 -17.0 1900.0) (float-vector -17.5 -17.0 0.0) (float-vector 17.5 -17.0 0.0) (float-vector 17.5 -17.0 1900.0)))
(instance face :init :vertices (list (float-vector -17.5 783.0 1900.0) (float-vector -17.5 783.0 0.0) (float-vector -17.5 -17.0 0.0) (float-vector -17.5 -17.0 1900.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :darkseagreen2)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room602-door-right-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 :room602-door-right-bodyset4
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -5.0 -10.0 -17.3205) (float-vector -5.0 0.0 -20.0) (float-vector -5.0 10.0 -17.3205) (float-vector -5.0 17.3205 -10.0) (float-vector -5.0 20.0 0.0) (float-vector -5.0 17.3205 10.0) (float-vector -5.0 10.0 17.3205) (float-vector -5.0 2.842171e-14 20.0) (float-vector -5.0 -10.0 17.3205) (float-vector -5.0 -17.3205 10.0) (float-vector -5.0 -20.0 0.0) (float-vector -5.0 -17.3205 -10.0)))
(instance face :init :vertices (list (float-vector -20.0 0.0 -20.0) (float-vector -20.0 -10.0 -17.3205) (float-vector -20.0 -17.3205 -10.0) (float-vector -20.0 -20.0 0.0) (float-vector -20.0 -17.3205 10.0) (float-vector -20.0 -10.0 17.3205) (float-vector -20.0 2.842171e-14 20.0) (float-vector -20.0 10.0 17.3205) (float-vector -20.0 17.3205 10.0) (float-vector -20.0 20.0 0.0) (float-vector -20.0 17.3205 -10.0) (float-vector -20.0 10.0 -17.3205)))
(instance face :init :vertices (list (float-vector -5.0 -10.0 -17.3205) (float-vector -20.0 -10.0 -17.3205) (float-vector -20.0 0.0 -20.0) (float-vector -5.0 0.0 -20.0)))
(instance face :init :vertices (list (float-vector -5.0 -17.3205 -10.0) (float-vector -20.0 -17.3205 -10.0) (float-vector -20.0 -10.0 -17.3205) (float-vector -5.0 -10.0 -17.3205)))
(instance face :init :vertices (list (float-vector -5.0 -20.0 0.0) (float-vector -20.0 -20.0 0.0) (float-vector -20.0 -17.3205 -10.0) (float-vector -5.0 -17.3205 -10.0)))
(instance face :init :vertices (list (float-vector -5.0 -17.3205 10.0) (float-vector -20.0 -17.3205 10.0) (float-vector -20.0 -20.0 0.0) (float-vector -5.0 -20.0 0.0)))
(instance face :init :vertices (list (float-vector -5.0 -10.0 17.3205) (float-vector -20.0 -10.0 17.3205) (float-vector -20.0 -17.3205 10.0) (float-vector -5.0 -17.3205 10.0)))
(instance face :init :vertices (list (float-vector -5.0 2.842171e-14 20.0) (float-vector -20.0 2.842171e-14 20.0) (float-vector -20.0 -10.0 17.3205) (float-vector -5.0 -10.0 17.3205)))
(instance face :init :vertices (list (float-vector -5.0 10.0 17.3205) (float-vector -20.0 10.0 17.3205) (float-vector -20.0 2.842171e-14 20.0) (float-vector -5.0 2.842171e-14 20.0)))
(instance face :init :vertices (list (float-vector -5.0 17.3205 10.0) (float-vector -20.0 17.3205 10.0) (float-vector -20.0 10.0 17.3205) (float-vector -5.0 10.0 17.3205)))
(instance face :init :vertices (list (float-vector -5.0 20.0 0.0) (float-vector -20.0 20.0 0.0) (float-vector -20.0 17.3205 10.0) (float-vector -5.0 17.3205 10.0)))
(instance face :init :vertices (list (float-vector -5.0 17.3205 -10.0) (float-vector -20.0 17.3205 -10.0) (float-vector -20.0 20.0 0.0) (float-vector -5.0 20.0 0.0)))
(instance face :init :vertices (list (float-vector -5.0 10.0 -17.3205) (float-vector -20.0 10.0 -17.3205) (float-vector -20.0 17.3205 -10.0) (float-vector -5.0 17.3205 -10.0)))
