diff --git a/models/gifuplastic-720-cart-object.l b/models/gifuplastic-720-cart-object.l index 9eb59fb55..0b28b74de 100644 --- a/models/gifuplastic-720-cart-object.l +++ b/models/gifuplastic-720-cart-object.l @@ -7,12 +7,12 @@ :super cascaded-link :slots (sensors handle0 handle1 handle2 - )) + joint0 joint1 joint2 joint3 joint4 joint5 joint6 )) (defmethod gifuplastic-720-cart-object (:init (&rest args &key (name "gifuplastic-720-cart") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys) (let (c bc - blink0 + blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 ) (send-super* :init :name name args) @@ -20,22 +20,6 @@ ;; definition of :gifuplastic-720-cart-bodyset2 (setq bc (list - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 178.301 135.0 25.0) (float-vector 185.0 135.0 50.0) (float-vector 178.301 135.0 75.0) (float-vector 160.0 135.0 93.3013) (float-vector 135.0 135.0 100.0) (float-vector 110.0 135.0 93.3013) (float-vector 91.6987 135.0 75.0) (float-vector 85.0 135.0 50.0) (float-vector 91.6987 135.0 25.0) (float-vector 110.0 135.0 6.69873) (float-vector 135.0 135.0 7.105427e-15) (float-vector 160.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 185.0 160.0 50.0) (float-vector 178.301 160.0 25.0) (float-vector 160.0 160.0 6.69873) (float-vector 135.0 160.0 0.0) (float-vector 110.0 160.0 6.69873) (float-vector 91.6987 160.0 25.0) (float-vector 85.0 160.0 50.0) (float-vector 91.6987 160.0 75.0) (float-vector 110.0 160.0 93.3013) (float-vector 135.0 160.0 100.0) (float-vector 160.0 160.0 93.3013) (float-vector 178.301 160.0 75.0))) - (instance face :init :vertices (list (float-vector 178.301 135.0 25.0) (float-vector 178.301 160.0 25.0) (float-vector 185.0 160.0 50.0) (float-vector 185.0 135.0 50.0))) - (instance face :init :vertices (list (float-vector 160.0 135.0 6.69873) (float-vector 160.0 160.0 6.69873) (float-vector 178.301 160.0 25.0) (float-vector 178.301 135.0 25.0))) - (instance face :init :vertices (list (float-vector 135.0 135.0 7.105427e-15) (float-vector 135.0 160.0 0.0) (float-vector 160.0 160.0 6.69873) (float-vector 160.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 110.0 135.0 6.69873) (float-vector 110.0 160.0 6.69873) (float-vector 135.0 160.0 0.0) (float-vector 135.0 135.0 7.105427e-15))) - (instance face :init :vertices (list (float-vector 91.6987 135.0 25.0) (float-vector 91.6987 160.0 25.0) (float-vector 110.0 160.0 6.69873) (float-vector 110.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 85.0 135.0 50.0) (float-vector 85.0 160.0 50.0) (float-vector 91.6987 160.0 25.0) (float-vector 91.6987 135.0 25.0))) - (instance face :init :vertices (list (float-vector 91.6987 135.0 75.0) (float-vector 91.6987 160.0 75.0) (float-vector 85.0 160.0 50.0) (float-vector 85.0 135.0 50.0))) - (instance face :init :vertices (list (float-vector 110.0 135.0 93.3013) (float-vector 110.0 160.0 93.3013) (float-vector 91.6987 160.0 75.0) (float-vector 91.6987 135.0 75.0))) - (instance face :init :vertices (list (float-vector 135.0 135.0 100.0) (float-vector 135.0 160.0 100.0) (float-vector 110.0 160.0 93.3013) (float-vector 110.0 135.0 93.3013))) - (instance face :init :vertices (list (float-vector 160.0 135.0 93.3013) (float-vector 160.0 160.0 93.3013) (float-vector 135.0 160.0 100.0) (float-vector 135.0 135.0 100.0))) - (instance face :init :vertices (list (float-vector 178.301 135.0 75.0) (float-vector 178.301 160.0 75.0) (float-vector 160.0 160.0 93.3013) (float-vector 160.0 135.0 93.3013))) - (instance face :init :vertices (list (float-vector 185.0 135.0 50.0) (float-vector 185.0 160.0 50.0) (float-vector 178.301 160.0 75.0) (float-vector 178.301 135.0 75.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 147.5 163.75 120.0) (float-vector 122.5 163.75 120.0) (float-vector 122.5 163.75 30.0) (float-vector 147.5 163.75 30.0))) (instance face :init :vertices (list (float-vector 122.5 166.25 120.0) (float-vector 147.5 166.25 120.0) (float-vector 147.5 166.25 30.0) (float-vector 122.5 166.25 30.0))) @@ -52,22 +36,6 @@ (instance face :init :vertices (list (float-vector 122.5 128.75 30.0) (float-vector 122.5 131.25 30.0) (float-vector 147.5 131.25 30.0) (float-vector 147.5 128.75 30.0))) (instance face :init :vertices (list (float-vector 122.5 128.75 120.0) (float-vector 122.5 131.25 120.0) (float-vector 122.5 131.25 30.0) (float-vector 122.5 128.75 30.0))) )) - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 178.301 -160.0 25.0) (float-vector 185.0 -160.0 50.0) (float-vector 178.301 -160.0 75.0) (float-vector 160.0 -160.0 93.3013) (float-vector 135.0 -160.0 100.0) (float-vector 110.0 -160.0 93.3013) (float-vector 91.6987 -160.0 75.0) (float-vector 85.0 -160.0 50.0) (float-vector 91.6987 -160.0 25.0) (float-vector 110.0 -160.0 6.69873) (float-vector 135.0 -160.0 7.105427e-15) (float-vector 160.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 185.0 -135.0 50.0) (float-vector 178.301 -135.0 25.0) (float-vector 160.0 -135.0 6.69873) (float-vector 135.0 -135.0 0.0) (float-vector 110.0 -135.0 6.69873) (float-vector 91.6987 -135.0 25.0) (float-vector 85.0 -135.0 50.0) (float-vector 91.6987 -135.0 75.0) (float-vector 110.0 -135.0 93.3013) (float-vector 135.0 -135.0 100.0) (float-vector 160.0 -135.0 93.3013) (float-vector 178.301 -135.0 75.0))) - (instance face :init :vertices (list (float-vector 178.301 -160.0 25.0) (float-vector 178.301 -135.0 25.0) (float-vector 185.0 -135.0 50.0) (float-vector 185.0 -160.0 50.0))) - (instance face :init :vertices (list (float-vector 160.0 -160.0 6.69873) (float-vector 160.0 -135.0 6.69873) (float-vector 178.301 -135.0 25.0) (float-vector 178.301 -160.0 25.0))) - (instance face :init :vertices (list (float-vector 135.0 -160.0 7.105427e-15) (float-vector 135.0 -135.0 0.0) (float-vector 160.0 -135.0 6.69873) (float-vector 160.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 110.0 -160.0 6.69873) (float-vector 110.0 -135.0 6.69873) (float-vector 135.0 -135.0 0.0) (float-vector 135.0 -160.0 7.105427e-15))) - (instance face :init :vertices (list (float-vector 91.6987 -160.0 25.0) (float-vector 91.6987 -135.0 25.0) (float-vector 110.0 -135.0 6.69873) (float-vector 110.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 85.0 -160.0 50.0) (float-vector 85.0 -135.0 50.0) (float-vector 91.6987 -135.0 25.0) (float-vector 91.6987 -160.0 25.0))) - (instance face :init :vertices (list (float-vector 91.6987 -160.0 75.0) (float-vector 91.6987 -135.0 75.0) (float-vector 85.0 -135.0 50.0) (float-vector 85.0 -160.0 50.0))) - (instance face :init :vertices (list (float-vector 110.0 -160.0 93.3013) (float-vector 110.0 -135.0 93.3013) (float-vector 91.6987 -135.0 75.0) (float-vector 91.6987 -160.0 75.0))) - (instance face :init :vertices (list (float-vector 135.0 -160.0 100.0) (float-vector 135.0 -135.0 100.0) (float-vector 110.0 -135.0 93.3013) (float-vector 110.0 -160.0 93.3013))) - (instance face :init :vertices (list (float-vector 160.0 -160.0 93.3013) (float-vector 160.0 -135.0 93.3013) (float-vector 135.0 -135.0 100.0) (float-vector 135.0 -160.0 100.0))) - (instance face :init :vertices (list (float-vector 178.301 -160.0 75.0) (float-vector 178.301 -135.0 75.0) (float-vector 160.0 -135.0 93.3013) (float-vector 160.0 -160.0 93.3013))) - (instance face :init :vertices (list (float-vector 185.0 -160.0 50.0) (float-vector 185.0 -135.0 50.0) (float-vector 178.301 -135.0 75.0) (float-vector 178.301 -160.0 75.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 147.5 -131.25 120.0) (float-vector 122.5 -131.25 120.0) (float-vector 122.5 -131.25 30.0) (float-vector 147.5 -131.25 30.0))) (instance face :init :vertices (list (float-vector 122.5 -128.75 120.0) (float-vector 147.5 -128.75 120.0) (float-vector 147.5 -128.75 30.0) (float-vector 122.5 -128.75 30.0))) @@ -85,224 +53,359 @@ (instance face :init :vertices (list (float-vector 122.5 -166.25 120.0) (float-vector 122.5 -163.75 120.0) (float-vector 122.5 -163.75 30.0) (float-vector 122.5 -166.25 30.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 633.301 135.0 25.0) (float-vector 640.0 135.0 50.0) (float-vector 633.301 135.0 75.0) (float-vector 615.0 135.0 93.3013) (float-vector 590.0 135.0 100.0) (float-vector 565.0 135.0 93.3013) (float-vector 546.699 135.0 75.0) (float-vector 540.0 135.0 50.0) (float-vector 546.699 135.0 25.0) (float-vector 565.0 135.0 6.69873) (float-vector 590.0 135.0 7.105427e-15) (float-vector 615.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 640.0 160.0 50.0) (float-vector 633.301 160.0 25.0) (float-vector 615.0 160.0 6.69873) (float-vector 590.0 160.0 0.0) (float-vector 565.0 160.0 6.69873) (float-vector 546.699 160.0 25.0) (float-vector 540.0 160.0 50.0) (float-vector 546.699 160.0 75.0) (float-vector 565.0 160.0 93.3013) (float-vector 590.0 160.0 100.0) (float-vector 615.0 160.0 93.3013) (float-vector 633.301 160.0 75.0))) - (instance face :init :vertices (list (float-vector 633.301 135.0 25.0) (float-vector 633.301 160.0 25.0) (float-vector 640.0 160.0 50.0) (float-vector 640.0 135.0 50.0))) - (instance face :init :vertices (list (float-vector 615.0 135.0 6.69873) (float-vector 615.0 160.0 6.69873) (float-vector 633.301 160.0 25.0) (float-vector 633.301 135.0 25.0))) - (instance face :init :vertices (list (float-vector 590.0 135.0 7.105427e-15) (float-vector 590.0 160.0 0.0) (float-vector 615.0 160.0 6.69873) (float-vector 615.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 565.0 135.0 6.69873) (float-vector 565.0 160.0 6.69873) (float-vector 590.0 160.0 0.0) (float-vector 590.0 135.0 7.105427e-15))) - (instance face :init :vertices (list (float-vector 546.699 135.0 25.0) (float-vector 546.699 160.0 25.0) (float-vector 565.0 160.0 6.69873) (float-vector 565.0 135.0 6.69873))) - (instance face :init :vertices (list (float-vector 540.0 135.0 50.0) (float-vector 540.0 160.0 50.0) (float-vector 546.699 160.0 25.0) (float-vector 546.699 135.0 25.0))) - (instance face :init :vertices (list (float-vector 546.699 135.0 75.0) (float-vector 546.699 160.0 75.0) (float-vector 540.0 160.0 50.0) (float-vector 540.0 135.0 50.0))) - (instance face :init :vertices (list (float-vector 565.0 135.0 93.3013) (float-vector 565.0 160.0 93.3013) (float-vector 546.699 160.0 75.0) (float-vector 546.699 135.0 75.0))) - (instance face :init :vertices (list (float-vector 590.0 135.0 100.0) (float-vector 590.0 160.0 100.0) (float-vector 565.0 160.0 93.3013) (float-vector 565.0 135.0 93.3013))) - (instance face :init :vertices (list (float-vector 615.0 135.0 93.3013) (float-vector 615.0 160.0 93.3013) (float-vector 590.0 160.0 100.0) (float-vector 590.0 135.0 100.0))) - (instance face :init :vertices (list (float-vector 633.301 135.0 75.0) (float-vector 633.301 160.0 75.0) (float-vector 615.0 160.0 93.3013) (float-vector 615.0 135.0 93.3013))) - (instance face :init :vertices (list (float-vector 640.0 135.0 50.0) (float-vector 640.0 160.0 50.0) (float-vector 633.301 160.0 75.0) (float-vector 633.301 135.0 75.0))) + (instance face :init :vertices (list (float-vector 720.0 230.0 160.0) (float-vector 0.0 230.0 160.0) (float-vector 0.0 -230.0 160.0) (float-vector 720.0 -230.0 160.0))) + (instance face :init :vertices (list (float-vector 0.0 230.0 120.0) (float-vector 720.0 230.0 120.0) (float-vector 720.0 -230.0 120.0) (float-vector 0.0 -230.0 120.0))) + (instance face :init :vertices (list (float-vector 720.0 230.0 160.0) (float-vector 720.0 230.0 120.0) (float-vector 0.0 230.0 120.0) (float-vector 0.0 230.0 160.0))) + (instance face :init :vertices (list (float-vector 720.0 -230.0 160.0) (float-vector 720.0 -230.0 120.0) (float-vector 720.0 230.0 120.0) (float-vector 720.0 230.0 160.0))) + (instance face :init :vertices (list (float-vector 0.0 -230.0 160.0) (float-vector 0.0 -230.0 120.0) (float-vector 720.0 -230.0 120.0) (float-vector 720.0 -230.0 160.0))) + (instance face :init :vertices (list (float-vector 0.0 230.0 160.0) (float-vector 0.0 230.0 120.0) (float-vector 0.0 -230.0 120.0) (float-vector 0.0 -230.0 160.0))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (send (elt bc 2) :set-color :gray) + (send (elt bc 3) :set-color :gray) + (send (elt bc 4) :set-color :green) + (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :gifuplastic-720-cart-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 :rear-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 602.5 163.75 120.0) (float-vector 577.5 163.75 120.0) (float-vector 577.5 163.75 30.0) (float-vector 602.5 163.75 30.0))) - (instance face :init :vertices (list (float-vector 577.5 166.25 120.0) (float-vector 602.5 166.25 120.0) (float-vector 602.5 166.25 30.0) (float-vector 577.5 166.25 30.0))) - (instance face :init :vertices (list (float-vector 602.5 163.75 120.0) (float-vector 602.5 166.25 120.0) (float-vector 577.5 166.25 120.0) (float-vector 577.5 163.75 120.0))) - (instance face :init :vertices (list (float-vector 602.5 163.75 30.0) (float-vector 602.5 166.25 30.0) (float-vector 602.5 166.25 120.0) (float-vector 602.5 163.75 120.0))) - (instance face :init :vertices (list (float-vector 577.5 163.75 30.0) (float-vector 577.5 166.25 30.0) (float-vector 602.5 166.25 30.0) (float-vector 602.5 163.75 30.0))) - (instance face :init :vertices (list (float-vector 577.5 163.75 120.0) (float-vector 577.5 166.25 120.0) (float-vector 577.5 166.25 30.0) (float-vector 577.5 163.75 30.0))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 50.0 -12.5 7.105427e-15) (float-vector 48.2963 -12.5 12.941) (float-vector 43.3013 -12.5 25.0) (float-vector 35.3553 -12.5 35.3553) (float-vector 25.0 -12.5 43.3013) (float-vector 12.941 -12.5 48.2963) (float-vector 2.842171e-14 -12.5 50.0) (float-vector -12.941 -12.5 48.2963) (float-vector -25.0 -12.5 43.3013) (float-vector -35.3553 -12.5 35.3553) (float-vector -43.3013 -12.5 25.0) (float-vector -48.2963 -12.5 12.941) (float-vector -50.0 -12.5 4.973799e-14) (float-vector -48.2963 -12.5 -12.941) (float-vector -43.3013 -12.5 -25.0) (float-vector -35.3553 -12.5 -35.3553) (float-vector -25.0 -12.5 -43.3013) (float-vector -12.941 -12.5 -48.2963) (float-vector -5.684342e-14 -12.5 -50.0) (float-vector 12.941 -12.5 -48.2963) (float-vector 25.0 -12.5 -43.3013) (float-vector 35.3553 -12.5 -35.3553) (float-vector 43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector 50.0 12.5 0.0) (float-vector 48.2963 12.5 -12.941) (float-vector 43.3013 12.5 -25.0) (float-vector 35.3553 12.5 -35.3553) (float-vector 25.0 12.5 -43.3013) (float-vector 12.941 12.5 -48.2963) (float-vector -5.684342e-14 12.5 -50.0) (float-vector -12.941 12.5 -48.2963) (float-vector -25.0 12.5 -43.3013) (float-vector -35.3553 12.5 -35.3553) (float-vector -43.3013 12.5 -25.0) (float-vector -48.2963 12.5 -12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 12.941) (float-vector -43.3013 12.5 25.0) (float-vector -35.3553 12.5 35.3553) (float-vector -25.0 12.5 43.3013) (float-vector -12.941 12.5 48.2963) (float-vector 2.842171e-14 12.5 50.0) (float-vector 12.941 12.5 48.2963) (float-vector 25.0 12.5 43.3013) (float-vector 35.3553 12.5 35.3553) (float-vector 43.3013 12.5 25.0) (float-vector 48.2963 12.5 12.941))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 48.2963 12.5 -12.941) (float-vector 50.0 12.5 0.0) (float-vector 50.0 -12.5 7.105427e-15))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 -25.0) (float-vector 43.3013 12.5 -25.0) (float-vector 48.2963 12.5 -12.941) (float-vector 48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector 35.3553 -12.5 -35.3553) (float-vector 35.3553 12.5 -35.3553) (float-vector 43.3013 12.5 -25.0) (float-vector 43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector 25.0 -12.5 -43.3013) (float-vector 25.0 12.5 -43.3013) (float-vector 35.3553 12.5 -35.3553) (float-vector 35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector 12.941 -12.5 -48.2963) (float-vector 12.941 12.5 -48.2963) (float-vector 25.0 12.5 -43.3013) (float-vector 25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -5.684342e-14 -12.5 -50.0) (float-vector -5.684342e-14 12.5 -50.0) (float-vector 12.941 12.5 -48.2963) (float-vector 12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -12.941 -12.5 -48.2963) (float-vector -12.941 12.5 -48.2963) (float-vector -5.684342e-14 12.5 -50.0) (float-vector -5.684342e-14 -12.5 -50.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 -43.3013) (float-vector -25.0 12.5 -43.3013) (float-vector -12.941 12.5 -48.2963) (float-vector -12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 -35.3553) (float-vector -35.3553 12.5 -35.3553) (float-vector -25.0 12.5 -43.3013) (float-vector -25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 -25.0) (float-vector -43.3013 12.5 -25.0) (float-vector -35.3553 12.5 -35.3553) (float-vector -35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 -12.941) (float-vector -48.2963 12.5 -12.941) (float-vector -43.3013 12.5 -25.0) (float-vector -43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector -50.0 -12.5 4.973799e-14) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 -12.941) (float-vector -48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 12.941) (float-vector -48.2963 12.5 12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -50.0 -12.5 4.973799e-14))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 25.0) (float-vector -43.3013 12.5 25.0) (float-vector -48.2963 12.5 12.941) (float-vector -48.2963 -12.5 12.941))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 35.3553) (float-vector -35.3553 12.5 35.3553) (float-vector -43.3013 12.5 25.0) (float-vector -43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 43.3013) (float-vector -25.0 12.5 43.3013) (float-vector -35.3553 12.5 35.3553) (float-vector -35.3553 -12.5 35.3553))) + (instance face :init :vertices (list (float-vector -12.941 -12.5 48.2963) (float-vector -12.941 12.5 48.2963) (float-vector -25.0 12.5 43.3013) (float-vector -25.0 -12.5 43.3013))) + (instance face :init :vertices (list (float-vector 2.842171e-14 -12.5 50.0) (float-vector 2.842171e-14 12.5 50.0) (float-vector -12.941 12.5 48.2963) (float-vector -12.941 -12.5 48.2963))) + (instance face :init :vertices (list (float-vector 12.941 -12.5 48.2963) (float-vector 12.941 12.5 48.2963) (float-vector 2.842171e-14 12.5 50.0) (float-vector 2.842171e-14 -12.5 50.0))) + (instance face :init :vertices (list (float-vector 25.0 -12.5 43.3013) (float-vector 25.0 12.5 43.3013) (float-vector 12.941 12.5 48.2963) (float-vector 12.941 -12.5 48.2963))) + (instance face :init :vertices (list (float-vector 35.3553 -12.5 35.3553) (float-vector 35.3553 12.5 35.3553) (float-vector 25.0 12.5 43.3013) (float-vector 25.0 -12.5 43.3013))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 25.0) (float-vector 43.3013 12.5 25.0) (float-vector 35.3553 12.5 35.3553) (float-vector 35.3553 -12.5 35.3553))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 12.941) (float-vector 48.2963 12.5 12.941) (float-vector 43.3013 12.5 25.0) (float-vector 43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector 50.0 -12.5 7.105427e-15) (float-vector 50.0 12.5 0.0) (float-vector 48.2963 12.5 12.941) (float-vector 48.2963 -12.5 12.941))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-left-wheel :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 :rear-right-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 602.5 128.75 120.0) (float-vector 577.5 128.75 120.0) (float-vector 577.5 128.75 30.0) (float-vector 602.5 128.75 30.0))) - (instance face :init :vertices (list (float-vector 577.5 131.25 120.0) (float-vector 602.5 131.25 120.0) (float-vector 602.5 131.25 30.0) (float-vector 577.5 131.25 30.0))) - (instance face :init :vertices (list (float-vector 602.5 128.75 120.0) (float-vector 602.5 131.25 120.0) (float-vector 577.5 131.25 120.0) (float-vector 577.5 128.75 120.0))) - (instance face :init :vertices (list (float-vector 602.5 128.75 30.0) (float-vector 602.5 131.25 30.0) (float-vector 602.5 131.25 120.0) (float-vector 602.5 128.75 120.0))) - (instance face :init :vertices (list (float-vector 577.5 128.75 30.0) (float-vector 577.5 131.25 30.0) (float-vector 602.5 131.25 30.0) (float-vector 602.5 128.75 30.0))) - (instance face :init :vertices (list (float-vector 577.5 128.75 120.0) (float-vector 577.5 131.25 120.0) (float-vector 577.5 131.25 30.0) (float-vector 577.5 128.75 30.0))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 50.0 -12.5 7.105427e-15) (float-vector 48.2963 -12.5 12.941) (float-vector 43.3013 -12.5 25.0) (float-vector 35.3553 -12.5 35.3553) (float-vector 25.0 -12.5 43.3013) (float-vector 12.941 -12.5 48.2963) (float-vector 2.842171e-14 -12.5 50.0) (float-vector -12.941 -12.5 48.2963) (float-vector -25.0 -12.5 43.3013) (float-vector -35.3553 -12.5 35.3553) (float-vector -43.3013 -12.5 25.0) (float-vector -48.2963 -12.5 12.941) (float-vector -50.0 -12.5 4.973799e-14) (float-vector -48.2963 -12.5 -12.941) (float-vector -43.3013 -12.5 -25.0) (float-vector -35.3553 -12.5 -35.3553) (float-vector -25.0 -12.5 -43.3013) (float-vector -12.941 -12.5 -48.2963) (float-vector -5.684342e-14 -12.5 -50.0) (float-vector 12.941 -12.5 -48.2963) (float-vector 25.0 -12.5 -43.3013) (float-vector 35.3553 -12.5 -35.3553) (float-vector 43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector 50.0 12.5 0.0) (float-vector 48.2963 12.5 -12.941) (float-vector 43.3013 12.5 -25.0) (float-vector 35.3553 12.5 -35.3553) (float-vector 25.0 12.5 -43.3013) (float-vector 12.941 12.5 -48.2963) (float-vector -5.684342e-14 12.5 -50.0) (float-vector -12.941 12.5 -48.2963) (float-vector -25.0 12.5 -43.3013) (float-vector -35.3553 12.5 -35.3553) (float-vector -43.3013 12.5 -25.0) (float-vector -48.2963 12.5 -12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 12.941) (float-vector -43.3013 12.5 25.0) (float-vector -35.3553 12.5 35.3553) (float-vector -25.0 12.5 43.3013) (float-vector -12.941 12.5 48.2963) (float-vector 2.842171e-14 12.5 50.0) (float-vector 12.941 12.5 48.2963) (float-vector 25.0 12.5 43.3013) (float-vector 35.3553 12.5 35.3553) (float-vector 43.3013 12.5 25.0) (float-vector 48.2963 12.5 12.941))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 48.2963 12.5 -12.941) (float-vector 50.0 12.5 0.0) (float-vector 50.0 -12.5 7.105427e-15))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 -25.0) (float-vector 43.3013 12.5 -25.0) (float-vector 48.2963 12.5 -12.941) (float-vector 48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector 35.3553 -12.5 -35.3553) (float-vector 35.3553 12.5 -35.3553) (float-vector 43.3013 12.5 -25.0) (float-vector 43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector 25.0 -12.5 -43.3013) (float-vector 25.0 12.5 -43.3013) (float-vector 35.3553 12.5 -35.3553) (float-vector 35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector 12.941 -12.5 -48.2963) (float-vector 12.941 12.5 -48.2963) (float-vector 25.0 12.5 -43.3013) (float-vector 25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -5.684342e-14 -12.5 -50.0) (float-vector -5.684342e-14 12.5 -50.0) (float-vector 12.941 12.5 -48.2963) (float-vector 12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -12.941 -12.5 -48.2963) (float-vector -12.941 12.5 -48.2963) (float-vector -5.684342e-14 12.5 -50.0) (float-vector -5.684342e-14 -12.5 -50.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 -43.3013) (float-vector -25.0 12.5 -43.3013) (float-vector -12.941 12.5 -48.2963) (float-vector -12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 -35.3553) (float-vector -35.3553 12.5 -35.3553) (float-vector -25.0 12.5 -43.3013) (float-vector -25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 -25.0) (float-vector -43.3013 12.5 -25.0) (float-vector -35.3553 12.5 -35.3553) (float-vector -35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 -12.941) (float-vector -48.2963 12.5 -12.941) (float-vector -43.3013 12.5 -25.0) (float-vector -43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector -50.0 -12.5 4.973799e-14) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 -12.941) (float-vector -48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 12.941) (float-vector -48.2963 12.5 12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -50.0 -12.5 4.973799e-14))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 25.0) (float-vector -43.3013 12.5 25.0) (float-vector -48.2963 12.5 12.941) (float-vector -48.2963 -12.5 12.941))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 35.3553) (float-vector -35.3553 12.5 35.3553) (float-vector -43.3013 12.5 25.0) (float-vector -43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 43.3013) (float-vector -25.0 12.5 43.3013) (float-vector -35.3553 12.5 35.3553) (float-vector -35.3553 -12.5 35.3553))) + (instance face :init :vertices (list (float-vector -12.941 -12.5 48.2963) (float-vector -12.941 12.5 48.2963) (float-vector -25.0 12.5 43.3013) (float-vector -25.0 -12.5 43.3013))) + (instance face :init :vertices (list (float-vector 2.842171e-14 -12.5 50.0) (float-vector 2.842171e-14 12.5 50.0) (float-vector -12.941 12.5 48.2963) (float-vector -12.941 -12.5 48.2963))) + (instance face :init :vertices (list (float-vector 12.941 -12.5 48.2963) (float-vector 12.941 12.5 48.2963) (float-vector 2.842171e-14 12.5 50.0) (float-vector 2.842171e-14 -12.5 50.0))) + (instance face :init :vertices (list (float-vector 25.0 -12.5 43.3013) (float-vector 25.0 12.5 43.3013) (float-vector 12.941 12.5 48.2963) (float-vector 12.941 -12.5 48.2963))) + (instance face :init :vertices (list (float-vector 35.3553 -12.5 35.3553) (float-vector 35.3553 12.5 35.3553) (float-vector 25.0 12.5 43.3013) (float-vector 25.0 -12.5 43.3013))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 25.0) (float-vector 43.3013 12.5 25.0) (float-vector 35.3553 12.5 35.3553) (float-vector 35.3553 -12.5 35.3553))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 12.941) (float-vector 48.2963 12.5 12.941) (float-vector 43.3013 12.5 25.0) (float-vector 43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector 50.0 -12.5 7.105427e-15) (float-vector 50.0 12.5 0.0) (float-vector 48.2963 12.5 12.941) (float-vector 48.2963 -12.5 12.941))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-right-wheel :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 :left-front-fork + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 633.301 -160.0 25.0) (float-vector 640.0 -160.0 50.0) (float-vector 633.301 -160.0 75.0) (float-vector 615.0 -160.0 93.3013) (float-vector 590.0 -160.0 100.0) (float-vector 565.0 -160.0 93.3013) (float-vector 546.699 -160.0 75.0) (float-vector 540.0 -160.0 50.0) (float-vector 546.699 -160.0 25.0) (float-vector 565.0 -160.0 6.69873) (float-vector 590.0 -160.0 7.105427e-15) (float-vector 615.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 640.0 -135.0 50.0) (float-vector 633.301 -135.0 25.0) (float-vector 615.0 -135.0 6.69873) (float-vector 590.0 -135.0 0.0) (float-vector 565.0 -135.0 6.69873) (float-vector 546.699 -135.0 25.0) (float-vector 540.0 -135.0 50.0) (float-vector 546.699 -135.0 75.0) (float-vector 565.0 -135.0 93.3013) (float-vector 590.0 -135.0 100.0) (float-vector 615.0 -135.0 93.3013) (float-vector 633.301 -135.0 75.0))) - (instance face :init :vertices (list (float-vector 633.301 -160.0 25.0) (float-vector 633.301 -135.0 25.0) (float-vector 640.0 -135.0 50.0) (float-vector 640.0 -160.0 50.0))) - (instance face :init :vertices (list (float-vector 615.0 -160.0 6.69873) (float-vector 615.0 -135.0 6.69873) (float-vector 633.301 -135.0 25.0) (float-vector 633.301 -160.0 25.0))) - (instance face :init :vertices (list (float-vector 590.0 -160.0 7.105427e-15) (float-vector 590.0 -135.0 0.0) (float-vector 615.0 -135.0 6.69873) (float-vector 615.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 565.0 -160.0 6.69873) (float-vector 565.0 -135.0 6.69873) (float-vector 590.0 -135.0 0.0) (float-vector 590.0 -160.0 7.105427e-15))) - (instance face :init :vertices (list (float-vector 546.699 -160.0 25.0) (float-vector 546.699 -135.0 25.0) (float-vector 565.0 -135.0 6.69873) (float-vector 565.0 -160.0 6.69873))) - (instance face :init :vertices (list (float-vector 540.0 -160.0 50.0) (float-vector 540.0 -135.0 50.0) (float-vector 546.699 -135.0 25.0) (float-vector 546.699 -160.0 25.0))) - (instance face :init :vertices (list (float-vector 546.699 -160.0 75.0) (float-vector 546.699 -135.0 75.0) (float-vector 540.0 -135.0 50.0) (float-vector 540.0 -160.0 50.0))) - (instance face :init :vertices (list (float-vector 565.0 -160.0 93.3013) (float-vector 565.0 -135.0 93.3013) (float-vector 546.699 -135.0 75.0) (float-vector 546.699 -160.0 75.0))) - (instance face :init :vertices (list (float-vector 590.0 -160.0 100.0) (float-vector 590.0 -135.0 100.0) (float-vector 565.0 -135.0 93.3013) (float-vector 565.0 -160.0 93.3013))) - (instance face :init :vertices (list (float-vector 615.0 -160.0 93.3013) (float-vector 615.0 -135.0 93.3013) (float-vector 590.0 -135.0 100.0) (float-vector 590.0 -160.0 100.0))) - (instance face :init :vertices (list (float-vector 633.301 -160.0 75.0) (float-vector 633.301 -135.0 75.0) (float-vector 615.0 -135.0 93.3013) (float-vector 615.0 -160.0 93.3013))) - (instance face :init :vertices (list (float-vector 640.0 -160.0 50.0) (float-vector 640.0 -135.0 50.0) (float-vector 633.301 -135.0 75.0) (float-vector 633.301 -160.0 75.0))) + (instance face :init :vertices (list (float-vector -12.5 16.25 0.0) (float-vector -37.5 16.25 0.0) (float-vector -37.5 16.25 -90.0) (float-vector -12.5 16.25 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 18.75 0.0) (float-vector -12.5 18.75 0.0) (float-vector -12.5 18.75 -90.0) (float-vector -37.5 18.75 -90.0))) + (instance face :init :vertices (list (float-vector -12.5 16.25 0.0) (float-vector -12.5 18.75 0.0) (float-vector -37.5 18.75 0.0) (float-vector -37.5 16.25 0.0))) + (instance face :init :vertices (list (float-vector -12.5 16.25 -90.0) (float-vector -12.5 18.75 -90.0) (float-vector -12.5 18.75 0.0) (float-vector -12.5 16.25 0.0))) + (instance face :init :vertices (list (float-vector -37.5 16.25 -90.0) (float-vector -37.5 18.75 -90.0) (float-vector -12.5 18.75 -90.0) (float-vector -12.5 16.25 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 16.25 0.0) (float-vector -37.5 18.75 0.0) (float-vector -37.5 18.75 -90.0) (float-vector -37.5 16.25 -90.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 602.5 -131.25 120.0) (float-vector 577.5 -131.25 120.0) (float-vector 577.5 -131.25 30.0) (float-vector 602.5 -131.25 30.0))) - (instance face :init :vertices (list (float-vector 577.5 -128.75 120.0) (float-vector 602.5 -128.75 120.0) (float-vector 602.5 -128.75 30.0) (float-vector 577.5 -128.75 30.0))) - (instance face :init :vertices (list (float-vector 602.5 -131.25 120.0) (float-vector 602.5 -128.75 120.0) (float-vector 577.5 -128.75 120.0) (float-vector 577.5 -131.25 120.0))) - (instance face :init :vertices (list (float-vector 602.5 -131.25 30.0) (float-vector 602.5 -128.75 30.0) (float-vector 602.5 -128.75 120.0) (float-vector 602.5 -131.25 120.0))) - (instance face :init :vertices (list (float-vector 577.5 -131.25 30.0) (float-vector 577.5 -128.75 30.0) (float-vector 602.5 -128.75 30.0) (float-vector 602.5 -131.25 30.0))) - (instance face :init :vertices (list (float-vector 577.5 -131.25 120.0) (float-vector 577.5 -128.75 120.0) (float-vector 577.5 -128.75 30.0) (float-vector 577.5 -131.25 30.0))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 1.421085e-14) (float-vector -37.5 -18.75 1.421085e-14) (float-vector -37.5 -18.75 -90.0) (float-vector -12.5 -18.75 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 -16.25 1.421085e-14) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -12.5 -16.25 -90.0) (float-vector -37.5 -16.25 -90.0))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 1.421085e-14) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -37.5 -16.25 1.421085e-14) (float-vector -37.5 -18.75 1.421085e-14))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 -90.0) (float-vector -12.5 -16.25 -90.0) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -12.5 -18.75 1.421085e-14))) + (instance face :init :vertices (list (float-vector -37.5 -18.75 -90.0) (float-vector -37.5 -16.25 -90.0) (float-vector -12.5 -16.25 -90.0) (float-vector -12.5 -18.75 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 -18.75 1.421085e-14) (float-vector -37.5 -16.25 1.421085e-14) (float-vector -37.5 -16.25 -90.0) (float-vector -37.5 -18.75 -90.0))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :left-front-fork :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 :front-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 602.5 -166.25 120.0) (float-vector 577.5 -166.25 120.0) (float-vector 577.5 -166.25 30.0) (float-vector 602.5 -166.25 30.0))) - (instance face :init :vertices (list (float-vector 577.5 -163.75 120.0) (float-vector 602.5 -163.75 120.0) (float-vector 602.5 -163.75 30.0) (float-vector 577.5 -163.75 30.0))) - (instance face :init :vertices (list (float-vector 602.5 -166.25 120.0) (float-vector 602.5 -163.75 120.0) (float-vector 577.5 -163.75 120.0) (float-vector 577.5 -166.25 120.0))) - (instance face :init :vertices (list (float-vector 602.5 -166.25 30.0) (float-vector 602.5 -163.75 30.0) (float-vector 602.5 -163.75 120.0) (float-vector 602.5 -166.25 120.0))) - (instance face :init :vertices (list (float-vector 577.5 -166.25 30.0) (float-vector 577.5 -163.75 30.0) (float-vector 602.5 -163.75 30.0) (float-vector 602.5 -166.25 30.0))) - (instance face :init :vertices (list (float-vector 577.5 -166.25 120.0) (float-vector 577.5 -163.75 120.0) (float-vector 577.5 -163.75 30.0) (float-vector 577.5 -166.25 30.0))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 50.0 -12.5 7.105427e-15) (float-vector 48.2963 -12.5 12.941) (float-vector 43.3013 -12.5 25.0) (float-vector 35.3553 -12.5 35.3553) (float-vector 25.0 -12.5 43.3013) (float-vector 12.941 -12.5 48.2963) (float-vector 0.0 -12.5 50.0) (float-vector -12.941 -12.5 48.2963) (float-vector -25.0 -12.5 43.3013) (float-vector -35.3553 -12.5 35.3553) (float-vector -43.3013 -12.5 25.0) (float-vector -48.2963 -12.5 12.941) (float-vector -50.0 -12.5 4.973799e-14) (float-vector -48.2963 -12.5 -12.941) (float-vector -43.3013 -12.5 -25.0) (float-vector 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-35.3553) (float-vector -35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 -12.941) (float-vector -48.2963 12.5 -12.941) (float-vector -43.3013 12.5 -25.0) (float-vector -43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector -50.0 -12.5 4.973799e-14) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 -12.941) (float-vector -48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 12.941) (float-vector -48.2963 12.5 12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -50.0 -12.5 4.973799e-14))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 25.0) (float-vector -43.3013 12.5 25.0) (float-vector -48.2963 12.5 12.941) (float-vector -48.2963 -12.5 12.941))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 35.3553) (float-vector -35.3553 12.5 35.3553) (float-vector -43.3013 12.5 25.0) (float-vector -43.3013 -12.5 25.0))) + 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(float-vector 25.0 12.5 43.3013) (float-vector 25.0 -12.5 43.3013))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 25.0) (float-vector 43.3013 12.5 25.0) (float-vector 35.3553 12.5 35.3553) (float-vector 35.3553 -12.5 35.3553))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 12.941) (float-vector 48.2963 12.5 12.941) (float-vector 43.3013 12.5 25.0) (float-vector 43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector 50.0 -12.5 7.105427e-15) (float-vector 50.0 12.5 0.0) (float-vector 48.2963 12.5 12.941) (float-vector 48.2963 -12.5 12.941))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :front-left-wheel :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 :right-front-fork + (setq bc (list (instance faceset :init :faces 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-177.961 855.433) (float-vector 72.9289 -175.255 848.9))) - (instance face :init :vertices (list (float-vector 72.9289 -203.9 820.255) (float-vector 70.0 -210.433 822.961) (float-vector 70.0 -197.426 842.426) (float-vector 72.9289 -192.426 837.426))) - (instance face :init :vertices (list (float-vector 70.0 -215.0 800.0))) - (instance face :init :vertices (list (float-vector 72.9289 -207.929 800.0) (float-vector 70.0 -215.0 800.0) (float-vector 70.0 -210.433 822.961) (float-vector 72.9289 -203.9 820.255))) - (instance face :init :vertices (list (float-vector 70.0 -155.0 860.0))) - (instance face :init :vertices (list (float-vector 72.9289 -155.0 867.071) (float-vector 70.0 -155.0 860.0) (float-vector 70.0 -177.961 855.433) (float-vector 72.9289 -180.667 861.966))) - (instance face :init :vertices (list (float-vector 70.0 -197.426 842.426) (float-vector 72.9289 -202.426 847.426) (float-vector 72.9289 -180.667 861.966) (float-vector 70.0 -177.961 855.433))) - (instance face :init :vertices (list (float-vector 70.0 -210.433 822.961) (float-vector 72.9289 -216.966 825.667) (float-vector 72.9289 -202.426 847.426) (float-vector 70.0 -197.426 842.426))) - (instance face :init :vertices (list (float-vector 72.9289 -222.071 800.0))) - (instance face :init :vertices (list (float-vector 70.0 -215.0 800.0) (float-vector 72.9289 -222.071 800.0) (float-vector 72.9289 -216.966 825.667) (float-vector 70.0 -210.433 822.961))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 1.421085e-14) (float-vector -37.5 -18.75 1.421085e-14) (float-vector -37.5 -18.75 -90.0) (float-vector -12.5 -18.75 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 -16.25 1.421085e-14) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -12.5 -16.25 -90.0) (float-vector -37.5 -16.25 -90.0))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 1.421085e-14) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -37.5 -16.25 1.421085e-14) (float-vector -37.5 -18.75 1.421085e-14))) + (instance face :init :vertices (list (float-vector -12.5 -18.75 -90.0) (float-vector -12.5 -16.25 -90.0) (float-vector -12.5 -16.25 1.421085e-14) (float-vector -12.5 -18.75 1.421085e-14))) + (instance face :init :vertices (list (float-vector -37.5 -18.75 -90.0) (float-vector -37.5 -16.25 -90.0) (float-vector -12.5 -16.25 -90.0) (float-vector -12.5 -18.75 -90.0))) + (instance face :init :vertices (list (float-vector -37.5 -18.75 1.421085e-14) (float-vector -37.5 -16.25 1.421085e-14) (float-vector -37.5 -16.25 -90.0) (float-vector -37.5 -18.75 -90.0))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :right-front-fork :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 :front-right-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 87.0711 155.0 867.071))) - (instance face :init :vertices (list (float-vector 80.0 155.0 870.0) (float-vector 87.0711 155.0 867.071) (float-vector 87.0711 180.667 861.966) (float-vector 80.0 181.788 864.672))) - (instance face :init :vertices (list (float-vector 87.0711 180.667 861.966) (float-vector 87.0711 202.426 847.426) (float-vector 80.0 204.497 849.497) (float-vector 80.0 181.788 864.672))) - (instance face :init :vertices (list (float-vector 87.0711 202.426 847.426) (float-vector 87.0711 216.966 825.667) (float-vector 80.0 219.672 826.788) (float-vector 80.0 204.497 849.497))) - (instance face :init :vertices (list (float-vector 80.0 225.0 800.0))) - (instance face :init :vertices (list (float-vector 87.0711 216.966 825.667) (float-vector 87.0711 222.071 800.0) (float-vector 80.0 225.0 800.0) (float-vector 80.0 219.672 826.788))) - (instance face :init :vertices (list (float-vector 80.0 155.0 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face :init :vertices (list (float-vector 80.0 201.194 819.134) (float-vector 87.0711 203.9 820.255) (float-vector 87.0711 192.426 837.426) (float-vector 80.0 190.355 835.355))) - (instance face :init :vertices (list (float-vector 87.0711 207.929 800.0))) - (instance face :init :vertices (list (float-vector 80.0 205.0 800.0) (float-vector 87.0711 207.929 800.0) (float-vector 87.0711 203.9 820.255) (float-vector 80.0 201.194 819.134))) - (instance face :init :vertices (list (float-vector 87.0711 155.0 852.929))) - (instance face :init :vertices (list (float-vector 90.0 155.0 860.0) (float-vector 87.0711 155.0 852.929) (float-vector 87.0711 175.255 848.9) (float-vector 90.0 177.961 855.433))) - (instance face :init :vertices (list (float-vector 87.0711 192.426 837.426) (float-vector 90.0 197.426 842.426) (float-vector 90.0 177.961 855.433) (float-vector 87.0711 175.255 848.9))) - (instance face :init :vertices (list (float-vector 87.0711 203.9 820.255) (float-vector 90.0 210.433 822.961) (float-vector 90.0 197.426 842.426) (float-vector 87.0711 192.426 837.426))) - (instance face :init :vertices (list (float-vector 90.0 215.0 800.0))) - (instance face :init :vertices (list (float-vector 87.0711 207.929 800.0) (float-vector 90.0 215.0 800.0) (float-vector 90.0 210.433 822.961) (float-vector 87.0711 203.9 820.255))) - (instance face :init :vertices (list (float-vector 90.0 155.0 860.0))) - (instance face :init :vertices (list (float-vector 87.0711 155.0 867.071) (float-vector 90.0 155.0 860.0) (float-vector 90.0 177.961 855.433) (float-vector 87.0711 180.667 861.966))) - (instance face :init :vertices (list (float-vector 90.0 197.426 842.426) (float-vector 87.0711 202.426 847.426) (float-vector 87.0711 180.667 861.966) (float-vector 90.0 177.961 855.433))) - (instance face :init :vertices (list (float-vector 90.0 210.433 822.961) (float-vector 87.0711 216.966 825.667) (float-vector 87.0711 202.426 847.426) (float-vector 90.0 197.426 842.426))) - (instance face :init 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12.5 25.0) (float-vector 48.2963 12.5 12.941))) + (instance face :init :vertices (list (float-vector 48.2963 -12.5 -12.941) (float-vector 48.2963 12.5 -12.941) (float-vector 50.0 12.5 0.0) (float-vector 50.0 -12.5 7.105427e-15))) + (instance face :init :vertices (list (float-vector 43.3013 -12.5 -25.0) (float-vector 43.3013 12.5 -25.0) (float-vector 48.2963 12.5 -12.941) (float-vector 48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector 35.3553 -12.5 -35.3553) (float-vector 35.3553 12.5 -35.3553) (float-vector 43.3013 12.5 -25.0) (float-vector 43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector 25.0 -12.5 -43.3013) (float-vector 25.0 12.5 -43.3013) (float-vector 35.3553 12.5 -35.3553) (float-vector 35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector 12.941 -12.5 -48.2963) (float-vector 12.941 12.5 -48.2963) (float-vector 25.0 12.5 -43.3013) (float-vector 25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -1.136868e-13 -12.5 -50.0) (float-vector -1.136868e-13 12.5 -50.0) (float-vector 12.941 12.5 -48.2963) (float-vector 12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -12.941 -12.5 -48.2963) (float-vector -12.941 12.5 -48.2963) (float-vector -1.136868e-13 12.5 -50.0) (float-vector -1.136868e-13 -12.5 -50.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 -43.3013) (float-vector -25.0 12.5 -43.3013) (float-vector -12.941 12.5 -48.2963) (float-vector -12.941 -12.5 -48.2963))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 -35.3553) (float-vector -35.3553 12.5 -35.3553) (float-vector -25.0 12.5 -43.3013) (float-vector -25.0 -12.5 -43.3013))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 -25.0) (float-vector -43.3013 12.5 -25.0) (float-vector -35.3553 12.5 -35.3553) (float-vector -35.3553 -12.5 -35.3553))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 -12.941) (float-vector -48.2963 12.5 -12.941) (float-vector -43.3013 12.5 -25.0) (float-vector -43.3013 -12.5 -25.0))) + (instance face :init :vertices (list (float-vector -50.0 -12.5 4.973799e-14) (float-vector -50.0 12.5 4.263256e-14) (float-vector -48.2963 12.5 -12.941) (float-vector -48.2963 -12.5 -12.941))) + (instance face :init :vertices (list (float-vector -48.2963 -12.5 12.941) (float-vector -48.2963 12.5 12.941) (float-vector -50.0 12.5 4.263256e-14) (float-vector -50.0 -12.5 4.973799e-14))) + (instance face :init :vertices (list (float-vector -43.3013 -12.5 25.0) (float-vector -43.3013 12.5 25.0) (float-vector -48.2963 12.5 12.941) (float-vector -48.2963 -12.5 12.941))) + (instance face :init :vertices (list (float-vector -35.3553 -12.5 35.3553) (float-vector -35.3553 12.5 35.3553) (float-vector -43.3013 12.5 25.0) (float-vector -43.3013 -12.5 25.0))) + (instance face :init :vertices (list (float-vector -25.0 -12.5 43.3013) (float-vector -25.0 12.5 43.3013) (float-vector -35.3553 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face :init :vertices (list (float-vector 720.0 230.0 160.0) (float-vector 720.0 230.0 120.0) (float-vector 0.0 230.0 120.0) (float-vector 0.0 230.0 160.0))) - (instance face :init :vertices (list (float-vector 720.0 -230.0 160.0) (float-vector 720.0 -230.0 120.0) (float-vector 720.0 230.0 120.0) (float-vector 720.0 230.0 160.0))) - (instance face :init :vertices (list (float-vector 0.0 -230.0 160.0) (float-vector 0.0 -230.0 120.0) (float-vector 720.0 -230.0 120.0) (float-vector 720.0 -230.0 160.0))) - (instance face :init :vertices (list (float-vector 0.0 230.0 160.0) (float-vector 0.0 230.0 120.0) (float-vector 0.0 -230.0 120.0) (float-vector 0.0 -230.0 160.0))) + (instance face :init :vertices (list (float-vector 7.07107 155.0 707.071))) + (instance face :init :vertices (list (float-vector 1.421085e-14 155.0 710.0) (float-vector 7.07107 155.0 707.071) (float-vector 7.07107 180.667 701.966) (float-vector 1.421085e-14 181.788 704.672))) + (instance face :init :vertices (list (float-vector 7.07107 180.667 701.966) (float-vector 7.07107 202.426 687.426) (float-vector 1.421085e-14 204.497 689.497) (float-vector 1.421085e-14 181.788 704.672))) + (instance face :init :vertices (list (float-vector 7.07107 202.426 687.426) (float-vector 7.07107 216.966 665.667) (float-vector 0.0 219.672 666.788) (float-vector 1.421085e-14 204.497 689.497))) + (instance face :init :vertices (list (float-vector 0.0 225.0 640.0))) + (instance face :init :vertices (list (float-vector 7.07107 216.966 665.667) (float-vector 7.07107 222.071 640.0) (float-vector 0.0 225.0 640.0) (float-vector 0.0 219.672 666.788))) + (instance face :init :vertices (list (float-vector 1.421085e-14 155.0 710.0))) + (instance face :init :vertices (list (float-vector -7.07107 155.0 707.071) (float-vector 1.421085e-14 155.0 710.0) (float-vector 1.421085e-14 181.788 704.672) (float-vector -7.07107 180.667 701.966))) + (instance face :init :vertices (list (float-vector 1.421085e-14 204.497 689.497) (float-vector -7.07107 202.426 687.426) (float-vector -7.07107 180.667 701.966) (float-vector 1.421085e-14 181.788 704.672))) + (instance face :init :vertices (list (float-vector 0.0 219.672 666.788) (float-vector -7.07107 216.966 665.667) (float-vector -7.07107 202.426 687.426) (float-vector 1.421085e-14 204.497 689.497))) + (instance face :init :vertices (list (float-vector -7.07107 222.071 640.0))) + (instance face :init :vertices (list (float-vector 0.0 225.0 640.0) (float-vector -7.07107 222.071 640.0) (float-vector -7.07107 216.966 665.667) (float-vector 0.0 219.672 666.788))) + (instance face :init :vertices (list (float-vector -7.07107 155.0 707.071))) + (instance face :init :vertices (list (float-vector -10.0 155.0 700.0) (float-vector -7.07107 155.0 707.071) (float-vector -7.07107 180.667 701.966) (float-vector -10.0 177.961 695.433))) + (instance face :init :vertices (list (float-vector -7.07107 202.426 687.426) (float-vector -10.0 197.426 682.426) (float-vector -10.0 177.961 695.433) (float-vector -7.07107 180.667 701.966))) + (instance face :init :vertices (list (float-vector -7.07107 216.966 665.667) (float-vector -10.0 210.433 662.961) (float-vector -10.0 197.426 682.426) (float-vector -7.07107 202.426 687.426))) + (instance face :init :vertices (list (float-vector -10.0 215.0 640.0))) + (instance face :init :vertices (list (float-vector -7.07107 222.071 640.0) (float-vector -10.0 215.0 640.0) (float-vector -10.0 210.433 662.961) (float-vector -7.07107 216.966 665.667))) + (instance face :init :vertices (list (float-vector -10.0 155.0 700.0))) + (instance face :init :vertices (list (float-vector -7.07107 155.0 692.929) (float-vector -10.0 155.0 700.0) (float-vector -10.0 177.961 695.433) (float-vector -7.07107 175.255 688.9))) + (instance face :init :vertices (list (float-vector -10.0 197.426 682.426) (float-vector -7.07107 192.426 677.426) (float-vector -7.07107 175.255 688.9) (float-vector -10.0 177.961 695.433))) + (instance face :init :vertices (list (float-vector -10.0 210.433 662.961) (float-vector -7.07107 203.9 660.255) (float-vector -7.07107 192.426 677.426) (float-vector -10.0 197.426 682.426))) + (instance face :init :vertices (list (float-vector -7.07107 207.929 640.0))) + (instance face :init :vertices (list (float-vector -10.0 215.0 640.0) (float-vector -7.07107 207.929 640.0) (float-vector -7.07107 203.9 660.255) (float-vector -10.0 210.433 662.961))) + (instance face :init :vertices (list (float-vector -7.07107 155.0 692.929))) + (instance face :init :vertices (list (float-vector 1.421085e-14 155.0 690.0) (float-vector -7.07107 155.0 692.929) (float-vector -7.07107 175.255 688.9) (float-vector 1.421085e-14 174.134 686.194))) + (instance face :init :vertices (list (float-vector -7.07107 192.426 677.426) (float-vector 0.0 190.355 675.355) (float-vector 1.421085e-14 174.134 686.194) (float-vector -7.07107 175.255 688.9))) + (instance face :init :vertices (list (float-vector -7.07107 203.9 660.255) (float-vector 0.0 201.194 659.134) (float-vector 0.0 190.355 675.355) (float-vector -7.07107 192.426 677.426))) + (instance face :init :vertices (list (float-vector 0.0 205.0 640.0))) + (instance face :init :vertices (list (float-vector -7.07107 207.929 640.0) (float-vector 0.0 205.0 640.0) (float-vector 0.0 201.194 659.134) (float-vector -7.07107 203.9 660.255))) + (instance face :init :vertices (list (float-vector 1.421085e-14 155.0 690.0))) + (instance face :init :vertices (list (float-vector 7.07107 155.0 692.929) (float-vector 1.421085e-14 155.0 690.0) (float-vector 1.421085e-14 174.134 686.194) (float-vector 7.07107 175.255 688.9))) + (instance face :init :vertices (list (float-vector 0.0 190.355 675.355) (float-vector 7.07107 192.426 677.426) (float-vector 7.07107 175.255 688.9) (float-vector 1.421085e-14 174.134 686.194))) + (instance face :init :vertices (list (float-vector 0.0 201.194 659.134) (float-vector 7.07107 203.9 660.255) (float-vector 7.07107 192.426 677.426) (float-vector 0.0 190.355 675.355))) + (instance face :init :vertices (list (float-vector 7.07107 207.929 640.0))) + (instance face :init :vertices (list (float-vector 0.0 205.0 640.0) (float-vector 7.07107 207.929 640.0) (float-vector 7.07107 203.9 660.255) (float-vector 0.0 201.194 659.134))) + (instance face :init :vertices (list (float-vector 7.07107 155.0 692.929))) + (instance face :init :vertices (list (float-vector 10.0 155.0 700.0) (float-vector 7.07107 155.0 692.929) (float-vector 7.07107 175.255 688.9) (float-vector 10.0 177.961 695.433))) + (instance face :init :vertices (list (float-vector 7.07107 192.426 677.426) (float-vector 10.0 197.426 682.426) (float-vector 10.0 177.961 695.433) (float-vector 7.07107 175.255 688.9))) + (instance face :init :vertices (list (float-vector 7.07107 203.9 660.255) (float-vector 10.0 210.433 662.961) (float-vector 10.0 197.426 682.426) (float-vector 7.07107 192.426 677.426))) + (instance face :init :vertices (list (float-vector 10.0 215.0 640.0))) + (instance face :init :vertices (list (float-vector 7.07107 207.929 640.0) (float-vector 10.0 215.0 640.0) (float-vector 10.0 210.433 662.961) (float-vector 7.07107 203.9 660.255))) + (instance face :init :vertices (list (float-vector 10.0 155.0 700.0))) + (instance face :init :vertices (list (float-vector 7.07107 155.0 707.071) (float-vector 10.0 155.0 700.0) (float-vector 10.0 177.961 695.433) (float-vector 7.07107 180.667 701.966))) + (instance face :init :vertices (list (float-vector 10.0 197.426 682.426) (float-vector 7.07107 202.426 687.426) (float-vector 7.07107 180.667 701.966) (float-vector 10.0 177.961 695.433))) + (instance face :init :vertices (list (float-vector 10.0 210.433 662.961) (float-vector 7.07107 216.966 665.667) (float-vector 7.07107 202.426 687.426) (float-vector 10.0 197.426 682.426))) + (instance face :init :vertices (list (float-vector 7.07107 222.071 640.0))) + (instance face :init :vertices (list (float-vector 10.0 215.0 640.0) (float-vector 7.07107 222.071 640.0) (float-vector 7.07107 216.966 665.667) (float-vector 10.0 210.433 662.961))) + )) + (instance faceset :init :faces (list + (instance face :init :vertices (list (float-vector 8.66025 -220.0 640.0) (float-vector 10.0 -215.0 640.0) (float-vector 8.66025 -210.0 640.0) (float-vector 5.0 -206.34 640.0) (float-vector 0.0 -205.0 640.0) (float-vector -5.0 -206.34 640.0) (float-vector -8.66025 -210.0 640.0) (float-vector -10.0 -215.0 640.0) (float-vector -8.66025 -220.0 640.0) (float-vector -5.0 -223.66 640.0) (float-vector -1.421085e-14 -225.0 640.0) (float-vector 5.0 -223.66 640.0))) + (instance face :init :vertices (list (float-vector 10.0 -215.0 1.136868e-13) (float-vector 8.66025 -220.0 1.136868e-13) (float-vector 5.0 -223.66 1.136868e-13) (float-vector -1.421085e-14 -225.0 1.136868e-13) (float-vector -5.0 -223.66 1.136868e-13) (float-vector -8.66025 -220.0 1.136868e-13) (float-vector -10.0 -215.0 1.136868e-13) (float-vector -8.66025 -210.0 1.136868e-13) (float-vector -5.0 -206.34 1.136868e-13) (float-vector 0.0 -205.0 1.136868e-13) (float-vector 5.0 -206.34 1.136868e-13) (float-vector 8.66025 -210.0 1.136868e-13))) + (instance face :init :vertices (list (float-vector 8.66025 -220.0 640.0) (float-vector 8.66025 -220.0 1.136868e-13) (float-vector 10.0 -215.0 1.136868e-13) (float-vector 10.0 -215.0 640.0))) + (instance face :init :vertices (list (float-vector 5.0 -223.66 640.0) (float-vector 5.0 -223.66 1.136868e-13) (float-vector 8.66025 -220.0 1.136868e-13) (float-vector 8.66025 -220.0 640.0))) + (instance face :init :vertices (list (float-vector -1.421085e-14 -225.0 640.0) (float-vector -1.421085e-14 -225.0 1.136868e-13) (float-vector 5.0 -223.66 1.136868e-13) (float-vector 5.0 -223.66 640.0))) + (instance face :init :vertices (list (float-vector -5.0 -223.66 640.0) (float-vector -5.0 -223.66 1.136868e-13) (float-vector -1.421085e-14 -225.0 1.136868e-13) (float-vector -1.421085e-14 -225.0 640.0))) + (instance face :init :vertices (list (float-vector -8.66025 -220.0 640.0) (float-vector -8.66025 -220.0 1.136868e-13) (float-vector -5.0 -223.66 1.136868e-13) (float-vector -5.0 -223.66 640.0))) + (instance face :init :vertices (list (float-vector -10.0 -215.0 640.0) (float-vector -10.0 -215.0 1.136868e-13) (float-vector -8.66025 -220.0 1.136868e-13) (float-vector -8.66025 -220.0 640.0))) + (instance face :init :vertices (list (float-vector -8.66025 -210.0 640.0) (float-vector -8.66025 -210.0 1.136868e-13) (float-vector -10.0 -215.0 1.136868e-13) (float-vector -10.0 -215.0 640.0))) + (instance face :init :vertices (list (float-vector -5.0 -206.34 640.0) (float-vector -5.0 -206.34 1.136868e-13) (float-vector -8.66025 -210.0 1.136868e-13) (float-vector -8.66025 -210.0 640.0))) + (instance face :init :vertices (list (float-vector 0.0 -205.0 640.0) (float-vector 0.0 -205.0 1.136868e-13) (float-vector -5.0 -206.34 1.136868e-13) (float-vector -5.0 -206.34 640.0))) + (instance face :init :vertices (list (float-vector 5.0 -206.34 640.0) (float-vector 5.0 -206.34 1.136868e-13) (float-vector 0.0 -205.0 1.136868e-13) (float-vector 0.0 -205.0 640.0))) + (instance face :init :vertices (list (float-vector 8.66025 -210.0 640.0) (float-vector 8.66025 -210.0 1.136868e-13) (float-vector 5.0 -206.34 1.136868e-13) (float-vector 5.0 -206.34 640.0))) + (instance face :init :vertices (list (float-vector 10.0 -215.0 640.0) (float-vector 10.0 -215.0 1.136868e-13) (float-vector 8.66025 -210.0 1.136868e-13) (float-vector 8.66025 -210.0 640.0))) + )) + (instance faceset :init :faces (list + (instance face :init :vertices (list (float-vector 8.66025 210.0 640.0) (float-vector 10.0 215.0 640.0) (float-vector 8.66025 220.0 640.0) (float-vector 5.0 223.66 640.0) (float-vector 0.0 225.0 640.0) (float-vector -5.0 223.66 640.0) (float-vector -8.66025 220.0 640.0) (float-vector -10.0 215.0 640.0) (float-vector -8.66025 210.0 640.0) (float-vector -5.0 206.34 640.0) (float-vector -1.421085e-14 205.0 640.0) (float-vector 5.0 206.34 640.0))) + (instance face :init :vertices (list (float-vector 10.0 215.0 0.0) (float-vector 8.66025 210.0 0.0) (float-vector 5.0 206.34 0.0) (float-vector -1.421085e-14 205.0 0.0) (float-vector -5.0 206.34 0.0) (float-vector -8.66025 210.0 0.0) (float-vector -10.0 215.0 0.0) (float-vector -8.66025 220.0 0.0) (float-vector -5.0 223.66 0.0) (float-vector 0.0 225.0 0.0) (float-vector 5.0 223.66 0.0) (float-vector 8.66025 220.0 0.0))) + (instance face :init :vertices (list (float-vector 8.66025 210.0 640.0) (float-vector 8.66025 210.0 0.0) (float-vector 10.0 215.0 0.0) (float-vector 10.0 215.0 640.0))) + (instance face :init :vertices (list (float-vector 5.0 206.34 640.0) (float-vector 5.0 206.34 0.0) (float-vector 8.66025 210.0 0.0) (float-vector 8.66025 210.0 640.0))) + (instance face :init :vertices (list (float-vector -1.421085e-14 205.0 640.0) (float-vector -1.421085e-14 205.0 0.0) (float-vector 5.0 206.34 0.0) (float-vector 5.0 206.34 640.0))) + (instance face :init :vertices (list (float-vector -5.0 206.34 640.0) (float-vector -5.0 206.34 0.0) (float-vector -1.421085e-14 205.0 0.0) (float-vector -1.421085e-14 205.0 640.0))) + (instance face :init :vertices (list (float-vector -8.66025 210.0 640.0) (float-vector -8.66025 210.0 0.0) (float-vector -5.0 206.34 0.0) (float-vector -5.0 206.34 640.0))) + (instance face :init :vertices (list (float-vector -10.0 215.0 640.0) (float-vector -10.0 215.0 0.0) (float-vector -8.66025 210.0 0.0) (float-vector -8.66025 210.0 640.0))) + (instance face :init :vertices (list (float-vector -8.66025 220.0 640.0) (float-vector -8.66025 220.0 0.0) (float-vector -10.0 215.0 0.0) (float-vector -10.0 215.0 640.0))) + (instance face :init :vertices (list (float-vector -5.0 223.66 640.0) (float-vector -5.0 223.66 0.0) (float-vector -8.66025 220.0 0.0) (float-vector -8.66025 220.0 640.0))) + (instance face :init :vertices (list (float-vector 0.0 225.0 640.0) (float-vector 0.0 225.0 0.0) (float-vector -5.0 223.66 0.0) (float-vector -5.0 223.66 640.0))) + (instance face :init :vertices (list (float-vector 5.0 223.66 640.0) (float-vector 5.0 223.66 0.0) (float-vector 0.0 225.0 0.0) (float-vector 0.0 225.0 640.0))) + (instance face :init :vertices (list (float-vector 8.66025 220.0 640.0) (float-vector 8.66025 220.0 0.0) (float-vector 5.0 223.66 0.0) (float-vector 5.0 223.66 640.0))) + (instance face :init :vertices (list (float-vector 10.0 215.0 640.0) (float-vector 10.0 215.0 0.0) (float-vector 8.66025 220.0 0.0) (float-vector 8.66025 220.0 640.0))) )) )) (dolist (b (cdr bc)) (send (car bc) :assoc b)) @@ -311,28 +414,64 @@ (send (elt bc 2) :set-color :gray) (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 :gray) - (send (elt bc 9) :set-color :gray) - (send (elt bc 10) :set-color :gray) - (send (elt bc 11) :set-color :gray) - (send (elt bc 12) :set-color :gray) - (send (elt bc 13) :set-color :gray) - (send (elt bc 14) :set-color :gray) - (send (elt bc 15) :set-color :gray) - (send (elt bc 16) :set-color :gray) - (send (elt bc 17) :set-color :green) - (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :gifuplastic-720-cart-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)))) + (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink5 :newcoords (make-coords :pos (float-vector -25.0 0.0 -70.