From 373a875d205461943a3b5c25cba7345f203d8af4 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Sun, 15 Dec 2019 09:11:27 +0000 Subject: [PATCH 01/12] update pr10*_urdf.yaml for pretty format, for make it easy to compare between robot and versions use python command to convert from robot_description string format to xml format, use lxml because of pretty function https://www.ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/, instead of minidom or ElementTree ``` python -c "import yaml; import datetime; from lxml import etree; comment=etree.Comment(datetime.datetime.today().strftime(' generated from pr1040 on %Y/%m/%d ')); urdf=etree.XML(yaml.load(open('pr1040_urdf.yaml').read())); print(etree.tostring(comment, pretty_print=True, xml_declaration=True)); print(etree.tostring(urdf, pretty_print=True, xml_declaration=False));" ``` --- pr2eus/test/pr1012_urdf.yaml | 3412 ++++++++++++++++-------- pr2eus/test/pr1040_urdf.yaml | 4803 +++++++++++++++++++++++----------- 2 files changed, 5566 insertions(+), 2649 deletions(-) diff --git a/pr2eus/test/pr1012_urdf.yaml b/pr2eus/test/pr1012_urdf.yaml index 50ee9db90..a27da3836 100644 --- a/pr2eus/test/pr1012_urdf.yaml +++ b/pr2eus/test/pr1012_urdf.yaml @@ -1,1137 +1,2275 @@ -"\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n -47641.53\n \n\ - \ \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n 6.0\n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n 6.0\n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \ - \ \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \ - \ \n \ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n -6.05\n \n \n \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n 32.6525111499\n\ - \ \n \n \n \n \n \n \n \n 63.1552452977\n\ - \ \n \n \n \n 61.8948225713\n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n -90.5142857143\n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n -36.167452007\n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 1\n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n 1\n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n 32.6525111499\n\ - \ \n \n \n \n \n \n \n \n 63.1552452977\n\ - \ \n \n \n \n 61.8948225713\n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n -90.5142857143\n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n -36.167452007\n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 1\n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n 1\n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n\ - \ \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n\ - \n" + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pr2eus/test/pr1040_urdf.yaml b/pr2eus/test/pr1040_urdf.yaml index b554b7e95..005d47eb2 100644 --- a/pr2eus/test/pr1040_urdf.yaml +++ b/pr2eus/test/pr1040_urdf.yaml @@ -1,1512 +1,3291 @@ -"\n\n \n \n true\n 1000.0\n \ - \ \n \n\ - \ \n true\n\ - \ 1.0\n 5\n \n power_state\n\ - \ 10.0\n 87.78\n\ - \ -474\n 525\n\ - \ 15.52\n 16.41\n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n\ - \ \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \ - \ \n \n \n \n \ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n 640\n\ - \ 640\n 1\n 0.0\ - \ 0.0 0.0\n false\n -129.998394137\n\ - \ 129.998394137\n 0.08\n \ - \ 10.0\n 0.01\n 20\n\ - \ \n 0.005\n \ - \ true\n 20\n base_scan\n\ - \ base_laser_link\n \n \n \n\ - \ \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n -79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n \n -79.2380952381\n\ - \ \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n 79.2380952381\n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \ - \ \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n -79.2380952381\n \n\ - \ \n \n \n \n false\n\ - \ \n base_link_geom\n\ - \ 100.0\n \n \ - \ true\n 100.0\n base_bumper\n\ - \ \n \n\ - \ \n \n \n\ - \ \n \n \n \n true\n\ - \ 100.0\n \n base_pose_ground_truth\n\ - \ 0.01\n map\n \ - \ 0 0 0\n 0 0 0\n \ - \ \n \n\ - \ base_footprint\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n torso_lift_link_geom\n\ - \ 100.0\n \n\ - \ true\n 100.0\n \ - \ torso_lift_bumper\n \n \n\ - \ \n \n \n \n \n \n torso_lift_motor_screw_link\n\ - \ 0 0 0\n 0 0 1\n 3141.6\n\ - \ \n \n \n \n \n -47641.529999999999\n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n true\n 100.0\n\ - \ \n torso_lift_imu/data\n 2.89e-08\n\ - \ 0 0 0\n 0 0 0\n \ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \ - \ \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n 6\n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n 6\n\ - \ \n \n \ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n R8G8B8\n\ - \ 2448 2050\n 45\n 0.1\n\ - \ 100\n 20.0\n \n true\n\ - \ 20.0\n prosilica\n\ - \ image_raw\n camera_info\n\ - \ request_image\n high_def_optical_frame\n\ - \ 1224.5\n 1224.5\n 1025.5\n\ - \ 2955\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n 640 480\n\ - \ BAYER_BGGR8\n 90\n 0.1\n\ - \ 100\n 25.0\n \n true\n 25.0\n \ - \ wide_stereo/left\n image_raw\n\ - \ camera_info\n wide_stereo_optical_frame\n\ - \ 0\n 320.5\n \ - \ 320.5\n 240.5\n 320\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n 640 480\n\ - \ BAYER_BGGR8\n 90\n 0.1\n\ - \ 100\n 25.0\n \n true\n 25.0\n \ - \ wide_stereo/right\n image_raw\n\ - \ camera_info\n wide_stereo_optical_frame\n\ - \ 0.09\n 320.5\n \ - \ 320.5\n 240.5\n 320\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n 640 480\n\ - \ L8\n 45\n 0.1\n\ - \ 100\n 25.0\n \n true\n 25.0\n \ - \ narrow_stereo/left\n image_raw\n\ - \ camera_info\n narrow_stereo_optical_frame\n\ - \ 0\n 320.5\n \ - \ 320.5\n 240.5\n 772.55\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n\ - \ \n \n \n 640 480\n\ - \ L8\n 45\n 0.1\n\ - \ 100\n 25.0\n \n true\n 25.0\n \ - \ narrow_stereo/right\n image_raw\n\ - \ camera_info\n narrow_stereo_optical_frame\n\ - \ 0.09\n 320.5\n \ - \ 320.5\n 240.5\n 772.55\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n 0\ - \ 0 0 0 -1.5707 0\n \n \n stereo_projection_pattern_high_res_red.png\n\ - \ \n \n 0.959931088597\n \n \n 0.1\n\ - \ \n \n 10\n \n \n \n\ - \ \n \n \n projector_wg6802418_child_frame/projector_wg6802418_projector_wg6802418\n\ - \ true\n 15.0\n stereo_projection_pattern_high_res_red.png\n\ - \ stereo_projection_pattern_filter.png\n\ - \ projector_wg6802418_controller/image\n\ - \ projector_wg6802418_controller/projector\n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \ - \ \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n L8\n\ - \ 640 480\n 57\n 0.01\n\ - \ 5\n 1.0\n 0.2\n\ - \ \n true\n\ - \ 1.0\n openni_depth\n\ - \ /openni/depth/image_raw\n /openni/depth/camera_info\n\ - \ /openni/depth/image_raw\n \ - \ /openni/depth/camera_info\n\ - \ /openni/depth/points\n \ - \ head_mount_kinect_ir_optical_frame\n 0.5\n\ - \ 0.00000001\n 0.00000001\n\ - \ 0.00000001\n 0.00000001\n\ - \ 0.00000001\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n\ - \ \n \n \n \n\ - \ \n \ - \ \n \n \n \n\ - \ \n \n \n R8G8B8\n\ - \ 640 480\n 57\n 0.01\n\ - \ 5\n 1.0\n 0.2\n\ - \ \n true\n\ - \ 1.0\n openni_rgb\n\ - \ /openni/rgb/image_raw\n /openni/rgb/camera_info\n\ - \ /openni/depth_registered/points\n\ - \ head_mount_kinect_rgb_optical_frame\n 0.5\n\ - \ 0.00000001\n 0.00000001\n\ - \ 0.00000001\n 0.00000001\n\ - \ 0.00000001\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n R8G8B8\n\ - \ 320 240\n 64.2\n 0.1\n\ - \ 100\n 1.0\n \n true\n 1.0\n \ - \ prosilica_camera_1mb\n image_raw\n\ - \ camera_info\n request_image\n\ - \ head_mount_prosilica_optical_frame\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ \n \n \n R8G8B8\n\ - \ 320 240\n 64.2\n 0.1\n\ - \ 100\n 1.0\n \n true\n 1.0\n \ - \ prosilica_camera_1mb_sim_pcd\n image_raw\n\ - \ camera_info\n head_mount_prosilica_optical_frame\n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \ - \ \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 640\n\ - \ 640\n 1\n 0.0\ - \ 0.0 0.0\n false\n -79.9999999086\n\ - \ 79.9999999086\n 0.08\n \ - \ 10.0\n 0.01\n 40\n\ - \ \n 0.005\n \ - \ true\n 40\n tilt_scan\n\ - \ laser_tilt_link\n \n \n \n\ - \ \n \n \n \n \n -6.05\n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \ - \ \n \n \n \ - \ \n \n \n \n \n \n true\n\ - \ \n \n \n \n \n \ - \ \n \n \n \n 32.6525111499\n \n\ - \ \n true\n\ - \ \n \n \n \n \n \n true\n \n\ - \ \n \n \ - \ \n \n \n \n \n 63.1552452977\n\ - \ \n \n \n \n \n 61.8948225713\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n true\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n true\n\ - \ \n \n \n \n \n \n \n -90.5142857143\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n -1.0\n\ - \ \n \n true\n\ - \ \n \n \n \n \n \n \n \n -36.167452007\n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n true\n \n \n true\n \n \ - \ \n \n \n \n \n true\n \n \n \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n true\n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n true\n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n true\n false\n\ - \ \n r_gripper_l_finger_tip_link_geom\n\ - \ 100.0\n \n true\n r_gripper_l_finger_tip_link\n\ - \ 100.0\n r_gripper_l_finger_tip_bumper\n\ - \ \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n true\n\ - \ false\n \n r_gripper_r_finger_tip_link_geom\n 100.0\n\ - \ \n true\n \ - \ r_gripper_r_finger_tip_link\n 100.0\n\ - \ r_gripper_r_finger_tip_bumper\n \ - \ \n\ - \ \n \n \n \n \n \n \n \n \n true\n 100.0\n\ - \ \n r_gripper_l_finger_pose_ground_truth\n\ - \ 0.0\n base_link\n\ - \ \n \ - \ \n \n true\n 100.0\n\ - \ \n r_gripper_l_finger_force_ground_truth\n\ - \ r_gripper_l_finger_link\n \n \n\ - \ \n \n \n \n \n \n \n \n \n true\n \ - \ 0.17126\n 7.7562e-05\n 1.49095e-06\n\ - \ -9.83385e-06\n 0.000197083\n -3.06125e-06\n\ - \ 0.000181054\n 0.03598\n 0.0173\n \ - \ -0.00164\n 0.82991 -0.157 0.790675\n 0\ - \ -0 0\n true\n false\n\ - \ \n \n true\n\ - \ 0.17389\n 7.73841e-05\n -2.09309e-06\n\ - \ -8.36228e-06\n 0.000198474\n 2.4611e-06\n\ - \ 0.00018107\n 0.03576\n -0.01736\n\ - \ -0.00095\n 0.82991 -0.219 0.790675\n 0\ - \ -0 0\n true\n false\n\ - \ \n \n \n \n \n \n r_gripper_motor_screw_link\n\ - \ 0 0 0\n 0 1 0\n -3141.6\n\ - \ \n \n\ - \ \n \n r_gripper_motor_screw_link\n\ - \ 0 0 0\n 0 1 0\n 3141.6\n\ - \ \n \n \n \n \n \n r_gripper_palm_link\n\ - \ 0 0 -1\n 0.2\n 0.05891\ - \ -0.031 0\n \n \n \n \n r_gripper_palm_link\n\ - \ 