(instance face :init :vertices (list (float-vector -5.0 0.0 -20.0) (float-vector -20.0 0.0 -20.0) (float-vector -20.0 10.0 -17.3205) (float-vector -5.0 10.0 -17.3205)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 20.0 5.0 15.0) (float-vector -20.0 5.0 15.0) (float-vector -20.0 -5.0 15.0) (float-vector 20.0 -5.0 15.0)))
(instance face :init :vertices (list (float-vector -20.0 5.0 -15.0) (float-vector 20.0 5.0 -15.0) (float-vector 20.0 -5.0 -15.0) (float-vector -20.0 -5.0 -15.0)))
(instance face :init :vertices (list (float-vector 20.0 5.0 15.0) (float-vector 20.0 5.0 -15.0) (float-vector -20.0 5.0 -15.0) (float-vector -20.0 5.0 15.0)))
(instance face :init :vertices (list (float-vector 20.0 -5.0 15.0) (float-vector 20.0 -5.0 -15.0) (float-vector 20.0 5.0 -15.0) (float-vector 20.0 5.0 15.0)))
(instance face :init :vertices (list (float-vector -20.0 -5.0 15.0) (float-vector -20.0 -5.0 -15.0) (float-vector 20.0 -5.0 -15.0) (float-vector 20.0 -5.0 15.0)))
(instance face :init :vertices (list (float-vector -20.0 5.0 15.0) (float-vector -20.0 5.0 -15.0) (float-vector -20.0 -5.0 -15.0) (float-vector -20.0 -5.0 15.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -70.0 -10.0 17.3205) (float-vector -70.0 0.0 20.0) (float-vector -70.0 10.0 17.3205) (float-vector -70.0 17.3205 10.0) (float-vector -70.0 20.0 0.0) (float-vector -70.0 17.3205 -10.0) (float-vector -70.0 10.0 -17.3205) (float-vector -70.0 2.842171e-14 -20.0) (float-vector -70.0 -10.0 -17.3205) (float-vector -70.0 -17.3205 -10.0) (float-vector -70.0 -20.0 0.0) (float-vector -70.0 -17.3205 10.0)))
(instance face :init :vertices (list (float-vector -55.0 0.0 20.0) (float-vector -55.0 -10.0 17.3205) (float-vector -55.0 -17.3205 10.0) (float-vector -55.0 -20.0 0.0) (float-vector -55.0 -17.3205 -10.0) (float-vector -55.0 -10.0 -17.3205) (float-vector -55.0 2.842171e-14 -20.0) (float-vector -55.0 10.0 -17.3205) (float-vector -55.0 17.3205 -10.0) (float-vector -55.0 20.0 0.0) (float-vector -55.0 17.3205 10.0) (float-vector -55.0 10.0 17.3205)))
(instance face :init :vertices (list (float-vector -70.0 -10.0 17.3205) (float-vector -55.0 -10.0 17.3205) (float-vector -55.0 0.0 20.0) (float-vector -70.0 0.0 20.0)))
(instance face :init :vertices (list (float-vector -70.0 -17.3205 10.0) (float-vector -55.0 -17.3205 10.0) (float-vector -55.0 -10.0 17.3205) (float-vector -70.0 -10.0 17.3205)))
(instance face :init :vertices (list (float-vector -70.0 -20.0 0.0) (float-vector -55.0 -20.0 0.0) (float-vector -55.0 -17.3205 10.0) (float-vector -70.0 -17.3205 10.0)))
(instance face :init :vertices (list (float-vector -70.0 -17.3205 -10.0) (float-vector -55.0 -17.3205 -10.0) (float-vector -55.0 -20.0 0.0) (float-vector -70.0 -20.0 0.0)))
(instance face :init :vertices (list (float-vector -70.0 -10.0 -17.3205) (float-vector -55.0 -10.0 -17.3205) (float-vector -55.0 -17.3205 -10.0) (float-vector -70.0 -17.3205 -10.0)))
(instance face :init :vertices (list (float-vector -70.0 2.842171e-14 -20.0) (float-vector -55.0 2.842171e-14 -20.0) (float-vector -55.0 -10.0 -17.3205) (float-vector -70.0 -10.0 -17.3205)))
(instance face :init :vertices (list (float-vector -70.0 10.0 -17.3205) (float-vector -55.0 10.0 -17.3205) (float-vector -55.0 2.842171e-14 -20.0) (float-vector -70.0 2.842171e-14 -20.0)))