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink4 :assoc blink5) + (send blink7 :newcoords (make-coords :pos (float-vector -25.0 0.0 -70.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink6 :assoc blink7) + (send blink1 :newcoords (make-coords :pos (float-vector 80.0 0.0 160.0) :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 blink6 :newcoords (make-coords :pos (float-vector 590.0 -147.5 120.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink6) + (send blink4 :newcoords (make-coords :pos (float-vector 590.0 147.5 120.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink4) + (send blink3 :newcoords (make-coords :pos (float-vector 135.0 -147.5 50.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink3) + (send blink2 :newcoords (make-coords :pos (float-vector 135.0 147.5 50.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink2) (send self :assoc blink0) ;; definition of end-coords ;; definition of joint + ;; definition of :bar + (setq joint0 (instance rotational-joint :init + :parent-link blink0 :child-link blink1 :name :bar :axis :y + :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-left-wheel + (setq joint1 (instance rotational-joint :init + :parent-link blink0 :child-link blink2 :name :rear-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-right-wheel + (setq joint2 (instance rotational-joint :init + :parent-link blink0 :child-link blink3 :name :rear-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :left-front-fork + (setq joint3 (instance rotational-joint :init + :parent-link blink0 :child-link blink4 :name :left-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-left-wheel + (setq joint4 (instance rotational-joint :init + :parent-link blink4 :child-link blink5 :name :front-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :right-front-fork + (setq joint5 (instance rotational-joint :init + :parent-link blink0 :child-link blink6 :name :right-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-right-wheel + (setq joint6 (instance rotational-joint :init + :parent-link blink6 :child-link blink7 :name :front-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + ;; definition of :handle (setq handle0 (make-cascoords :pos (float-vector 80.0 200.0 860.0) :rot #2f((1.0 0.0 0.0) (0.0 0.707107 -0.707107) (0.0 0.707107 0.707107)) :name ":larm")) @@ -343,14 +482,21 @@ (send blink0 :assoc handle2) ;; init-ending - (setq links (list blink0)) - (setq joint-list (list)) + (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7)) + (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6)) (send self :init-ending) (send self :move-to (make-coords :pos pos :rot rot)) (send-all links :worldcoords) self)) + (:bar (&rest args) (forward-message-to joint0 args)) + (:rear-left-wheel (&rest args) (forward-message-to joint1 args)) + (:rear-right-wheel (&rest args) (forward-message-to joint2 args)) + (:left-front-fork (&rest args) (forward-message-to joint3 args)) + (:front-left-wheel (&rest args) (forward-message-to joint4 args)) + (:right-front-fork (&rest args) (forward-message-to joint5 args)) + (:front-right-wheel (&rest args) (forward-message-to joint6 args)) (:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2) args)) (:handle-larm (&rest args) (forward-message-to handle0 args)) (:handle-rarm (&rest args) (forward-message-to handle1 args)) diff --git a/models/gifuplastic-900-cart-object.l b/models/gifuplastic-900-cart-object.l index 30c797f2b..fb824c6e0 100644 --- a/models/gifuplastic-900-cart-object.l +++ b/models/gifuplastic-900-cart-object.l @@ -7,12 +7,12 @@ :super cascaded-link :slots (sensors handle0 handle1 handle2 - )) + joint0 joint1 joint2 joint3 joint4 joint5 joint6 )) (defmethod gifuplastic-900-cart-object (:init (&rest args &key (name "gifuplastic-900-cart") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys) (let (c bc - blink0 + blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 ) (send-super* :init :name name args) @@ -20,22 +20,6 @@ ;; definition of :gifuplastic-900-cart-bodyset2 (setq bc (list - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 191.962 230.0 30.0) (float-vector 200.0 230.0 60.0) (float-vector 191.962 230.0 90.0) (float-vector 170.0 230.0 111.962) (float-vector 140.0 230.0 120.0) (float-vector 110.0 230.0 111.962) (float-vector 88.0385 230.0 90.0) (float-vector 80.0 230.0 60.0) (float-vector 88.0385 230.0 30.0) (float-vector 110.0 230.0 8.03848) (float-vector 140.0 230.0 2.131628e-14) (float-vector 170.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 200.0 260.0 60.0) (float-vector 191.962 260.0 30.0) (float-vector 170.0 260.0 8.03848) (float-vector 140.0 260.0 1.421085e-14) (float-vector 110.0 260.0 8.03848) (float-vector 88.0385 260.0 30.0) (float-vector 80.0 260.0 60.0) (float-vector 88.0385 260.0 90.0) (float-vector 110.0 260.0 111.962) (float-vector 140.0 260.0 120.0) (float-vector 170.0 260.0 111.962) (float-vector 191.962 260.0 90.0))) - (instance face :init :vertices (list (float-vector 191.962 230.0 30.0) (float-vector 191.962 260.0 30.0) (float-vector 200.0 260.0 60.0) (float-vector 200.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 170.0 230.0 8.03848) (float-vector 170.0 260.0 8.03848) (float-vector 191.962 260.0 30.0) (float-vector 191.962 230.0 30.0))) - (instance face :init :vertices (list (float-vector 140.0 230.0 2.131628e-14) (float-vector 140.0 260.0 1.421085e-14) (float-vector 170.0 260.0 8.03848) (float-vector 170.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 110.0 230.0 8.03848) (float-vector 110.0 260.0 8.03848) (float-vector 140.0 260.0 1.421085e-14) (float-vector 140.0 230.0 2.131628e-14))) - (instance face :init :vertices (list (float-vector 88.0385 230.0 30.0) (float-vector 88.0385 260.0 30.0) (float-vector 110.0 260.0 8.03848) (float-vector 110.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 80.0 230.0 60.0) (float-vector 80.0 260.0 60.0) (float-vector 88.0385 260.0 30.0) (float-vector 88.0385 230.0 30.0))) - (instance face :init :vertices (list (float-vector 88.0385 230.0 90.0) (float-vector 88.0385 260.0 90.0) (float-vector 80.0 260.0 60.0) (float-vector 80.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 110.0 230.0 111.962) (float-vector 110.0 260.0 111.962) (float-vector 88.0385 260.0 90.0) (float-vector 88.0385 230.0 90.0))) - (instance face :init :vertices (list (float-vector 140.0 230.0 120.0) (float-vector 140.0 260.0 120.0) (float-vector 110.0 260.0 111.962) (float-vector 110.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 170.0 230.0 111.962) (float-vector 170.0 260.0 111.962) (float-vector 140.0 260.0 120.0) (float-vector 140.0 230.0 120.0))) - (instance face :init :vertices (list (float-vector 191.962 230.0 90.0) (float-vector 191.962 260.0 90.0) (float-vector 170.0 260.0 111.962) (float-vector 170.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 200.0 230.0 60.0) (float-vector 200.0 260.0 60.0) (float-vector 191.962 260.0 90.0) (float-vector 191.962 230.0 90.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 155.0 264.5 170.0) (float-vector 125.0 264.5 170.0) (float-vector 125.0 264.5 36.0) (float-vector 155.0 264.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 267.5 170.0) (float-vector 155.0 267.5 170.0) (float-vector 155.0 267.5 36.0) (float-vector 125.0 267.5 36.0))) @@ -52,22 +36,6 @@ (instance face :init :vertices (list (float-vector 125.0 222.5 36.0) (float-vector 125.0 225.5 36.0) (float-vector 155.0 225.5 36.0) (float-vector 155.0 222.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 222.5 170.0) (float-vector 125.0 225.5 170.0) (float-vector 125.0 225.5 36.0) (float-vector 125.0 222.5 36.0))) )) - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 191.962 -260.0 30.0) (float-vector 200.0 -260.0 60.0) (float-vector 191.962 -260.0 90.0) (float-vector 170.0 -260.0 111.962) (float-vector 140.0 -260.0 120.0) (float-vector 110.0 -260.0 111.962) (float-vector 88.0385 -260.0 90.0) (float-vector 80.0 -260.0 60.0) (float-vector 88.0385 -260.0 30.0) (float-vector 110.0 -260.0 8.03848) (float-vector 140.0 -260.0 2.131628e-14) (float-vector 170.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 200.0 -230.0 60.0) (float-vector 191.962 -230.0 30.0) (float-vector 170.0 -230.0 8.03848) (float-vector 140.0 -230.0 1.421085e-14) (float-vector 110.0 -230.0 8.03848) (float-vector 88.0385 -230.0 30.0) (float-vector 80.0 -230.0 60.0) (float-vector 88.0385 -230.0 90.0) (float-vector 110.0 -230.0 111.962) (float-vector 140.0 -230.0 120.0) (float-vector 170.0 -230.0 111.962) (float-vector 191.962 -230.0 90.0))) - (instance face :init :vertices (list (float-vector 191.962 -260.0 30.0) (float-vector 191.962 -230.0 30.0) (float-vector 200.0 -230.0 60.0) (float-vector 200.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 170.0 -260.0 8.03848) (float-vector 170.0 -230.0 8.03848) (float-vector 191.962 -230.0 30.0) (float-vector 191.962 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 140.0 -260.0 2.131628e-14) (float-vector 140.0 -230.0 1.421085e-14) (float-vector 170.0 -230.0 8.03848) (float-vector 170.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 110.0 -260.0 8.03848) (float-vector 110.0 -230.0 8.03848) (float-vector 140.0 -230.0 1.421085e-14) (float-vector 140.0 -260.0 2.131628e-14))) - (instance face :init :vertices (list (float-vector 88.0385 -260.0 30.0) (float-vector 88.0385 -230.0 30.0) (float-vector 110.0 -230.0 8.03848) (float-vector 110.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 80.0 -260.0 60.0) (float-vector 80.0 -230.0 60.0) (float-vector 88.0385 -230.0 30.0) (float-vector 88.0385 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 88.0385 -260.0 90.0) (float-vector 88.0385 -230.0 90.0) (float-vector 80.0 -230.0 60.0) (float-vector 80.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 110.0 -260.0 111.962) (float-vector 110.0 -230.0 111.962) (float-vector 88.0385 -230.0 90.0) (float-vector 88.0385 -260.0 90.0))) - (instance face :init :vertices (list (float-vector 140.0 -260.0 120.0) (float-vector 140.0 -230.0 120.0) (float-vector 110.0 -230.0 111.962) (float-vector 110.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 170.0 -260.0 111.962) (float-vector 170.0 -230.0 111.962) (float-vector 140.0 -230.0 120.0) (float-vector 140.0 -260.0 120.0))) - (instance face :init :vertices (list (float-vector 191.962 -260.0 90.0) (float-vector 191.962 -230.0 90.0) (float-vector 170.0 -230.0 111.962) (float-vector 170.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 200.0 -260.0 60.0) (float-vector 200.0 -230.0 60.0) (float-vector 191.962 -230.0 90.0) (float-vector 191.962 -260.0 90.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 155.0 -225.5 170.0) (float-vector 125.0 -225.5 170.0) (float-vector 125.0 -225.5 36.0) (float-vector 155.0 -225.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 -222.5 170.0) (float-vector 155.0 -222.5 170.0) (float-vector 155.0 -222.5 36.0) (float-vector 125.0 -222.5 36.0))) @@ -85,224 +53,359 @@ (instance face :init :vertices (list (float-vector 125.0 -267.5 170.0) (float-vector 125.0 -264.5 170.0) (float-vector 125.0 -264.5 36.0) (float-vector 125.0 -267.5 36.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 751.962 230.0 30.0) (float-vector 760.0 230.0 60.0) (float-vector 751.962 230.0 90.0) (float-vector 730.0 230.0 111.962) (float-vector 700.0 230.0 120.0) (float-vector 670.0 230.0 111.962) (float-vector 648.038 230.0 90.0) (float-vector 640.0 230.0 60.0) (float-vector 648.038 230.0 30.0) (float-vector 670.0 230.0 8.03848) (float-vector 700.0 230.0 2.131628e-14) (float-vector 730.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 760.0 260.0 60.0) (float-vector 751.962 260.0 30.0) (float-vector 730.0 260.0 8.03848) (float-vector 700.0 260.0 1.421085e-14) (float-vector 670.0 260.0 8.03848) (float-vector 648.038 260.0 30.0) (float-vector 640.0 260.0 60.0) (float-vector 648.038 260.0 90.0) (float-vector 670.0 260.0 111.962) (float-vector 700.0 260.0 120.0) (float-vector 730.0 260.0 111.962) (float-vector 751.962 260.0 90.0))) - (instance face :init :vertices (list (float-vector 751.962 230.0 30.0) (float-vector 751.962 260.0 30.0) (float-vector 760.0 260.0 60.0) (float-vector 760.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 730.0 230.0 8.03848) (float-vector 730.0 260.0 8.03848) (float-vector 751.962 260.0 30.0) (float-vector 751.962 230.0 30.0))) - (instance face :init :vertices (list (float-vector 700.0 230.0 2.131628e-14) (float-vector 700.0 260.0 1.421085e-14) (float-vector 730.0 260.0 8.03848) (float-vector 730.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 670.0 230.0 8.03848) (float-vector 670.0 260.0 8.03848) (float-vector 700.0 260.0 1.421085e-14) (float-vector 700.0 230.0 2.131628e-14))) - (instance face :init :vertices (list (float-vector 648.038 230.0 30.0) (float-vector 648.038 260.0 30.0) (float-vector 670.0 260.0 8.03848) (float-vector 670.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 640.0 230.0 60.0) (float-vector 640.0 260.0 60.0) (float-vector 648.038 260.0 30.0) (float-vector 648.038 230.0 30.0))) - (instance face :init :vertices (list (float-vector 648.038 230.0 90.0) (float-vector 648.038 260.0 90.0) (float-vector 640.0 260.0 60.0) (float-vector 640.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 670.0 230.0 111.962) (float-vector 670.0 260.0 111.962) (float-vector 648.038 260.0 90.0) (float-vector 648.038 230.0 90.0))) - (instance face :init :vertices (list (float-vector 700.0 230.0 120.0) (float-vector 700.0 260.0 120.0) (float-vector 670.0 260.0 111.962) (float-vector 670.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 730.0 230.0 111.962) (float-vector 730.0 260.0 111.962) (float-vector 700.0 260.0 120.0) (float-vector 700.0 230.0 120.0))) - (instance face :init :vertices (list (float-vector 751.962 230.0 90.0) (float-vector 751.962 260.0 90.0) (float-vector 730.0 260.0 111.962) (float-vector 730.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 760.0 230.0 60.0) (float-vector 760.0 260.0 60.0) (float-vector 751.962 260.0 90.0) (float-vector 751.962 230.0 90.0))) + (instance face :init :vertices (list (float-vector 900.0 300.0 220.0) (float-vector 0.0 300.0 220.0) (float-vector 0.0 -300.0 220.0) (float-vector 900.0 -300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 300.0 170.0) (float-vector 900.0 300.0 170.0) (float-vector 900.0 -300.0 170.0) (float-vector 0.0 -300.0 170.0))) + (instance face :init :vertices (list (float-vector 900.0 300.0 220.0) (float-vector 900.0 300.0 170.0) (float-vector 0.0 300.0 170.0) (float-vector 0.0 300.0 220.0))) + (instance face :init :vertices (list (float-vector 900.0 -300.0 220.0) (float-vector 900.0 -300.0 170.0) (float-vector 900.0 300.0 170.0) (float-vector 900.0 300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 -300.0 220.0) (float-vector 0.0 -300.0 170.0) (float-vector 900.0 -300.0 170.0) (float-vector 900.0 -300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 300.0 220.0) (float-vector 0.0 300.0 170.0) (float-vector 0.0 -300.0 170.0) (float-vector 0.0 -300.0 220.0))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (send (elt bc 2) :set-color :gray) + (send (elt bc 3) :set-color :gray) + (send (elt bc 4) :set-color :blue) + (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :gifuplastic-900-cart-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 :rear-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 264.5 170.0) (float-vector 685.0 264.5 170.0) (float-vector 685.0 264.5 36.0) (float-vector 715.0 264.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 267.5 170.0) (float-vector 715.0 267.5 170.0) (float-vector 715.0 267.5 36.0) (float-vector 685.0 267.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 264.5 170.0) (float-vector 715.0 267.5 170.0) (float-vector 685.0 267.5 170.0) (float-vector 685.0 264.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 264.5 36.0) (float-vector 715.0 267.5 36.0) (float-vector 715.0 267.5 170.0) (float-vector 715.0 264.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 264.5 36.0) (float-vector 685.0 267.5 36.0) (float-vector 715.0 267.5 36.0) (float-vector 715.0 264.