0 0 1\n 0.2\n 0.05891\ - \ 0.031 0\n \n \n \n \n r_gripper_r_finger_tip_link\n\ - \ 0 0 1\n -0.018 -0.021 0\n\ - \ \n \n\ - \ \n \n r_gripper_l_finger_tip_link\n\ - \ 0 0 1\n -0.018 0.021 0\n \ - \ \n \n \n\ - \ \n r_gripper_l_finger_tip_link\n 0\ - \ 1 0\n \n \n \n true\n \n\ - \ \n \n true\n\ - \ \n \n \n true\n \n\ - \ \n \n true\n\ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n true\n \n\ - \ \n \n true\n 100.0\n\ - \ \n r_gripper_palm_pose_ground_truth\n\ - \ 0 0 0\n 0 0 0\n \ - \ 0.0\n map\n \ - \ \n \n\ - \ \n \n \n \n \n \n r_gripper_r_finger_tip_link\n\ - \ \n \n r_gripper_l_finger_tip_link\n\ - \ \n \n r_gripper_palm_link\n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \ - \ \n \n \n \ - \ \n \n \n \n \n \n true\n\ - \ \n \n \n \n \n \ - \ \n \n \n \n 32.6525111499\n \n\ - \ \n true\n\ - \ \n \n \n \n \n \n true\n \n\ - \ \n \n \ - \ \n \n \n \n \n 63.1552452977\n\ - \ \n \n \n \n \n 61.8948225713\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n true\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n true\n\ - \ \n \n \n \n \n \n \n -90.5142857143\n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n -1.0\n\ - \ \n \n true\n\ - \ \n \n \n \n \n \n \n \n -36.167452007\n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n true\n \n \n true\n \n \ - \ \n \n \n \n \n true\n \n \n \n \n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \ - \ \n \n \n \n \n true\n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n true\n \n \n \n \n \n\ - \ \n \n\ - \ \n \n \n \n \n true\n false\n\ - \ \n l_gripper_l_finger_tip_link_geom\n\ - \ 100.0\n \n true\n l_gripper_l_finger_tip_link\n\ - \ 100.0\n l_gripper_l_finger_tip_bumper\n\ - \ \n \n \n \n \n \n \n \n \n \ - \ \n \n \n \n \n \n true\n\ - \ false\n \n l_gripper_r_finger_tip_link_geom\n 100.0\n\ - \ \n true\n \ - \ l_gripper_r_finger_tip_link\n 100.0\n\ - \ l_gripper_r_finger_tip_bumper\n \ - \ \n\ - \ \n \n \n \n \n \n \n \n \n true\n 100.0\n\ - \ \n l_gripper_l_finger_pose_ground_truth\n\ - \ 0.0\n base_link\n\ - \ \n \ - \ \n \n true\n 100.0\n\ - \ \n l_gripper_l_finger_force_ground_truth\n\ - \ l_gripper_l_finger_link\n \n \n\ - \ \n \n \n \n \n \n \n \n \n true\n \ - \ 0.17126\n 7.7562e-05\n 1.49095e-06\n\ - \ -9.83385e-06\n 0.000197083\n -3.06125e-06\n\ - \ 0.000181054\n 0.03598\n 0.0173\n \ - \ -0.00164\n 0.82991 0.219 0.790675\n 0 -0\ - \ 0\n true\n false\n\ - \ \n \n true\n\ - \ 0.17389\n 7.73841e-05\n -2.09309e-06\n\ - \ -8.36228e-06\n 0.000198474\n 2.4611e-06\n\ - \ 0.00018107\n 0.03576\n -0.01736\n\ - \ -0.00095\n 0.82991 0.157 0.790675\n 0\ - \ -0 0\n true\n false\n\ - \ \n \n \n \n \n \n l_gripper_motor_screw_link\n\ - \ 0 0 0\n 0 1 0\n -3141.6\n\ - \ \n \n\ - \ \n \n l_gripper_motor_screw_link\n\ - \ 0 0 0\n 0 1 0\n 3141.6\n\ - \ \n \n \n \n \n \n l_gripper_palm_link\n\ - \ 0 0 -1\n 0.2\n 0.05891\ - \ -0.031 0\n \n \n \n \n l_gripper_palm_link\n\ - \ 0 0 1\n 0.2\n 0.05891\ - \ 0.031 0\n \n \n \n \n l_gripper_r_finger_tip_link\n\ - \ 0 0 1\n -0.018 -0.021 0\n\ - \ \n \n\ - \ \n \n l_gripper_l_finger_tip_link\n\ - \ 0 0 1\n -0.018 0.021 0\n \ - \ \n \n \n\ - \ \n l_gripper_l_finger_tip_link\n 0\ - \ 1 0\n \n \n \n true\n \n\ - \ \n \n true\n\ - \ \n \n \n true\n \n\ - \ \n \n true\n\ - \ \n \n \n \n \n \n \n \n \n \n\ - \ \n \n \n true\n \n\ - \ \n \n true\n 100.0\n\ - \ \n l_gripper_palm_pose_ground_truth\n\ - \ 0 0 0\n 0 0 0\n \ - \ 0.0\n map\n \ - \ \n \n\ - \ \n \n \n \n \n \n l_gripper_r_finger_tip_link\n\ - \ \n \n l_gripper_l_finger_tip_link\n\ - \ \n \n l_gripper_palm_link\n \n \n\ - \ \n \n \n \n \n \n\ - \ \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n 640 480\n R8G8B8\n\ - \ 90\n 0.1\n 100\n\ - \ 25.0\n \n\ - \ true\n 25.0\n \ - \ l_forearm_cam\n image_raw\n\ - \ camera_info\n l_forearm_cam_optical_frame\n\ - \ 0\n 320.5\n \ - \ 320.5\n 240.5\n 320\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\ - \ \n \n 640 480\n R8G8B8\n\ - \ 90\n 0.1\n 100\n\ - \ 25.0\n \n\ - \ true\n 25.0\n \ - \ r_forearm_cam\n image_raw\n\ - \ camera_info\n r_forearm_cam_optical_frame\n\ - \ 0\n 320.5\n \ - \ 320.5\n 240.5\n 320\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n 0.0\n\ - \ 0.0\n \n \n \n true\n\ - \ PR2/Blue\n \n\n" + + + + + + + true + 1000.0 + + + + true + 1.0 + 5 + + power_state + 10.0 + 87.78 + -474 + 525 + 15.52 + 16.41 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + 0.0 0.0 0.0 + false + -129.998394137 + 129.998394137 + 0.08 + 10.0 + 0.01 + 20 + + 0.005 + true + 20 + base_scan + base_laser_link + + + + + + + + + + + + + + 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l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + l_gripper_r_finger_tip_link + + + l_gripper_l_finger_tip_link + + + l_gripper_palm_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + R8G8B8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + l_forearm_cam + image_raw + camera_info + l_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + 320 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + true + PR2/Blue + + + + + + + + + + + + + + + + + + + + + + 640 480 + R8G8B8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + r_forearm_cam + image_raw + camera_info + r_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + 320 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + true + PR2/Blue + + + From 5e33509589791d4b34cc2700b6f9a7d0942db08c Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 17 Dec 2019 04:12:02 +0000 Subject: [PATCH 02/12] generate with euscollada 0.4.3 (with https://github.com/jsk-ros-pkg/jsk_model_tools/pull/227 ) --- pr2eus/pr2.l | 21443 +++++++++++++++++++++++++++---------------------- 1 file changed, 11666 insertions(+), 9777 deletions(-) diff --git a/pr2eus/pr2.l b/pr2eus/pr2.l index e48db39c2..9ec613c25 100644 --- a/pr2eus/pr2.l +++ b/pr2eus/pr2.l @@ -1,12 +1,11 @@ ;; ;; DO NOT EDIT THIS FILE ;; -;; this file is automatically generated from /tmp/pr2_21717.dae on (Linux pr1012 3.4.28.rt40-1-pr2-rt x86_64) at Mon Jul 27 05:59:22 2015 - -;; -;; /home/furushchev/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus $ /home/furushchev/ros/hydro/devel/lib/euscollada/collada2eus /tmp/pr2_21717.dae /home/furushchev/ros/hydro/src/jsk-ros-pkg/jsk_model_tools/euscollada//pr2.yaml /tmp/pr2_21717.l +;; this file is automatically generated from /tmp/pr2_30199.l on (Linux ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 06:41:50 UTC ;; +;; /home/user/.ros $ ;; +;; ;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l ;; (defclass euscollada-robot @@ -17,23 +16,27 @@ ) (defmethod euscollada-robot (:init-ending - () - ;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp) - (dolist (l links) - (setq (l . acentroid) (send l :inverse-transform-vector - (send (send (car links) :worldcoords) :transform-vector - (l . acentroid)))) - (setq (l . inertia-tensor) (m* (transpose (send l :worldrot)) - (m* (send (car