(instance face :init :vertices (list (float-vector -70.0 17.3205 -10.0) (float-vector -55.0 17.3205 -10.0) (float-vector -55.0 10.0 -17.3205) (float-vector -70.0 10.0 -17.3205)))
(instance face :init :vertices (list (float-vector -70.0 20.0 0.0) (float-vector -55.0 20.0 0.0) (float-vector -55.0 17.3205 -10.0) (float-vector -70.0 17.3205 -10.0)))
(instance face :init :vertices (list (float-vector -70.0 17.3205 10.0) (float-vector -55.0 17.3205 10.0) (float-vector -55.0 20.0 0.0) (float-vector -70.0 20.0 0.0)))
(instance face :init :vertices (list (float-vector -70.0 10.0 17.3205) (float-vector -55.0 10.0 17.3205) (float-vector -55.0 17.3205 10.0) (float-vector -70.0 17.3205 10.0)))
(instance face :init :vertices (list (float-vector -70.0 0.0 20.0) (float-vector -55.0 0.0 20.0) (float-vector -55.0 10.0 17.3205) (float-vector -70.0 10.0 17.3205)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :dimgray)
(send (elt bc 1) :set-color :dimgray)
(send (elt bc 2) :set-color :dimgray)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room602-door-right-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 :room602-door-right-bodyset5
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 175.0 -12.5 -21.6506) (float-vector 175.0 0.0 -25.0) (float-vector 175.0 12.5 -21.6506) (float-vector 175.0 21.6506 -12.5) (float-vector 175.0 25.0 0.0) (float-vector 175.0 21.6506 12.5) (float-vector 175.0 12.5 21.6506) (float-vector 175.0 2.842171e-14 25.0) (float-vector 175.0 -12.5 21.6506) (float-vector 175.0 -21.6506 12.5) (float-vector 175.0 -25.0 1.136868e-13) (float-vector 175.0 -21.6506 -12.5)))
(instance face :init :vertices (list (float-vector 0.0 0.0 -25.0) (float-vector 0.0 -12.5 -21.6506) (float-vector 0.0 -21.6506 -12.5) (float-vector 0.0 -25.0 0.0) (float-vector 0.0 -21.6506 12.5) (float-vector 0.0 -12.5 21.6506) (float-vector 0.0 2.842171e-14 25.0) (float-vector 0.0 12.5 21.6506) (float-vector 0.0 21.6506 12.5) (float-vector 0.0 25.0 0.0) (float-vector 0.0 21.6506 -12.5) (float-vector 0.0 12.5 -21.6506)))
(instance face :init :vertices (list (float-vector 175.0 -12.5 -21.6506) (float-vector 0.0 -12.5 -21.6506) (float-vector 0.0 0.0 -25.0) (float-vector 175.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 175.0 -21.6506 -12.5) (float-vector 0.0 -21.6506 -12.5) (float-vector 0.0 -12.5 -21.6506) (float-vector 175.0 -12.5 -21.6506)))
(instance face :init :vertices (list (float-vector 175.0 -25.0 1.136868e-13) (float-vector 0.0 -25.0 0.0) (float-vector 0.0 -21.6506 -12.5) (float-vector 175.0 -21.6506 -12.5)))
(instance face :init :vertices (list (float-vector 175.0 -21.6506 12.5) (float-vector 0.0 -21.6506 12.5) (float-vector 0.0 -25.0 0.0) (float-vector 175.0 -25.0 1.136868e-13)))
(instance face :init :vertices (list (float-vector 175.0 -12.5 21.6506) (float-vector 0.0 -12.5 21.6506) (float-vector 0.0 -21.6506 12.5) (float-vector 175.0 -21.6506 12.5)))
(instance face :init :vertices (list (float-vector 175.0 2.842171e-14 25.0) (float-vector 0.0 2.842171e-14 25.0) (float-vector 0.0 -12.5 21.6506) (float-vector 175.0 -12.5 21.6506)))
(instance face :init :vertices (list (float-vector 175.0 12.5 21.6506) (float-vector 0.0 12.5 21.6506) (float-vector 0.0 2.842171e-14 25.0) (float-vector 175.0 2.842171e-14 25.0)))
(instance face :init :vertices (list (float-vector 175.0 21.6506 12.5) (float-vector 0.0 21.6506 12.5) (float-vector 0.0 12.5 21.6506) (float-vector 175.0 12.5 21.6506)))