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 264.5 170.0) (float-vector 685.0 267.5 170.0) (float-vector 685.0 267.5 36.0) (float-vector 685.0 264.5 36.0))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 60.0 -15.0 7.105427e-15) (float-vector 57.9555 -15.0 15.5291) (float-vector 51.9615 -15.0 30.0) (float-vector 42.4264 -15.0 42.4264) (float-vector 30.0 -15.0 51.9615) (float-vector 15.5291 -15.0 57.9555) (float-vector 2.842171e-14 -15.0 60.0) (float-vector -15.5291 -15.0 57.9555) (float-vector -30.0 -15.0 51.9615) (float-vector -42.4264 -15.0 42.4264) (float-vector -51.9615 -15.0 30.0) (float-vector -57.9555 -15.0 15.5291) (float-vector -60.0 -15.0 7.105427e-14) (float-vector -57.9555 -15.0 -15.5291) (float-vector -51.9615 -15.0 -30.0) (float-vector -42.4264 -15.0 -42.4264) (float-vector -30.0 -15.0 -51.9615) (float-vector -15.5291 -15.0 -57.9555) (float-vector -8.526513e-14 -15.0 -60.0) (float-vector 15.5291 -15.0 -57.9555) (float-vector 30.0 -15.0 -51.9615) (float-vector 42.4264 -15.0 -42.4264) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 -15.5291) (float-vector 51.9615 15.0 -30.0) (float-vector 42.4264 15.0 -42.4264) (float-vector 30.0 15.0 -51.9615) (float-vector 15.5291 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(float-vector 57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 -42.4264) (float-vector 42.4264 15.0 -42.4264) (float-vector 51.9615 15.0 -30.0) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 -51.9615) (float-vector 30.0 15.0 -51.9615) (float-vector 42.4264 15.0 -42.4264) (float-vector 42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 -57.9555) (float-vector 15.5291 15.0 -57.9555) (float-vector 30.0 15.0 -51.9615) (float-vector 30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -8.526513e-14 -15.0 -60.0) (float-vector -8.526513e-14 15.0 -60.0) (float-vector 15.5291 15.0 -57.9555) (float-vector 15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 -57.9555) (float-vector -15.5291 15.0 -57.9555) (float-vector -8.526513e-14 15.0 -60.0) (float-vector -8.526513e-14 -15.0 -60.0))) + 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15.0 60.0) (float-vector -15.5291 15.0 57.9555) (float-vector -15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 57.9555) (float-vector 15.5291 15.0 57.9555) (float-vector 2.842171e-14 15.0 60.0) (float-vector 2.842171e-14 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-left-wheel :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 :rear-right-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 222.5 170.0) (float-vector 685.0 222.5 170.0) (float-vector 685.0 222.5 36.0) (float-vector 715.0 222.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 225.5 170.0) (float-vector 715.0 225.5 170.0) (float-vector 715.0 225.5 36.0) (float-vector 685.0 225.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 222.5 170.0) 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(float-vector -51.9615 15.0 30.0) (float-vector -57.9555 15.0 15.5291) (float-vector -57.9555 -15.0 15.5291))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 42.4264) (float-vector -42.4264 15.0 42.4264) (float-vector -51.9615 15.0 30.0) (float-vector -51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 51.9615) (float-vector -30.0 15.0 51.9615) (float-vector -42.4264 15.0 42.4264) (float-vector -42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 57.9555) (float-vector -15.5291 15.0 57.9555) (float-vector -30.0 15.0 51.9615) (float-vector -30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 2.842171e-14 -15.0 60.0) (float-vector 2.842171e-14 15.0 60.0) (float-vector -15.5291 15.0 57.9555) (float-vector -15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 57.9555) (float-vector 15.5291 15.0 57.9555) (float-vector 2.842171e-14 15.0 60.0) (float-vector 2.842171e-14 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-right-wheel :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 :left-front-fork + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 751.962 -260.0 30.0) (float-vector 760.0 -260.0 60.0) (float-vector 751.962 -260.0 90.0) (float-vector 730.0 -260.0 111.962) (float-vector 700.0 -260.0 120.0) (float-vector 670.0 -260.0 111.962) (float-vector 648.038 -260.0 90.0) (float-vector 640.0 -260.0 60.0) (float-vector 648.038 -260.0 30.0) (float-vector 670.0 -260.0 8.03848) (float-vector 700.0 -260.0 2.131628e-14) (float-vector 730.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 760.0 -230.0 60.0) (float-vector 751.962 -230.0 30.0) (float-vector 730.0 -230.0 8.03848) (float-vector 700.0 -230.0 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1.421085e-14) (float-vector 700.0 -260.0 2.131628e-14))) - (instance face :init :vertices (list (float-vector 648.038 -260.0 30.0) (float-vector 648.038 -230.0 30.0) (float-vector 670.0 -230.0 8.03848) (float-vector 670.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 640.0 -260.0 60.0) (float-vector 640.0 -230.0 60.0) (float-vector 648.038 -230.0 30.0) (float-vector 648.038 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 648.038 -260.0 90.0) (float-vector 648.038 -230.0 90.0) (float-vector 640.0 -230.0 60.0) (float-vector 640.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 670.0 -260.0 111.962) (float-vector 670.0 -230.0 111.962) (float-vector 648.038 -230.0 90.0) (float-vector 648.038 -260.0 90.0))) - (instance face :init :vertices (list (float-vector 700.0 -260.0 120.0) (float-vector 700.0 -230.0 120.0) (float-vector 670.0 -230.0 111.962) (float-vector 670.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 730.0 -260.0 111.962) (float-vector 730.0 -230.0 111.962) (float-vector 700.0 -230.0 120.0) (float-vector 700.0 -260.0 120.0))) - (instance face :init :vertices (list (float-vector 751.962 -260.0 90.0) (float-vector 751.962 -230.0 90.0) (float-vector 730.0 -230.0 111.962) (float-vector 730.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 760.0 -260.0 60.0) (float-vector 760.0 -230.0 60.0) (float-vector 751.962 -230.0 90.0) (float-vector 751.962 -260.0 90.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 0.0) (float-vector -45.0 19.5 0.0) (float-vector -45.0 19.5 -134.0) (float-vector -15.0 19.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 22.5 0.0) (float-vector -15.0 22.5 0.0) (float-vector -15.0 22.5 -134.0) (float-vector -45.0 22.5 -134.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 0.0) (float-vector -15.0 22.5 0.0) (float-vector -45.0 22.5 0.0) (float-vector -45.0 19.5 0.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 -134.0) (float-vector -15.0 22.5 -134.0) (float-vector -15.0 22.5 0.0) (float-vector -15.0 19.5 0.0))) + (instance face :init :vertices (list (float-vector -45.0 19.5 -134.0) (float-vector -45.0 22.5 -134.0) (float-vector -15.0 22.5 -134.0) (float-vector -15.0 19.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 19.5 0.0) (float-vector -45.0 22.5 0.0) (float-vector -45.0 22.5 -134.0) (float-vector -45.0 19.5 -134.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 -225.5 170.0) (float-vector 685.0 -225.5 170.0) (float-vector 685.0 -225.5 36.0) (float-vector 715.0 -225.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -222.5 170.0) (float-vector 715.0 -222.5 170.0) (float-vector 715.0 -222.5 36.0) (float-vector 685.0 -222.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 -225.5 170.0) (float-vector 715.0 -222.5 170.0) (float-vector 685.0 -222.5 170.0) (float-vector 685.0 -225.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 -225.5 36.0) (float-vector 715.0 -222.5 36.0) (float-vector 715.0 -222.5 170.0) (float-vector 715.0 -225.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 -225.5 36.0) (float-vector 685.0 -222.5 36.0) (float-vector 715.0 -222.5 36.0) (float-vector 715.0 -225.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -225.5 170.0) (float-vector 685.0 -222.5 170.0) (float-vector 685.0 -222.5 36.0) (float-vector 685.0 -225.5 36.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -22.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -19.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -19.5 -134.0) (float-vector -45.0 -19.5 -134.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 -134.0) (float-vector -45.0 -19.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -19.5 -134.0) (float-vector -45.0 -22.5 -134.0))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :left-front-fork :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 :front-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 -267.5 170.0) (float-vector 685.0 -267.5 170.0) (float-vector 685.0 -267.5 36.0) (float-vector 715.0 -267.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -264.5 170.0) (float-vector 715.0 -264.5 170.0) (float-vector 715.0 -264.5 36.0) (float-vector 685.0 -264.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 -267.5 170.0) (float-vector 715.0 -264.5 170.0) (float-vector 685.0 -264.5 170.0) (float-vector 685.0 -267.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 -267.5 36.0) (float-vector 715.0 -264.5 36.0) (float-vector 715.0 -264.5 170.0) (float-vector 715.0 -267.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 -267.5 36.0) (float-vector 685.0 -264.5 36.0) (float-vector 715.0 -264.5 36.0) (float-vector 715.0 -267.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -267.5 170.0) (float-vector 685.0 -264.5 170.0) (float-vector 685.0 -264.5 36.0) (float-vector 685.0 -267.5 36.0))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 60.0 -15.0 7.105427e-15) (float-vector 57.9555 -15.0 15.5291) (float-vector 51.9615 -15.0 30.0) (float-vector 42.4264 -15.0 42.4264) (float-vector 30.0 -15.0 51.9615) (float-vector 15.5291 -15.0 57.9555) (float-vector 0.0 -15.0 60.0) (float-vector -15.5291 -15.0 57.9555) (float-vector -30.0 -15.0 51.9615) (float-vector -42.4264 -15.0 42.4264) (float-vector -51.9615 -15.0 30.0) (float-vector -57.9555 -15.0 15.5291) (float-vector -60.0 -15.0 7.105427e-14) (float-vector -57.9555 -15.0 -15.5291) (float-vector -51.9615 -15.0 -30.0) (float-vector -42.4264 -15.0 -42.4264) (float-vector -30.0 -15.0 -51.9615) (float-vector -15.5291 -15.0 -57.9555) (float-vector -1.136868e-13 -15.0 -60.0) (float-vector 15.5291 -15.0 -57.9555) (float-vector 30.0 -15.0 -51.9615) (float-vector 42.4264 -15.0 -42.4264) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 -15.5291) (float-vector 51.9615 15.0 -30.0) (float-vector 42.4264 15.0 -42.4264) (float-vector 30.0 15.0 -51.9615) (float-vector 15.5291 15.0 -57.9555) (float-vector -1.136868e-13 15.0 -60.0) (float-vector -15.5291 15.0 -57.9555) (float-vector -30.0 15.0 -51.9615) (float-vector -42.4264 15.0 -42.4264) (float-vector -51.9615 15.0 -30.0) (float-vector -57.9555 15.0 -15.5291) (float-vector -60.0 15.0 6.394885e-14) (float-vector -57.9555 15.0 15.5291) (float-vector -51.9615 15.0 30.0) (float-vector -42.4264 15.0 42.4264) (float-vector -30.0 15.0 51.9615) (float-vector -15.5291 15.0 57.9555) (float-vector 0.0 15.0 60.0) (float-vector 15.5291 15.0 57.9555) (float-vector 30.0 15.0 51.9615) (float-vector 42.4264 15.0 42.4264) (float-vector 51.9615 15.0 30.0) (float-vector 57.9555 15.0 15.5291))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 57.9555 15.0 -15.5291) (float-vector 60.0 15.0 0.0) (float-vector 60.0 -15.0 7.105427e-15))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 -30.0) (float-vector 51.9615 15.0 -30.0) (float-vector 57.9555 15.0 -15.5291) (float-vector 57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 -42.4264) (float-vector 42.4264 15.0 -42.4264) (float-vector 51.9615 15.0 -30.0) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 -51.9615) (float-vector 30.0 15.0 -51.9615) (float-vector 42.4264 15.0 -42.4264) (float-vector 42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 -57.9555) (float-vector 15.5291 15.0 -57.9555) (float-vector 30.0 15.0 -51.9615) (float-vector 30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -1.136868e-13 -15.0 -60.0) (float-vector -1.136868e-13 15.0 -60.0) (float-vector 15.5291 15.0 -57.9555) (float-vector 15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 -57.9555) (float-vector -15.5291 15.0 -57.9555) (float-vector -1.136868e-13 15.0 -60.0) (float-vector -1.136868e-13 -15.0 -60.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 -51.9615) (float-vector -30.0 15.0 -51.9615) (float-vector -15.5291 15.0 -57.9555) (float-vector -15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 -42.4264) (float-vector -42.4264 15.0 -42.4264) (float-vector -30.0 15.0 -51.9615) (float-vector -30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 -30.0) (float-vector -51.9615 15.0 -30.0) (float-vector -42.4264 15.0 -42.4264) (float-vector -42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 -15.5291) (float-vector -57.9555 15.0 -15.5291) (float-vector -51.9615 15.0 -30.0) (float-vector -51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector -60.0 -15.0 7.105427e-14) (float-vector -60.0 15.0 6.394885e-14) (float-vector -57.9555 15.0 -15.5291) (float-vector -57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 15.5291) (float-vector -57.9555 15.0 15.5291) (float-vector -60.0 15.0 6.394885e-14) (float-vector -60.0 -15.0 7.105427e-14))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 30.0) (float-vector -51.9615 15.0 30.0) (float-vector -57.9555 15.0 15.5291) (float-vector -57.9555 -15.0 15.5291))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 42.4264) (float-vector -42.4264 15.0 42.4264) (float-vector -51.9615 15.0 30.0) (float-vector -51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 51.9615) (float-vector -30.0 15.0 51.9615) (float-vector -42.4264 15.0 42.4264) (float-vector -42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 57.9555) (float-vector -15.5291 15.0 57.9555) (float-vector -30.0 15.0 51.9615) (float-vector -30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 0.0 -15.0 60.0) (float-vector 0.0 15.0 60.0) (float-vector -15.5291 15.0 57.9555) (float-vector -15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 57.9555) (float-vector 15.5291 15.0 57.9555) (float-vector 0.0 15.0 60.0) (float-vector 0.0 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :front-left-wheel :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 :right-front-fork + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 88.6603 -220.0 885.0) (float-vector 90.0 -220.0 890.0) (float-vector 88.6603 -220.0 895.0) (float-vector 85.0 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220.0 881.34) (float-vector 88.6603 220.0 885.0) (float-vector 88.6603 -220.0 885.0))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 880.0) (float-vector 80.0 220.0 880.0) (float-vector 85.0 220.0 881.34) (float-vector 85.0 -220.0 881.34))) - (instance face :init :vertices (list (float-vector 75.0 -220.0 881.34) (float-vector 75.0 220.0 881.34) (float-vector 80.0 220.0 880.0) (float-vector 80.0 -220.0 880.0))) - (instance face :init :vertices (list (float-vector 71.3397 -220.0 885.0) (float-vector 71.3397 220.0 885.0) (float-vector 75.0 220.0 881.34) (float-vector 75.0 -220.0 881.34))) - (instance face :init :vertices (list (float-vector 70.0 -220.0 890.0) (float-vector 70.0 220.0 890.0) (float-vector 71.3397 220.0 885.0) (float-vector 71.3397 -220.0 885.0))) - (instance face :init :vertices (list (float-vector 71.3397 -220.0 895.0) (float-vector 71.3397 220.0 895.0) (float-vector 70.0 220.0 890.0) (float-vector 70.0 -220.0 890.0))) - (instance face :init :vertices 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1.136868e-13) (float-vector -8.66025 -285.0 1.136868e-13) (float-vector -8.66025 -285.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 -275.0 610.0) (float-vector -8.66025 -275.0 1.136868e-13) (float-vector -10.0 -280.0 1.136868e-13) (float-vector -10.0 -280.0 610.0))) + (instance face :init :vertices (list (float-vector -5.0 -271.34 610.0) (float-vector -5.0 -271.34 1.136868e-13) (float-vector -8.66025 -275.0 1.136868e-13) (float-vector -8.66025 -275.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 -270.0 610.0) (float-vector 0.0 -270.0 1.136868e-13) (float-vector -5.0 -271.34 1.136868e-13) (float-vector -5.0 -271.34 610.0))) + (instance face :init :vertices (list (float-vector 5.0 -271.34 610.0) (float-vector 5.0 -271.34 1.136868e-13) (float-vector 0.0 -270.0 1.136868e-13) (float-vector 0.0 -270.0 610.0))) + (instance face :init :vertices (list (float-vector 8.66025 -275.0 610.0) (float-vector 8.66025 -275.0 1.136868e-13) (float-vector 5.0 -271.34 1.136868e-13) (float-vector 5.0 -271.34 610.0))) + (instance face :init :vertices (list (float-vector 10.0 -280.0 610.0) (float-vector 10.0 -280.0 1.136868e-13) (float-vector 8.66025 -275.0 1.136868e-13) (float-vector 8.66025 -275.0 610.0))) + )) + (instance faceset :init :faces (list + (instance face :init :vertices (list (float-vector 8.66025 275.0 610.0) (float-vector 10.0 280.0 610.0) (float-vector 8.66025 285.0 610.0) (float-vector 5.0 288.66 610.0) (float-vector 0.0 290.0 610.0) (float-vector -5.0 288.66 610.0) (float-vector -8.66025 285.0 610.0) (float-vector -10.0 280.0 610.0) (float-vector -8.66025 275.0 610.0) (float-vector -5.0 271.34 610.0) (float-vector -1.421085e-14 270.0 610.0) (float-vector 5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector 10.0 280.0 0.0) (float-vector 8.66025 275.0 0.0) (float-vector 5.0 271.34 0.0) (float-vector -1.421085e-14 270.0 0.0) (float-vector -5.0 271.34 0.0) (float-vector -8.66025 275.0 0.0) (float-vector -10.0 280.0 0.0) (float-vector -8.66025 285.0 0.0) (float-vector -5.0 288.66 0.0) (float-vector 0.0 290.0 0.0) (float-vector 5.0 288.66 0.0) (float-vector 8.66025 285.0 0.0))) + (instance face :init :vertices (list (float-vector 8.66025 275.0 610.0) (float-vector 8.66025 275.0 0.0) (float-vector 10.0 280.0 0.0) (float-vector 10.0 280.0 610.0))) + (instance face :init :vertices (list (float-vector 5.0 271.34 610.0) (float-vector 5.0 271.34 0.0) (float-vector 8.66025 275.0 0.0) (float-vector 8.66025 275.0 610.0))) + (instance face :init :vertices (list (float-vector -1.421085e-14 270.0 610.0) (float-vector -1.421085e-14 270.0 0.0) (float-vector 5.0 271.34 0.0) (float-vector 5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector -5.0 271.34 610.0) (float-vector -5.0 271.34 0.0) (float-vector -1.421085e-14 270.0 0.0) (float-vector -1.421085e-14 270.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 275.0 610.0) (float-vector -8.66025 275.0 0.0) (float-vector -5.0 271.34 0.0) (float-vector -5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector -10.0 280.0 610.0) (float-vector -10.0 280.0 0.0) (float-vector -8.66025 275.0 0.0) (float-vector -8.66025 275.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 285.0 610.0) (float-vector -8.66025 285.0 0.0) (float-vector -10.0 280.0 0.0) (float-vector -10.0 280.0 610.0))) + (instance face :init :vertices (list (float-vector -5.0 288.66 610.0) (float-vector -5.0 288.66 0.0) (float-vector -8.66025 285.0 0.0) (float-vector -8.66025 285.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 290.0 610.0) (float-vector 0.0 290.0 0.0) (float-vector -5.0 288.66 0.0) (float-vector -5.0 288.66 610.0))) + (instance face :init :vertices (list (float-vector 5.0 288.66 610.0) (float-vector 5.0 288.66 0.0) (float-vector 0.0 290.0 0.0) (float-vector 0.0 290.0 610.0))) + (instance face :init :vertices (list (float-vector 8.66025 285.0 610.0) (float-vector 8.66025 285.0 0.0) (float-vector 5.0 288.66 0.0) (float-vector 5.0 288.66 610.0))) + (instance face :init :vertices (list (float-vector 10.0 280.0 610.0) (float-vector 10.0 280.0 0.0) (float-vector 8.66025 285.0 0.0) (float-vector 8.66025 285.0 610.0))) )) )) (dolist (b (cdr bc)) (send (car bc) :assoc b)) @@ -311,28 +414,64 @@ (send (elt bc 2) :set-color :gray) (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 :gray) - (send (elt bc 9) :set-color :gray) - (send (elt bc 10) :set-color :gray) - (send (elt bc 11) :set-color :gray) - (send (elt bc 12) :set-color :gray) - (send (elt bc 13) :set-color :gray) - (send (elt bc 14) :set-color :gray) - (send (elt bc 15) :set-color :gray) - (send (elt bc 16) :set-color :gray) - (send (elt bc 17) :set-color :blue) - (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :gifuplastic-900-cart-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)))) + (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink5 :newcoords (make-coords :pos (float-vector -30.0 0.0 -110.