(instance face :init :vertices (list (float-vector 175.0 25.0 0.0) (float-vector 0.0 25.0 0.0) (float-vector 0.0 21.6506 12.5) (float-vector 175.0 21.6506 12.5)))
(instance face :init :vertices (list (float-vector 175.0 21.6506 -12.5) (float-vector 0.0 21.6506 -12.5) (float-vector 0.0 25.0 0.0) (float-vector 175.0 25.0 0.0)))
(instance face :init :vertices (list (float-vector 175.0 12.5 -21.6506) (float-vector 0.0 12.5 -21.6506) (float-vector 0.0 21.6506 -12.5) (float-vector 175.0 21.6506 -12.5)))
(instance face :init :vertices (list (float-vector 175.0 0.0 -25.0) (float-vector 0.0 0.0 -25.0) (float-vector 0.0 12.5 -21.6506) (float-vector 175.0 12.5 -21.6506)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :dimgray)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room602-door-right-bodyset5 :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 blink2 :newcoords (make-coords :pos (float-vector -88.0 713.0 910.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink1 :assoc blink2)
(send blink3 :newcoords (make-coords :pos (float-vector 34.5 713.0 1010.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink1 :assoc blink3)
(send blink1 :newcoords (make-coords :pos (float-vector -17.0 17.0 0.0) :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 self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :door
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :door :axis :-z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :knob
(setq joint1 (instance rotational-joint :init
:parent-link blink1 :child-link blink2 :name :knob :axis :x
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :lock
(setq joint2 (instance rotational-joint :init
:parent-link blink2 :child-link blink3 :name :lock :axis :x
:min -90.0 :max 0.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector -17.5 780.0 1060.0) :rot #2f((2.220446e-16 1.0 0.0) (-1.0 2.220446e-16 0.0) (0.0 0.0 1.0)) :name "door-side"))
(send blink1 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -135.0 730.0 910.0) :rot #2f((1.0 0.0 0.0) (0.0 0.866025 0.5) (0.0 -0.5 0.866025)) :name "rear-knob"))
(send blink2 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 100.0 730.0 910.0) :rot #2f((-1.0 -1.224647e-16 0.0) (1.060575e-16 -0.866025 0.5) (-6.123234e-17 0.5 0.866025)) :name "front-knob"))
(send blink2 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 67.5 760.0 1010.0) :rot #2f((-1.0 -1.224647e-16 0.0) (1.224647e-16 -1.0 0.0) (0.0 0.0 1.0)) :name "lock"))
(send blink3 :assoc handle3)
;; 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))
(:door (&rest args) (forward-message-to joint0 args))
(:knob (&rest args) (forward-message-to joint1 args))
(:lock (&rest args) (forward-message-to joint2 args))
(:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2 handle3) args))
(:handle-door-side (&rest args) (forward-message-to handle0 args))
(:handle-rear-knob (&rest args) (forward-message-to handle1 args))
(:handle-front-knob (&rest args) (forward-message-to handle2 args))
(:handle-lock (&rest args) (forward-message-to handle3 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room602-door-right (&rest args) (instance* room602-door-right-object :init args))
;; (format *error-output* "(instance room602-door-right-object :init) for generating model~%")
|