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink4 :assoc blink5) + (send blink7 :newcoords (make-coords :pos (float-vector -30.0 0.0 -110.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink6 :assoc blink7) + (send blink1 :newcoords (make-coords :pos (float-vector 80.0 0.0 220.0) :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 blink6 :newcoords (make-coords :pos (float-vector 700.0 -245.0 170.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink6) + (send blink4 :newcoords (make-coords :pos (float-vector 700.0 245.0 170.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink4) + (send blink3 :newcoords (make-coords :pos (float-vector 140.0 -245.0 60.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink3) + (send blink2 :newcoords (make-coords :pos (float-vector 140.0 245.0 60.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink2) (send self :assoc blink0) ;; definition of end-coords ;; definition of joint + ;; definition of :bar + (setq joint0 (instance rotational-joint :init + :parent-link blink0 :child-link blink1 :name :bar :axis :y + :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-left-wheel + (setq joint1 (instance rotational-joint :init + :parent-link blink0 :child-link blink2 :name :rear-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-right-wheel + (setq joint2 (instance rotational-joint :init + :parent-link blink0 :child-link blink3 :name :rear-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :left-front-fork + (setq joint3 (instance rotational-joint :init + :parent-link blink0 :child-link blink4 :name :left-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-left-wheel + (setq joint4 (instance rotational-joint :init + :parent-link blink4 :child-link blink5 :name :front-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :right-front-fork + (setq joint5 (instance rotational-joint :init + :parent-link blink0 :child-link blink6 :name :right-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-right-wheel + (setq joint6 (instance rotational-joint :init + :parent-link blink6 :child-link blink7 :name :front-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + ;; definition of :handle (setq handle0 (make-cascoords :pos (float-vector 80.0 240.0 850.0) :rot #2f((1.0 0.0 0.0) (0.0 0.707107 -0.707107) (0.0 0.707107 0.707107)) :name ":larm")) @@ -343,14 +482,21 @@ (send blink0 :assoc handle2) ;; init-ending - (setq links (list blink0)) - (setq joint-list (list)) + (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7)) + (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6)) (send self :init-ending) (send self :move-to (make-coords :pos pos :rot rot)) (send-all links :worldcoords) self)) + (:bar (&rest args) (forward-message-to joint0 args)) + (:rear-left-wheel (&rest args) (forward-message-to joint1 args)) + (:rear-right-wheel (&rest args) (forward-message-to joint2 args)) + (:left-front-fork (&rest args) (forward-message-to joint3 args)) + (:front-left-wheel (&rest args) (forward-message-to joint4 args)) + (:right-front-fork (&rest args) (forward-message-to joint5 args)) + (:front-right-wheel (&rest args) (forward-message-to joint6 args)) (:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2) args)) (:handle-larm (&rest args) (forward-message-to handle0 args)) (:handle-rarm (&rest args) (forward-message-to handle1 args)) diff --git a/models/room73b2-gifuplastic-900-cart-object.l b/models/room73b2-gifuplastic-900-cart-object.l index 9b6d71120..dc953afe8 100644 --- a/models/room73b2-gifuplastic-900-cart-object.l +++ b/models/room73b2-gifuplastic-900-cart-object.l @@ -7,12 +7,12 @@ :super cascaded-link :slots (sensors handle0 handle1 handle2 - )) + joint0 joint1 joint2 joint3 joint4 joint5 joint6 )) (defmethod room73b2-gifuplastic-900-cart-object (:init (&rest args &key (name "room73b2-gifuplastic-900-cart") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys) (let (c bc - blink0 + blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7 ) (send-super* :init :name name args) @@ -20,22 +20,6 @@ ;; definition of :room73b2-gifuplastic-900-cart-bodyset2 (setq bc (list - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 191.962 230.0 30.0) (float-vector 200.0 230.0 60.0) (float-vector 191.962 230.0 90.0) (float-vector 170.0 230.0 111.962) (float-vector 140.0 230.0 120.0) (float-vector 110.0 230.0 111.962) (float-vector 88.0385 230.0 90.0) (float-vector 80.0 230.0 60.0) (float-vector 88.0385 230.0 30.0) (float-vector 110.0 230.0 8.03848) (float-vector 140.0 230.0 -7.105427e-15) (float-vector 170.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 200.0 260.0 60.0) (float-vector 191.962 260.0 30.0) (float-vector 170.0 260.0 8.03848) (float-vector 140.0 260.0 0.0) (float-vector 110.0 260.0 8.03848) (float-vector 88.0385 260.0 30.0) (float-vector 80.0 260.0 60.0) (float-vector 88.0385 260.0 90.0) (float-vector 110.0 260.0 111.962) (float-vector 140.0 260.0 120.0) (float-vector 170.0 260.0 111.962) (float-vector 191.962 260.0 90.0))) - (instance face :init :vertices (list (float-vector 191.962 230.0 30.0) (float-vector 191.962 260.0 30.0) (float-vector 200.0 260.0 60.0) (float-vector 200.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 170.0 230.0 8.03848) (float-vector 170.0 260.0 8.03848) (float-vector 191.962 260.0 30.0) (float-vector 191.962 230.0 30.0))) - (instance face :init :vertices (list (float-vector 140.0 230.0 -7.105427e-15) (float-vector 140.0 260.0 0.0) (float-vector 170.0 260.0 8.03848) (float-vector 170.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 110.0 230.0 8.03848) (float-vector 110.0 260.0 8.03848) (float-vector 140.0 260.0 0.0) (float-vector 140.0 230.0 -7.105427e-15))) - (instance face :init :vertices (list (float-vector 88.0385 230.0 30.0) (float-vector 88.0385 260.0 30.0) (float-vector 110.0 260.0 8.03848) (float-vector 110.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 80.0 230.0 60.0) (float-vector 80.0 260.0 60.0) (float-vector 88.0385 260.0 30.0) (float-vector 88.0385 230.0 30.0))) - (instance face :init :vertices (list (float-vector 88.0385 230.0 90.0) (float-vector 88.0385 260.0 90.0) (float-vector 80.0 260.0 60.0) (float-vector 80.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 110.0 230.0 111.962) (float-vector 110.0 260.0 111.962) (float-vector 88.0385 260.0 90.0) (float-vector 88.0385 230.0 90.0))) - (instance face :init :vertices (list (float-vector 140.0 230.0 120.0) (float-vector 140.0 260.0 120.0) (float-vector 110.0 260.0 111.962) (float-vector 110.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 170.0 230.0 111.962) (float-vector 170.0 260.0 111.962) (float-vector 140.0 260.0 120.0) (float-vector 140.0 230.0 120.0))) - (instance face :init :vertices (list (float-vector 191.962 230.0 90.0) (float-vector 191.962 260.0 90.0) (float-vector 170.0 260.0 111.962) (float-vector 170.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 200.0 230.0 60.0) (float-vector 200.0 260.0 60.0) (float-vector 191.962 260.0 90.0) (float-vector 191.962 230.0 90.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 155.0 264.5 170.0) (float-vector 125.0 264.5 170.0) (float-vector 125.0 264.5 36.0) (float-vector 155.0 264.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 267.5 170.0) (float-vector 155.0 267.5 170.0) (float-vector 155.0 267.5 36.0) (float-vector 125.0 267.5 36.0))) @@ -52,22 +36,6 @@ (instance face :init :vertices (list (float-vector 125.0 222.5 36.0) (float-vector 125.0 225.5 36.0) (float-vector 155.0 225.5 36.0) (float-vector 155.0 222.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 222.5 170.0) (float-vector 125.0 225.5 170.0) (float-vector 125.0 225.5 36.0) (float-vector 125.0 222.5 36.0))) )) - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 191.962 -260.0 30.0) (float-vector 200.0 -260.0 60.0) (float-vector 191.962 -260.0 90.0) (float-vector 170.0 -260.0 111.962) (float-vector 140.0 -260.0 120.0) (float-vector 110.0 -260.0 111.962) (float-vector 88.0385 -260.0 90.0) (float-vector 80.0 -260.0 60.0) (float-vector 88.0385 -260.0 30.0) (float-vector 110.0 -260.0 8.03848) (float-vector 140.0 -260.0 -7.105427e-15) (float-vector 170.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 200.0 -230.0 60.0) (float-vector 191.962 -230.0 30.0) (float-vector 170.0 -230.0 8.03848) (float-vector 140.0 -230.0 0.0) (float-vector 110.0 -230.0 8.03848) (float-vector 88.0385 -230.0 30.0) (float-vector 80.0 -230.0 60.0) (float-vector 88.0385 -230.0 90.0) (float-vector 110.0 -230.0 111.962) (float-vector 140.0 -230.0 120.0) (float-vector 170.0 -230.0 111.962) (float-vector 191.962 -230.0 90.0))) - (instance face :init :vertices (list (float-vector 191.962 -260.0 30.0) (float-vector 191.962 -230.0 30.0) (float-vector 200.0 -230.0 60.0) (float-vector 200.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 170.0 -260.0 8.03848) (float-vector 170.0 -230.0 8.03848) (float-vector 191.962 -230.0 30.0) (float-vector 191.962 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 140.0 -260.0 -7.105427e-15) (float-vector 140.0 -230.0 0.0) (float-vector 170.0 -230.0 8.03848) (float-vector 170.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 110.0 -260.0 8.03848) (float-vector 110.0 -230.0 8.03848) (float-vector 140.0 -230.0 0.0) (float-vector 140.0 -260.0 -7.105427e-15))) - (instance face :init :vertices (list (float-vector 88.0385 -260.0 30.0) (float-vector 88.0385 -230.0 30.0) (float-vector 110.0 -230.0 8.03848) (float-vector 110.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 80.0 -260.0 60.0) (float-vector 80.0 -230.0 60.0) (float-vector 88.0385 -230.0 30.0) (float-vector 88.0385 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 88.0385 -260.0 90.0) (float-vector 88.0385 -230.0 90.0) (float-vector 80.0 -230.0 60.0) (float-vector 80.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 110.0 -260.0 111.962) (float-vector 110.0 -230.0 111.962) (float-vector 88.0385 -230.0 90.0) (float-vector 88.0385 -260.0 90.0))) - (instance face :init :vertices (list (float-vector 140.0 -260.0 120.0) (float-vector 140.0 -230.0 120.0) (float-vector 110.0 -230.0 111.962) (float-vector 110.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 170.0 -260.0 111.962) (float-vector 170.0 -230.0 111.962) (float-vector 140.0 -230.0 120.0) (float-vector 140.0 -260.0 120.0))) - (instance face :init :vertices (list (float-vector 191.962 -260.0 90.0) (float-vector 191.962 -230.0 90.0) (float-vector 170.0 -230.0 111.962) (float-vector 170.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 200.0 -260.0 60.0) (float-vector 200.0 -230.0 60.0) (float-vector 191.962 -230.0 90.0) (float-vector 191.962 -260.0 90.0))) - )) (instance faceset :init :faces (list (instance face :init :vertices (list (float-vector 155.0 -225.5 170.0) (float-vector 125.0 -225.5 170.0) (float-vector 125.0 -225.5 36.0) (float-vector 155.0 -225.5 36.0))) (instance face :init :vertices (list (float-vector 125.0 -222.5 170.0) (float-vector 155.0 -222.5 170.0) (float-vector 155.0 -222.5 36.0) (float-vector 125.0 -222.5 36.0))) @@ -85,224 +53,359 @@ (instance face :init :vertices (list (float-vector 125.0 -267.5 170.0) (float-vector 125.0 -264.5 170.0) (float-vector 125.0 -264.5 36.0) (float-vector 125.0 -267.5 36.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 751.962 230.0 30.0) (float-vector 760.0 230.0 60.0) (float-vector 751.962 230.0 90.0) (float-vector 730.0 230.0 111.962) (float-vector 700.0 230.0 120.0) (float-vector 670.0 230.0 111.962) (float-vector 648.038 230.0 90.0) (float-vector 640.0 230.0 60.0) (float-vector 648.038 230.0 30.0) (float-vector 670.0 230.0 8.03848) (float-vector 700.0 230.0 -7.105427e-15) (float-vector 730.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 760.0 260.0 60.0) (float-vector 751.962 260.0 30.0) (float-vector 730.0 260.0 8.03848) (float-vector 700.0 260.0 0.0) (float-vector 670.0 260.0 8.03848) (float-vector 648.038 260.0 30.0) (float-vector 640.0 260.0 60.0) (float-vector 648.038 260.0 90.0) (float-vector 670.0 260.0 111.962) (float-vector 700.0 260.0 120.0) (float-vector 730.0 260.0 111.962) (float-vector 751.962 260.0 90.0))) - (instance face :init :vertices (list (float-vector 751.962 230.0 30.0) (float-vector 751.962 260.0 30.0) (float-vector 760.0 260.0 60.0) (float-vector 760.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 730.0 230.0 8.03848) (float-vector 730.0 260.0 8.03848) (float-vector 751.962 260.0 30.0) (float-vector 751.962 230.0 30.0))) - (instance face :init :vertices (list (float-vector 700.0 230.0 -7.105427e-15) (float-vector 700.0 260.0 0.0) (float-vector 730.0 260.0 8.03848) (float-vector 730.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 670.0 230.0 8.03848) (float-vector 670.0 260.0 8.03848) (float-vector 700.0 260.0 0.0) (float-vector 700.0 230.0 -7.105427e-15))) - (instance face :init :vertices (list (float-vector 648.038 230.0 30.0) (float-vector 648.038 260.0 30.0) (float-vector 670.0 260.0 8.03848) (float-vector 670.0 230.0 8.03848))) - (instance face :init :vertices (list (float-vector 640.0 230.0 60.0) (float-vector 640.0 260.0 60.0) (float-vector 648.038 260.0 30.0) (float-vector 648.038 230.0 30.0))) - (instance face :init :vertices (list (float-vector 648.038 230.0 90.0) (float-vector 648.038 260.0 90.0) (float-vector 640.0 260.0 60.0) (float-vector 640.0 230.0 60.0))) - (instance face :init :vertices (list (float-vector 670.0 230.0 111.962) (float-vector 670.0 260.0 111.962) (float-vector 648.038 260.0 90.0) (float-vector 648.038 230.0 90.0))) - (instance face :init :vertices (list (float-vector 700.0 230.0 120.0) (float-vector 700.0 260.0 120.0) (float-vector 670.0 260.0 111.962) (float-vector 670.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 730.0 230.0 111.962) (float-vector 730.0 260.0 111.962) (float-vector 700.0 260.0 120.0) (float-vector 700.0 230.0 120.0))) - (instance face :init :vertices (list (float-vector 751.962 230.0 90.0) (float-vector 751.962 260.0 90.0) (float-vector 730.0 260.0 111.962) (float-vector 730.0 230.0 111.962))) - (instance face :init :vertices (list (float-vector 760.0 230.0 60.0) (float-vector 760.0 260.0 60.0) (float-vector 751.962 260.0 90.0) (float-vector 751.962 230.0 90.0))) + (instance face :init :vertices (list (float-vector 900.0 300.0 220.0) (float-vector 0.0 300.0 220.0) (float-vector 0.0 -300.0 220.0) (float-vector 900.0 -300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 300.0 170.0) (float-vector 900.0 300.0 170.0) (float-vector 900.0 -300.0 170.0) (float-vector 0.0 -300.0 170.0))) + (instance face :init :vertices (list (float-vector 900.0 300.0 220.0) (float-vector 900.0 300.0 170.0) (float-vector 0.0 300.0 170.0) (float-vector 0.0 300.0 220.0))) + (instance face :init :vertices (list (float-vector 900.0 -300.0 220.0) (float-vector 900.0 -300.0 170.0) (float-vector 900.0 300.0 170.0) (float-vector 900.0 300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 -300.0 220.0) (float-vector 0.0 -300.0 170.0) (float-vector 900.0 -300.0 170.0) (float-vector 900.0 -300.0 220.0))) + (instance face :init :vertices (list (float-vector 0.0 300.0 220.0) (float-vector 0.0 300.0 170.0) (float-vector 0.0 -300.0 170.0) (float-vector 0.0 -300.0 220.0))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (send (elt bc 2) :set-color :gray) + (send (elt bc 3) :set-color :gray) + (send (elt bc 4) :set-color :blue) + (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room73b2-gifuplastic-900-cart-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 :rear-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 264.5 170.0) (float-vector 685.0 264.5 170.0) (float-vector 685.0 264.5 36.0) (float-vector 715.0 264.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 267.5 170.0) (float-vector 715.0 267.5 170.0) (float-vector 715.0 267.5 36.0) (float-vector 685.0 267.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 264.5 170.0) (float-vector 715.0 267.5 170.0) (float-vector 685.0 267.5 170.0) (float-vector 685.0 264.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 264.5 36.0) (float-vector 715.0 267.5 36.0) (float-vector 715.0 267.5 170.0) (float-vector 715.0 264.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 264.5 36.0) (float-vector 685.0 267.5 36.0) (float-vector 715.0 267.5 36.0) (float-vector 715.0 264.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 264.5 170.0) (float-vector 685.0 267.5 170.0) (float-vector 685.0 267.5 36.0) (float-vector 685.0 264.5 36.0))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 60.0 -15.0 7.105427e-15) (float-vector 57.9555 -15.0 15.5291) (float-vector 51.9615 -15.0 30.0) (float-vector 42.4264 -15.0 42.4264) (float-vector 30.0 -15.0 51.9615) (float-vector 15.5291 -15.0 57.9555) (float-vector 0.0 -15.0 60.0) (float-vector -15.5291 -15.0 57.9555) (float-vector -30.0 -15.0 51.9615) (float-vector -42.4264 -15.0 42.4264) (float-vector 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(float-vector 30.0 15.0 -51.9615) (float-vector 42.4264 15.0 -42.4264) (float-vector 42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 -57.9555) (float-vector 15.5291 15.0 -57.9555) (float-vector 30.0 15.0 -51.9615) (float-vector 30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -1.136868e-13 -15.0 -60.0) (float-vector -1.136868e-13 15.0 -60.0) (float-vector 15.5291 15.0 -57.9555) (float-vector 15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 -57.9555) (float-vector -15.5291 15.0 -57.9555) (float-vector -1.136868e-13 15.0 -60.0) (float-vector -1.136868e-13 -15.0 -60.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 -51.9615) (float-vector -30.0 15.0 -51.9615) (float-vector -15.5291 15.0 -57.9555) (float-vector -15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 -42.4264) (float-vector -42.4264 15.0 -42.4264) (float-vector -30.0 15.0 -51.9615) (float-vector -30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 -30.0) (float-vector -51.9615 15.0 -30.0) (float-vector -42.4264 15.0 -42.4264) (float-vector -42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 -15.5291) (float-vector -57.9555 15.0 -15.5291) (float-vector -51.9615 15.0 -30.0) (float-vector -51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector -60.0 -15.0 6.394885e-14) (float-vector -60.0 15.0 6.394885e-14) (float-vector -57.9555 15.0 -15.5291) (float-vector -57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 15.5291) (float-vector -57.9555 15.0 15.5291) (float-vector -60.0 15.0 6.394885e-14) (float-vector -60.0 -15.0 6.394885e-14))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 30.0) (float-vector -51.9615 15.0 30.0) (float-vector -57.9555 15.0 15.5291) (float-vector -57.9555 -15.0 15.5291))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 42.4264) (float-vector -42.4264 15.0 42.4264) (float-vector -51.9615 15.0 30.0) (float-vector -51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 51.9615) (float-vector -30.0 15.0 51.9615) (float-vector -42.4264 15.0 42.4264) (float-vector -42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 57.9555) (float-vector -15.5291 15.0 57.9555) (float-vector -30.0 15.0 51.9615) (float-vector -30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 0.0 -15.0 60.0) (float-vector 0.0 15.0 60.0) (float-vector -15.5291 15.0 57.9555) (float-vector -15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 57.9555) (float-vector 15.5291 15.0 57.9555) (float-vector 0.0 15.0 60.0) (float-vector 0.0 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-left-wheel :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 :rear-right-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 222.5 170.0) (float-vector 685.0 222.5 170.0) (float-vector 685.0 222.5 36.0) (float-vector 715.0 222.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 225.5 170.0) (float-vector 715.0 225.5 170.0) (float-vector 715.0 225.5 36.0) (float-vector 685.0 225.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 222.5 170.0) (float-vector 715.0 225.5 170.0) (float-vector 685.0 225.5 170.0) (float-vector 685.0 222.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 222.5 36.0) (float-vector 715.0 225.5 36.0) (float-vector 715.0 225.5 170.0) (float-vector 715.0 222.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 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15.0 51.9615) (float-vector 42.4264 15.0 42.4264) (float-vector 51.9615 15.0 30.0) (float-vector 57.9555 15.0 15.5291))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 57.9555 15.0 -15.5291) (float-vector 60.0 15.0 0.0) (float-vector 60.0 -15.0 7.105427e-15))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 -30.0) (float-vector 51.9615 15.0 -30.0) (float-vector 57.9555 15.0 -15.5291) (float-vector 57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 -42.4264) (float-vector 42.4264 15.0 -42.4264) (float-vector 51.9615 15.0 -30.0) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 -51.9615) (float-vector 30.0 15.0 -51.9615) (float-vector 42.4264 15.0 -42.4264) (float-vector 42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 -57.9555) (float-vector 15.5291 15.0 -57.9555) (float-vector 30.0 15.0 -51.9615) (float-vector 30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -2.273737e-13 -15.0 -60.0) (float-vector -1.136868e-13 15.0 -60.0) (float-vector 15.5291 15.0 -57.9555) (float-vector 15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 -57.9555) (float-vector -15.5291 15.0 -57.9555) (float-vector -1.136868e-13 15.0 -60.0) (float-vector -2.273737e-13 -15.0 -60.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 -51.9615) (float-vector -30.0 15.0 -51.9615) (float-vector -15.5291 15.0 -57.9555) (float-vector -15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 -42.4264) (float-vector -42.4264 15.0 -42.4264) (float-vector -30.0 15.0 -51.9615) (float-vector -30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 -30.0) (float-vector -51.9615 15.0 -30.0) (float-vector -42.4264 15.0 -42.4264) (float-vector -42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 -15.5291) (float-vector -57.9555 15.0 -15.5291) (float-vector -51.9615 15.0 -30.0) (float-vector -51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector -60.0 -15.0 6.394885e-14) (float-vector -60.0 15.0 6.394885e-14) (float-vector -57.9555 15.0 -15.5291) (float-vector -57.9555 -15.0 -15.5291))) + (instance face :init :vertices (list (float-vector -57.9555 -15.0 15.5291) (float-vector -57.9555 15.0 15.5291) (float-vector -60.0 15.0 6.394885e-14) (float-vector -60.0 -15.0 6.394885e-14))) + (instance face :init :vertices (list (float-vector -51.9615 -15.0 30.0) (float-vector -51.9615 15.0 30.0) (float-vector -57.9555 15.0 15.5291) (float-vector -57.9555 -15.0 15.5291))) + (instance face :init :vertices (list (float-vector -42.4264 -15.0 42.4264) (float-vector -42.4264 15.0 42.4264) (float-vector -51.9615 15.0 30.0) (float-vector -51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 51.9615) (float-vector -30.0 15.0 51.9615) (float-vector -42.4264 15.0 42.4264) (float-vector -42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 57.9555) (float-vector -15.5291 15.0 57.9555) (float-vector -30.0 15.0 51.9615) (float-vector -30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector -1.136868e-13 -15.0 60.0) (float-vector 0.0 15.0 60.0) (float-vector -15.5291 15.0 57.9555) (float-vector -15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 57.9555) (float-vector 15.5291 15.0 57.9555) (float-vector 0.0 15.0 60.0) (float-vector -1.136868e-13 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) + )) )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :rear-right-wheel :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 :left-front-fork + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 751.962 -260.0 30.0) (float-vector 760.0 -260.0 60.0) (float-vector 751.962 -260.0 90.0) (float-vector 730.0 -260.0 111.962) (float-vector 700.0 -260.0 120.0) (float-vector 670.0 -260.0 111.962) (float-vector 648.038 -260.0 90.0) (float-vector 640.0 -260.0 60.0) (float-vector 648.038 -260.0 30.0) (float-vector 670.0 -260.0 8.03848) (float-vector 700.0 -260.0 -7.105427e-15) (float-vector 730.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 760.0 -230.0 60.0) (float-vector 751.962 -230.0 30.0) (float-vector 730.0 -230.0 8.03848) (float-vector 700.0 -230.0 0.0) (float-vector 670.0 -230.0 8.03848) (float-vector 648.038 -230.0 30.0) (float-vector 640.0 -230.0 60.0) (float-vector 648.038 -230.0 90.0) (float-vector 670.0 -230.0 111.962) (float-vector 700.0 -230.0 120.0) (float-vector 730.0 -230.0 111.962) (float-vector 751.962 -230.0 90.0))) - (instance face :init :vertices (list (float-vector 751.962 -260.0 30.0) (float-vector 751.962 -230.0 30.0) (float-vector 760.0 -230.0 60.0) (float-vector 760.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 730.0 -260.0 8.03848) (float-vector 730.0 -230.0 8.03848) (float-vector 751.962 -230.0 30.0) (float-vector 751.962 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 700.0 -260.0 -7.105427e-15) (float-vector 700.0 -230.0 0.0) (float-vector 730.0 -230.0 8.03848) (float-vector 730.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 670.0 -260.0 8.03848) (float-vector 670.0 -230.0 8.03848) (float-vector 700.0 -230.0 0.0) (float-vector 700.0 -260.0 -7.105427e-15))) - (instance face :init :vertices (list (float-vector 648.038 -260.0 30.0) (float-vector 648.038 -230.0 30.0) (float-vector 670.0 -230.0 8.03848) (float-vector 670.0 -260.0 8.03848))) - (instance face :init :vertices (list (float-vector 640.0 -260.0 60.0) (float-vector 640.0 -230.0 60.0) (float-vector 648.038 -230.0 30.0) (float-vector 648.038 -260.0 30.0))) - (instance face :init :vertices (list (float-vector 648.038 -260.0 90.0) (float-vector 648.038 -230.0 90.0) (float-vector 640.0 -230.0 60.0) (float-vector 640.0 -260.0 60.0))) - (instance face :init :vertices (list (float-vector 670.0 -260.0 111.962) (float-vector 670.0 -230.0 111.962) (float-vector 648.038 -230.0 90.0) (float-vector 648.038 -260.0 90.0))) - (instance face :init :vertices (list (float-vector 700.0 -260.0 120.0) (float-vector 700.0 -230.0 120.0) (float-vector 670.0 -230.0 111.962) (float-vector 670.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 730.0 -260.0 111.962) (float-vector 730.0 -230.0 111.962) (float-vector 700.0 -230.0 120.0) (float-vector 700.0 -260.0 120.0))) - (instance face :init :vertices (list (float-vector 751.962 -260.0 90.0) (float-vector 751.962 -230.0 90.0) (float-vector 730.0 -230.0 111.962) (float-vector 730.0 -260.0 111.962))) - (instance face :init :vertices (list (float-vector 760.0 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(float-vector -45.0 19.5 0.0) (float-vector -45.0 22.5 0.0) (float-vector -45.0 22.5 -134.0) (float-vector -45.0 19.5 -134.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 -225.5 170.0) (float-vector 685.0 -225.5 170.0) (float-vector 685.0 -225.5 36.0) (float-vector 715.0 -225.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -222.5 170.0) (float-vector 715.0 -222.5 170.0) (float-vector 715.0 -222.5 36.0) (float-vector 685.0 -222.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 -225.5 170.0) (float-vector 715.0 -222.5 170.0) (float-vector 685.0 -222.5 170.0) (float-vector 685.0 -225.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 -225.5 36.0) (float-vector 715.0 -222.5 36.0) (float-vector 715.0 -222.5 170.0) (float-vector 715.0 -225.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 -225.5 36.0) (float-vector 685.0 -222.5 36.0) (float-vector 715.0 -222.5 36.0) (float-vector 715.0 -225.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -225.5 170.0) (float-vector 685.0 -222.5 170.0) (float-vector 685.0 -222.5 36.0) (float-vector 685.0 -225.5 36.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -22.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -19.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -19.5 -134.0) (float-vector -45.0 -19.5 -134.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 -134.0) (float-vector -45.0 -19.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -19.5 -134.0) (float-vector -45.0 -22.5 -134.0))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :left-front-fork :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 :front-left-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 715.0 -267.5 170.0) (float-vector 685.0 -267.5 170.0) (float-vector 685.0 -267.5 36.0) (float-vector 715.0 -267.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -264.5 170.0) (float-vector 715.0 -264.5 170.0) (float-vector 715.0 -264.5 36.0) (float-vector 685.0 -264.5 36.0))) - (instance face :init :vertices (list (float-vector 715.0 -267.5 170.0) (float-vector 715.0 -264.5 170.0) (float-vector 685.0 -264.5 170.0) (float-vector 685.0 -267.5 170.0))) - (instance face :init :vertices (list (float-vector 715.0 -267.5 36.0) (float-vector 715.0 -264.5 36.0) (float-vector 715.0 -264.5 170.0) (float-vector 715.0 -267.5 170.0))) - (instance face :init :vertices (list (float-vector 685.0 -267.5 36.0) (float-vector 685.0 -264.5 36.0) (float-vector 715.0 -264.5 36.0) (float-vector 715.0 -267.5 36.0))) - (instance face :init :vertices (list (float-vector 685.0 -267.5 170.0) (float-vector 685.0 -264.5 170.0) (float-vector 685.0 -264.5 36.0) (float-vector 685.0 -267.5 36.0))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 -15.5291) (float-vector 60.0 -15.0 7.105427e-15) (float-vector 57.9555 -15.0 15.5291) (float-vector 51.9615 -15.0 30.0) (float-vector 42.4264 -15.0 42.4264) (float-vector 30.0 -15.0 51.9615) (float-vector 15.5291 -15.0 57.9555) (float-vector 0.0 -15.0 60.0) (float-vector -15.5291 -15.0 57.9555) (float-vector -30.0 -15.0 51.9615) (float-vector -42.4264 -15.0 42.4264) (float-vector -51.9615 -15.0 30.0) (float-vector -57.9555 -15.0 15.5291) (float-vector -60.0 -15.0 6.394885e-14) (float-vector -57.9555 -15.0 -15.5291) (float-vector -51.9615 -15.0 -30.0) (float-vector -42.4264 -15.0 -42.4264) (float-vector -30.0 -15.0 -51.9615) (float-vector -15.5291 -15.0 -57.9555) (float-vector 0.0 -15.0 -60.0) (float-vector 15.5291 -15.0 -57.9555) (float-vector 30.0 -15.0 -51.9615) (float-vector 42.4264 -15.0 -42.4264) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 -15.5291) (float-vector 51.9615 15.0 -30.0) (float-vector 42.4264 15.0 -42.4264) (float-vector 30.0 15.0 -51.9615) (float-vector 15.5291 15.0 -57.9555) (float-vector 0.0 15.0 -60.0) (float-vector -15.5291 15.0 -57.9555) (float-vector -30.0 15.0 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(float-vector 42.4264 15.0 -42.4264) (float-vector 51.9615 15.0 -30.0) (float-vector 51.9615 -15.0 -30.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 -51.9615) (float-vector 30.0 15.0 -51.9615) (float-vector 42.4264 15.0 -42.4264) (float-vector 42.4264 -15.0 -42.4264))) + (instance face :init :vertices (list (float-vector 15.5291 -15.0 -57.9555) (float-vector 15.5291 15.0 -57.9555) (float-vector 30.0 15.0 -51.9615) (float-vector 30.0 -15.0 -51.9615))) + (instance face :init :vertices (list (float-vector 0.0 -15.0 -60.0) (float-vector 0.0 15.0 -60.0) (float-vector 15.5291 15.0 -57.9555) (float-vector 15.5291 -15.0 -57.9555))) + (instance face :init :vertices (list (float-vector -15.5291 -15.0 -57.9555) (float-vector -15.5291 15.0 -57.9555) (float-vector 0.0 15.0 -60.0) (float-vector 0.0 -15.0 -60.0))) + (instance face :init :vertices (list (float-vector -30.0 -15.0 -51.9615) (float-vector -30.0 15.0 -51.9615) (float-vector -15.5291 15.0 -57.9555) (float-vector 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15.0 57.9555) (float-vector 0.0 15.0 60.0) (float-vector 0.0 -15.0 60.0))) + (instance face :init :vertices (list (float-vector 30.0 -15.0 51.9615) (float-vector 30.0 15.0 51.9615) (float-vector 15.5291 15.0 57.9555) (float-vector 15.5291 -15.0 57.9555))) + (instance face :init :vertices (list (float-vector 42.4264 -15.0 42.4264) (float-vector 42.4264 15.0 42.4264) (float-vector 30.0 15.0 51.9615) (float-vector 30.0 -15.0 51.9615))) + (instance face :init :vertices (list (float-vector 51.9615 -15.0 30.0) (float-vector 51.9615 15.0 30.0) (float-vector 42.4264 15.0 42.4264) (float-vector 42.4264 -15.0 42.4264))) + (instance face :init :vertices (list (float-vector 57.9555 -15.0 15.5291) (float-vector 57.9555 15.0 15.5291) (float-vector 51.9615 15.0 30.0) (float-vector 51.9615 -15.0 30.0))) + (instance face :init :vertices (list (float-vector 60.0 -15.0 7.105427e-15) (float-vector 60.0 15.0 0.0) (float-vector 57.9555 15.0 15.5291) (float-vector 57.9555 -15.0 15.5291))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :front-left-wheel :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 :right-front-fork + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 88.6603 -220.0 885.0) (float-vector 90.0 -220.0 890.0) (float-vector 88.6603 -220.0 895.0) (float-vector 85.0 -220.0 898.66) (float-vector 80.0 -220.0 900.0) (float-vector 75.0 -220.0 898.66) (float-vector 71.3397 -220.0 895.0) (float-vector 70.0 -220.0 890.0) (float-vector 71.3397 -220.0 885.0) (float-vector 75.0 -220.0 881.34) (float-vector 80.0 -220.0 880.0) (float-vector 85.0 -220.0 881.34))) - (instance face :init :vertices (list (float-vector 90.0 220.0 890.0) (float-vector 88.6603 220.0 885.0) (float-vector 85.0 220.0 881.34) (float-vector 80.0 220.0 880.0) (float-vector 75.0 220.0 881.34) (float-vector 71.3397 220.0 885.0) (float-vector 70.0 220.0 890.0) (float-vector 71.3397 220.0 895.0) (float-vector 75.0 220.0 898.66) (float-vector 80.0 220.0 900.0) (float-vector 85.0 220.0 898.66) (float-vector 88.6603 220.0 895.0))) - (instance face :init :vertices (list (float-vector 88.6603 -220.0 885.0) (float-vector 88.6603 220.0 885.0) (float-vector 90.0 220.0 890.0) (float-vector 90.0 -220.0 890.0))) - (instance face :init :vertices (list (float-vector 85.0 -220.0 881.34) (float-vector 85.0 220.0 881.34) (float-vector 88.6603 220.0 885.0) (float-vector 88.6603 -220.0 885.0))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 880.0) (float-vector 80.0 220.0 880.0) (float-vector 85.0 220.0 881.34) (float-vector 85.0 -220.0 881.34))) - (instance face :init :vertices (list (float-vector 75.0 -220.0 881.34) (float-vector 75.0 220.0 881.34) (float-vector 80.0 220.0 880.0) (float-vector 80.0 -220.0 880.0))) - (instance face :init :vertices (list (float-vector 71.3397 -220.0 885.0) (float-vector 71.3397 220.0 885.0) (float-vector 75.0 220.0 881.34) (float-vector 75.0 -220.0 881.34))) - (instance face :init :vertices (list (float-vector 70.0 -220.0 890.0) (float-vector 70.0 220.0 890.0) (float-vector 71.3397 220.0 885.0) (float-vector 71.3397 -220.0 885.0))) - (instance face :init :vertices (list (float-vector 71.3397 -220.0 895.0) (float-vector 71.3397 220.0 895.0) (float-vector 70.0 220.0 890.0) (float-vector 70.0 -220.0 890.0))) - (instance face :init :vertices (list (float-vector 75.0 -220.0 898.66) (float-vector 75.0 220.0 898.66) (float-vector 71.3397 220.0 895.0) (float-vector 71.3397 -220.0 895.0))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 900.0) (float-vector 80.0 220.0 900.0) (float-vector 75.0 220.0 898.66) (float-vector 75.0 -220.0 898.66))) - (instance face :init :vertices (list (float-vector 85.0 -220.0 898.66) (float-vector 85.0 220.0 898.66) (float-vector 80.0 220.0 900.0) (float-vector 80.0 -220.0 900.0))) - (instance face :init :vertices (list (float-vector 88.6603 -220.0 895.0) (float-vector 88.6603 220.0 895.0) (float-vector 85.0 220.0 898.66) (float-vector 85.0 -220.0 898.66))) - (instance face :init :vertices (list (float-vector 90.0 -220.0 890.0) (float-vector 90.0 220.0 890.0) (float-vector 88.6603 220.0 895.0) (float-vector 88.6603 -220.0 895.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 0.0) (float-vector -45.0 19.5 0.0) (float-vector -45.0 19.5 -134.0) (float-vector -15.0 19.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 22.5 0.0) (float-vector -15.0 22.5 0.0) (float-vector -15.0 22.5 -134.0) (float-vector -45.0 22.5 -134.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 0.0) (float-vector -15.0 22.5 0.0) (float-vector -45.0 22.5 0.0) (float-vector -45.0 19.5 0.0))) + (instance face :init :vertices (list (float-vector -15.0 19.5 -134.0) (float-vector -15.0 22.5 -134.0) (float-vector -15.0 22.5 0.0) (float-vector -15.0 19.5 0.0))) + (instance face :init :vertices (list (float-vector -45.0 19.5 -134.0) (float-vector -45.0 22.5 -134.0) (float-vector -15.0 22.5 -134.0) (float-vector -15.0 19.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 19.5 0.0) (float-vector -45.0 22.5 0.0) (float-vector -45.0 22.5 -134.0) (float-vector -45.0 19.5 -134.0))) )) (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 72.9289 -220.0 897.071))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 900.0) (float-vector 72.9289 -220.0 897.071) (float-vector 72.9289 -245.667 891.966) (float-vector 80.0 -246.788 894.672))) - (instance face :init :vertices (list (float-vector 72.9289 -245.667 891.966) (float-vector 72.9289 -267.426 877.426) (float-vector 80.0 -269.497 879.497) (float-vector 80.0 -246.788 894.672))) - (instance face :init :vertices (list (float-vector 72.9289 -267.426 877.426) (float-vector 72.9289 -281.966 855.667) (float-vector 80.0 -284.672 856.788) (float-vector 80.0 -269.497 879.497))) - (instance face :init :vertices (list (float-vector 80.0 -290.0 830.0))) - (instance face :init :vertices (list (float-vector 72.9289 -281.966 855.667) (float-vector 72.9289 -287.071 830.0) (float-vector 80.0 -290.0 830.0) (float-vector 80.0 -284.672 856.788))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 900.0))) - (instance face :init :vertices (list (float-vector 87.0711 -220.0 897.071) (float-vector 80.0 -220.0 900.0) (float-vector 80.0 -246.788 894.672) (float-vector 87.0711 -245.667 891.966))) - (instance face :init :vertices (list (float-vector 80.0 -269.497 879.497) (float-vector 87.0711 -267.426 877.426) (float-vector 87.0711 -245.667 891.966) (float-vector 80.0 -246.788 894.672))) - (instance face :init :vertices (list (float-vector 80.0 -284.672 856.788) (float-vector 87.0711 -281.966 855.667) (float-vector 87.0711 -267.426 877.426) (float-vector 80.0 -269.497 879.497))) - (instance face :init :vertices (list (float-vector 87.0711 -287.071 830.0))) - (instance face :init :vertices (list (float-vector 80.0 -290.0 830.0) (float-vector 87.0711 -287.071 830.0) (float-vector 87.0711 -281.966 855.667) (float-vector 80.0 -284.672 856.788))) - (instance face :init :vertices (list (float-vector 87.0711 -220.0 897.071))) - (instance face :init :vertices (list (float-vector 90.0 -220.0 890.0) (float-vector 87.0711 -220.0 897.071) (float-vector 87.0711 -245.667 891.966) (float-vector 90.0 -242.961 885.433))) - (instance face :init :vertices (list (float-vector 87.0711 -267.426 877.426) (float-vector 90.0 -262.426 872.426) (float-vector 90.0 -242.961 885.433) (float-vector 87.0711 -245.667 891.966))) - (instance face :init :vertices (list (float-vector 87.0711 -281.966 855.667) (float-vector 90.0 -275.433 852.961) (float-vector 90.0 -262.426 872.426) (float-vector 87.0711 -267.426 877.426))) - (instance face :init :vertices (list (float-vector 90.0 -280.0 830.0))) - (instance face :init :vertices (list (float-vector 87.0711 -287.071 830.0) (float-vector 90.0 -280.0 830.0) (float-vector 90.0 -275.433 852.961) (float-vector 87.0711 -281.966 855.667))) - (instance face :init :vertices (list (float-vector 90.0 -220.0 890.0))) - (instance face :init :vertices (list (float-vector 87.0711 -220.0 882.929) (float-vector 90.0 -220.0 890.0) (float-vector 90.0 -242.961 885.433) (float-vector 87.0711 -240.255 878.9))) - (instance face :init :vertices (list (float-vector 90.0 -262.426 872.426) (float-vector 87.0711 -257.426 867.426) (float-vector 87.0711 -240.255 878.9) (float-vector 90.0 -242.961 885.433))) - (instance face :init :vertices (list (float-vector 90.0 -275.433 852.961) (float-vector 87.0711 -268.9 850.255) (float-vector 87.0711 -257.426 867.426) (float-vector 90.0 -262.426 872.426))) - (instance face :init :vertices (list (float-vector 87.0711 -272.929 830.0))) - (instance face :init :vertices (list (float-vector 90.0 -280.0 830.0) (float-vector 87.0711 -272.929 830.0) (float-vector 87.0711 -268.9 850.255) (float-vector 90.0 -275.433 852.961))) - (instance face :init :vertices (list (float-vector 87.0711 -220.0 882.929))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 880.0) (float-vector 87.0711 -220.0 882.929) (float-vector 87.0711 -240.255 878.9) (float-vector 80.0 -239.134 876.194))) - (instance face :init :vertices (list (float-vector 87.0711 -257.426 867.426) (float-vector 80.0 -255.355 865.355) (float-vector 80.0 -239.134 876.194) (float-vector 87.0711 -240.255 878.9))) - (instance face :init :vertices (list (float-vector 87.0711 -268.9 850.255) (float-vector 80.0 -266.194 849.134) (float-vector 80.0 -255.355 865.355) (float-vector 87.0711 -257.426 867.426))) - (instance face :init :vertices (list (float-vector 80.0 -270.0 830.0))) - (instance face :init :vertices (list (float-vector 87.0711 -272.929 830.0) (float-vector 80.0 -270.0 830.0) (float-vector 80.0 -266.194 849.134) (float-vector 87.0711 -268.9 850.255))) - (instance face :init :vertices (list (float-vector 80.0 -220.0 880.0))) - (instance face :init :vertices (list (float-vector 72.9289 -220.0 882.929) (float-vector 80.0 -220.0 880.0) (float-vector 80.0 -239.134 876.194) (float-vector 72.9289 -240.255 878.9))) - (instance face :init :vertices (list (float-vector 80.0 -255.355 865.355) (float-vector 72.9289 -257.426 867.426) (float-vector 72.9289 -240.255 878.9) (float-vector 80.0 -239.134 876.194))) - (instance face :init :vertices (list (float-vector 80.0 -266.194 849.134) (float-vector 72.9289 -268.9 850.255) (float-vector 72.9289 -257.426 867.426) (float-vector 80.0 -255.355 865.355))) - (instance face :init :vertices (list (float-vector 72.9289 -272.929 830.0))) - (instance face :init :vertices (list (float-vector 80.0 -270.0 830.0) (float-vector 72.9289 -272.929 830.0) (float-vector 72.9289 -268.9 850.255) (float-vector 80.0 -266.194 849.134))) - (instance face :init :vertices (list (float-vector 72.9289 -220.0 882.929))) - (instance face :init :vertices (list (float-vector 70.0 -220.0 890.0) (float-vector 72.9289 -220.0 882.929) (float-vector 72.9289 -240.255 878.9) (float-vector 70.0 -242.961 885.433))) - (instance face :init :vertices (list (float-vector 72.9289 -257.426 867.426) (float-vector 70.0 -262.426 872.426) (float-vector 70.0 -242.961 885.433) (float-vector 72.9289 -240.255 878.9))) - (instance face :init :vertices (list (float-vector 72.9289 -268.9 850.255) (float-vector 70.0 -275.433 852.961) (float-vector 70.0 -262.426 872.426) (float-vector 72.9289 -257.426 867.426))) - (instance face :init :vertices (list (float-vector 70.0 -280.0 830.0))) - (instance face :init :vertices (list (float-vector 72.9289 -272.929 830.0) (float-vector 70.0 -280.0 830.0) (float-vector 70.0 -275.433 852.961) (float-vector 72.9289 -268.9 850.255))) - (instance face :init :vertices (list (float-vector 70.0 -220.0 890.0))) - (instance face :init :vertices (list (float-vector 72.9289 -220.0 897.071) (float-vector 70.0 -220.0 890.0) (float-vector 70.0 -242.961 885.433) (float-vector 72.9289 -245.667 891.966))) - (instance face :init :vertices (list (float-vector 70.0 -262.426 872.426) (float-vector 72.9289 -267.426 877.426) (float-vector 72.9289 -245.667 891.966) (float-vector 70.0 -242.961 885.433))) - (instance face :init :vertices (list (float-vector 70.0 -275.433 852.961) (float-vector 72.9289 -281.966 855.667) (float-vector 72.9289 -267.426 877.426) (float-vector 70.0 -262.426 872.426))) - (instance face :init :vertices (list (float-vector 72.9289 -287.071 830.0))) - (instance face :init :vertices (list (float-vector 70.0 -280.0 830.0) (float-vector 72.9289 -287.071 830.0) (float-vector 72.9289 -281.966 855.667) (float-vector 70.0 -275.433 852.961))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -22.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -19.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -19.5 -134.0) (float-vector -45.0 -19.5 -134.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 0.0) (float-vector -15.0 -19.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -15.0 -22.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -19.5 0.0) (float-vector -15.0 -22.5 0.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 -134.0) (float-vector -45.0 -19.5 -134.0) (float-vector -15.0 -19.5 -134.0) (float-vector -15.0 -22.5 -134.0))) + (instance face :init :vertices (list (float-vector -45.0 -22.5 0.0) (float-vector -45.0 -19.5 0.0) (float-vector -45.0 -19.5 -134.0) (float-vector -45.0 -22.5 -134.0))) )) + )) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (send (elt bc 1) :set-color :gray) + (setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :right-front-fork :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 :front-right-wheel + (setq bc (list (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector 87.0711 220.0 897.071))) - (instance face :init :vertices (list (float-vector 80.0 220.0 900.0) (float-vector 87.0711 220.0 897.071) (float-vector 87.0711 245.667 891.966) (float-vector 80.0 246.788 894.672))) - (instance face :init :vertices (list (float-vector 87.0711 245.667 891.966) (float-vector 87.0711 267.426 877.426) (float-vector 80.0 269.497 879.497) (float-vector 80.0 246.788 894.672))) - (instance face :init :vertices (list (float-vector 87.0711 267.426 877.426) (float-vector 87.0711 281.966 855.667) (float-vector 80.0 284.672 856.788) (float-vector 80.0 269.497 879.497))) - (instance face :init :vertices (list (float-vector 80.0 290.0 830.0))) - (instance face :init 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7.07107 245.667 671.966) (float-vector 10.0 242.961 665.433))) + (instance face :init :vertices (list (float-vector 10.0 275.433 632.961) (float-vector 7.07107 281.966 635.667) (float-vector 7.07107 267.426 657.426) (float-vector 10.0 262.426 652.426))) + (instance face :init :vertices (list (float-vector 7.07107 287.071 610.0))) + (instance face :init :vertices (list (float-vector 10.0 280.0 610.0) (float-vector 7.07107 287.071 610.0) (float-vector 7.07107 281.966 635.667) (float-vector 10.0 275.433 632.961))) + )) + (instance faceset :init :faces (list + (instance face :init :vertices (list (float-vector 8.66025 -285.0 610.0) (float-vector 10.0 -280.0 610.0) (float-vector 8.66025 -275.0 610.0) (float-vector 5.0 -271.34 610.0) (float-vector 0.0 -270.0 610.0) (float-vector -5.0 -271.34 610.0) (float-vector -8.66025 -275.0 610.0) (float-vector -10.0 -280.0 610.0) (float-vector -8.66025 -285.0 610.0) (float-vector -5.0 -288.66 610.0) (float-vector 0.0 -290.0 610.0) (float-vector 5.0 -288.66 610.0))) + (instance face :init :vertices (list (float-vector 10.0 -280.0 1.136868e-13) (float-vector 8.66025 -285.0 1.136868e-13) (float-vector 5.0 -288.66 1.136868e-13) (float-vector 1.136868e-13 -290.0 1.136868e-13) (float-vector -5.0 -288.66 1.136868e-13) (float-vector -8.66025 -285.0 1.136868e-13) (float-vector -10.0 -280.0 1.136868e-13) (float-vector -8.66025 -275.0 1.136868e-13) (float-vector -5.0 -271.34 1.136868e-13) (float-vector 1.136868e-13 -270.0 1.136868e-13) (float-vector 5.0 -271.34 1.136868e-13) (float-vector 8.66025 -275.0 1.136868e-13))) + (instance face :init :vertices (list (float-vector 8.66025 -285.0 610.0) (float-vector 8.66025 -285.0 1.136868e-13) (float-vector 10.0 -280.0 1.136868e-13) (float-vector 10.0 -280.0 610.0))) + (instance face :init :vertices (list (float-vector 5.0 -288.66 610.0) (float-vector 5.0 -288.66 1.136868e-13) (float-vector 8.66025 -285.0 1.136868e-13) (float-vector 8.66025 -285.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 -290.0 610.0) (float-vector 1.136868e-13 -290.0 1.136868e-13) (float-vector 5.0 -288.66 1.136868e-13) (float-vector 5.0 -288.66 610.0))) + (instance face :init :vertices (list (float-vector -5.0 -288.66 610.0) (float-vector -5.0 -288.66 1.136868e-13) (float-vector 1.136868e-13 -290.0 1.136868e-13) (float-vector 0.0 -290.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 -285.0 610.0) (float-vector -8.66025 -285.0 1.136868e-13) (float-vector -5.0 -288.66 1.136868e-13) (float-vector -5.0 -288.66 610.0))) + (instance face :init :vertices (list (float-vector -10.0 -280.0 610.0) (float-vector -10.0 -280.0 1.136868e-13) (float-vector -8.66025 -285.0 1.136868e-13) (float-vector -8.66025 -285.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 -275.0 610.0) (float-vector -8.66025 -275.0 1.136868e-13) (float-vector -10.0 -280.0 1.136868e-13) (float-vector -10.0 -280.0 610.0))) + (instance face :init :vertices (list (float-vector -5.0 -271.34 610.0) (float-vector -5.0 -271.34 1.136868e-13) (float-vector -8.66025 -275.0 1.136868e-13) (float-vector -8.66025 -275.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 -270.0 610.0) (float-vector 1.136868e-13 -270.0 1.136868e-13) (float-vector -5.0 -271.34 1.136868e-13) (float-vector -5.0 -271.34 610.0))) + (instance face :init :vertices (list (float-vector 5.0 -271.34 610.0) (float-vector 5.0 -271.34 1.136868e-13) (float-vector 1.136868e-13 -270.0 1.136868e-13) (float-vector 0.0 -270.0 610.0))) + (instance face :init :vertices (list (float-vector 8.66025 -275.0 610.0) (float-vector 8.66025 -275.0 1.136868e-13) (float-vector 5.0 -271.34 1.136868e-13) (float-vector 5.0 -271.34 610.0))) + (instance face :init :vertices (list (float-vector 10.0 -280.0 610.0) (float-vector 10.0 -280.0 1.136868e-13) (float-vector 8.66025 -275.0 1.136868e-13) (float-vector 8.66025 -275.0 610.0))) + )) + (instance faceset :init :faces (list + (instance face :init :vertices (list (float-vector 8.66025 275.0 610.0) (float-vector 10.0 280.0 610.0) (float-vector 8.66025 285.0 610.0) (float-vector 5.0 288.66 610.0) (float-vector 0.0 290.0 610.0) (float-vector -5.0 288.66 610.0) (float-vector -8.66025 285.0 610.0) (float-vector -10.0 280.0 610.0) (float-vector -8.66025 275.0 610.0) (float-vector -5.0 271.34 610.0) (float-vector 0.0 270.0 610.0) (float-vector 5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector 10.0 280.0 0.0) (float-vector 8.66025 275.0 0.0) (float-vector 5.0 271.34 0.0) (float-vector 1.136868e-13 270.0 0.0) (float-vector -5.0 271.34 0.0) (float-vector -8.66025 275.0 0.0) (float-vector -10.0 280.0 0.0) (float-vector -8.66025 285.0 0.0) (float-vector -5.0 288.66 0.0) (float-vector 1.136868e-13 290.0 0.0) (float-vector 5.0 288.66 0.0) (float-vector 8.66025 285.0 0.0))) + (instance face :init :vertices (list (float-vector 8.66025 275.0 610.0) (float-vector 8.66025 275.0 0.0) (float-vector 10.0 280.0 0.0) (float-vector 10.0 280.0 610.0))) + (instance face :init :vertices (list (float-vector 5.0 271.34 610.0) (float-vector 5.0 271.34 0.0) (float-vector 8.66025 275.0 0.0) (float-vector 8.66025 275.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 270.0 610.0) (float-vector 1.136868e-13 270.0 0.0) (float-vector 5.0 271.34 0.0) (float-vector 5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector -5.0 271.34 610.0) (float-vector -5.0 271.34 0.0) (float-vector 1.136868e-13 270.0 0.0) (float-vector 0.0 270.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 275.0 610.0) (float-vector -8.66025 275.0 0.0) (float-vector -5.0 271.34 0.0) (float-vector -5.0 271.34 610.0))) + (instance face :init :vertices (list (float-vector -10.0 280.0 610.0) (float-vector -10.0 280.0 0.0) (float-vector -8.66025 275.0 0.0) (float-vector -8.66025 275.0 610.0))) + (instance face :init :vertices (list (float-vector -8.66025 285.0 610.0) (float-vector -8.66025 285.0 0.0) (float-vector -10.0 280.0 0.0) (float-vector -10.0 280.0 610.0))) + (instance face :init :vertices (list (float-vector -5.0 288.66 610.0) (float-vector -5.0 288.66 0.0) (float-vector -8.66025 285.0 0.0) (float-vector -8.66025 285.0 610.0))) + (instance face :init :vertices (list (float-vector 0.0 290.0 610.0) (float-vector 1.136868e-13 290.0 0.0) (float-vector -5.0 288.66 0.0) (float-vector -5.0 288.66 610.0))) + (instance face :init :vertices (list (float-vector 5.0 288.66 610.0) (float-vector 5.0 288.66 0.0) (float-vector 1.136868e-13 290.0 0.0) (float-vector 0.0 290.0 610.0))) + (instance face :init :vertices (list (float-vector 8.66025 285.0 610.0) (float-vector 8.66025 285.0 0.0) (float-vector 5.0 288.66 0.0) (float-vector 5.0 288.66 610.0))) + (instance face :init :vertices (list (float-vector 10.0 280.0 610.0) (float-vector 10.0 280.0 0.0) (float-vector 8.66025 285.0 0.0) (float-vector 8.66025 285.0 610.0))) )) )) (dolist (b (cdr bc)) (send (car bc) :assoc b)) @@ -311,28 +414,64 @@ (send (elt bc 2) :set-color :gray) (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 :gray) - (send (elt bc 9) :set-color :gray) - (send (elt bc 10) :set-color :gray) - (send (elt bc 11) :set-color :gray) - (send (elt bc 12) :set-color :gray) - (send (elt bc 13) :set-color :gray) - (send (elt bc 14) :set-color :gray) - (send (elt bc 15) :set-color :gray) - (send (elt bc 16) :set-color :gray) - (send (elt bc 17) :set-color :blue) - (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room73b2-gifuplastic-900-cart-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)))) + (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink5 :newcoords (make-coords :pos (float-vector -30.0 0.0 -110.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink4 :assoc blink5) + (send blink7 :newcoords (make-coords :pos (float-vector -30.0 0.0 -110.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink6 :assoc blink7) + (send blink1 :newcoords (make-coords :pos (float-vector 80.0 0.0 220.0) :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 blink6 :newcoords (make-coords :pos (float-vector 700.0 -245.0 170.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink6) + (send blink4 :newcoords (make-coords :pos (float-vector 700.0 245.0 170.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink4) + (send blink3 :newcoords (make-coords :pos (float-vector 140.0 -245.0 60.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink3) + (send blink2 :newcoords (make-coords :pos (float-vector 140.0 245.0 60.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + (send blink0 :assoc blink2) (send self :assoc blink0) ;; definition of end-coords ;; definition of joint + ;; definition of :bar + (setq joint0 (instance rotational-joint :init + :parent-link blink0 :child-link blink1 :name :bar :axis :y + :min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-left-wheel + (setq joint1 (instance rotational-joint :init + :parent-link blink0 :child-link blink2 :name :rear-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :rear-right-wheel + (setq joint2 (instance rotational-joint :init + :parent-link blink0 :child-link blink3 :name :rear-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :left-front-fork + (setq joint3 (instance rotational-joint :init + :parent-link blink0 :child-link blink4 :name :left-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-left-wheel + (setq joint4 (instance rotational-joint :init + :parent-link blink4 :child-link blink5 :name :front-left-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :right-front-fork + (setq joint5 (instance rotational-joint :init + :parent-link blink0 :child-link blink6 :name :right-front-fork :axis :z + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + + ;; definition of :front-right-wheel + (setq joint6 (instance rotational-joint :init + :parent-link blink6 :child-link blink7 :name :front-right-wheel :axis :y + :min -10000000000.0 :max 10000000000.0 :max-joint-velocity 5 :max-joint-torque 100)) + ;; definition of :handle (setq handle0 (make-cascoords :pos (float-vector 80.0 240.0 850.0) :rot #2f((1.0 -8.132804e-17 9.377201e-17) (1.238144e-16 0.707107 -0.707107) (-8.799221e-18 0.707107 0.707107)) :name ":larm")) @@ -343,14 +482,21 @@ (send blink0 :assoc handle2) ;; init-ending - (setq links (list blink0)) - (setq joint-list (list)) + (setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6 blink7)) + (setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5 joint6)) (send self :init-ending) (send self :move-to (make-coords :pos pos :rot rot)) (send-all links :worldcoords) self)) + (:bar (&rest args) (forward-message-to joint0 args)) + (:rear-left-wheel (&rest args) (forward-message-to joint1 args)) + (:rear-right-wheel (&rest args) (forward-message-to joint2 args)) + (:left-front-fork (&rest args) (forward-message-to joint3 args)) + (:front-left-wheel (&rest args) (forward-message-to joint4 args)) + (:right-front-fork (&rest args) (forward-message-to joint5 args)) + (:front-right-wheel (&rest args) (forward-message-to joint6 args)) (:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2) args)) (:handle-larm (&rest args) (forward-message-to handle0 args)) (:handle-rarm (&rest args) (forward-message-to handle1 args))