links) :worldrot) - (l . inertia-tensor)))) - ) + (&optional (type :urdf)) + (when (eq type :collada) + ;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp) + (dolist (l (append links + (mapcan #'(lambda (x) (if (and (derivedp (cdr x) bodyset-link) + (not (memq (cdr x) links))) + (list (cdr x)))) (send self :slots)))) + (unless (= (send l :weight) 0.0) + (setq (l . acentroid) (send l :inverse-transform-vector + (send (send (car links) :worldcoords) :transform-vector + (l . acentroid)))) + (setq (l . inertia-tensor) (m* (transpose (send l :worldrot)) + (m* (send (car links) :worldrot) + (l . inertia-tensor)))) + ))) (send-super :init-ending) (send self :make-collision-model-for-links) - ;; (dolist (j (mapcan #'(lambda (x) (if (and (derivedp (cdr x) joint) - (not (memq (cdr x) (send self :joint-list)))) - (list (cdr x)))) (send self :slots))) + (not (memq (cdr x) (send self :joint-list)))) + (list (cdr x)))) (send self :slots))) (send (send j :child-link) :add-joint j) (send (send j :child-link) :add-parent-link (send j :parent-link)) (send (send j :parent-link) :add-child-links (send j :child-link))) @@ -48,7 +51,7 @@ ;; reduce root-link's weight based on leg's joint limit ;; increase stop and cog-gain (:fullbody-inverse-kinematics - (target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) &allow-other-keys) + (target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) (use-6dof-joint-leg-gain nil) &allow-other-keys) (let* ((leg-ul (send self :calc-union-link-list (send self :legs :links)))) (send self :reset-joint-angle-limit-weight-old leg-ul) (send-message* self robot-model :fullbody-inverse-kinematics @@ -57,5963 +60,3677 @@ :additional-weight-list (append additional-weight-list - (list - (list (car (send self :links)) - #'(lambda () - ;; set root-link 6dof-joint's weight based on legs' joint limit - (let* ((min-weight - (reduce #'(lambda (x y) (min x y)) - (coerce (send self :calc-inverse-kinematics-weight-from-link-list - leg-ul :union-link-list leg-ul) cons)))) - (fill (instantiate float-vector 6) min-weight))) - ) - )) + (if use-6dof-joint-leg-gain + (list + (list (car (send self :links)) + #'(lambda () + ;; set root-link 6dof-joint's weight based on legs' joint limit + (let* ((min-weight + (reduce #'(lambda (x y) (min x y)) + (coerce (send self :calc-inverse-kinematics-weight-from-link-list + leg-ul :union-link-list leg-ul) cons)))) + (fill (instantiate float-vector 6) min-weight))) + ) + ))) args) )) ;; make collision model from faces or gl-vertices (:make-collision-model-for-links (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links))) (dolist (ll ls) - (send ll - (read-from-string - (format nil ":make-~Amodel" - (string-right-trim "-COLLISION-CHECK" (string collision-func)))) - :fat fat - :faces (flatten (mapcar #'(lambda (x) - (cond - ((find-method x :def-gl-vertices) - (send (x . glvertices) :convert-to-faces :wrt :world)) - (t - (send x :faces)))) - (send ll :bodies))))) - ) + (let (fs glv usefs) + (dolist (bd (send ll :bodies)) + (if (derivedp bd collada-body) + (push (send bd :glvertices) glv) + (push (send bd :faces) fs))) + (setq fs (flatten fs)) + (cond + ((and (not fs) glv) ;; if there is no faces, use glvertices for creating pqpmodel + (setq usefs (instance gl::glvertices :init nil)) + (send usefs :transform (send ll :worldcoords)) + (send usefs :append-glvertices glv) + (let ((m (send usefs (read-from-string + (format nil ":make-~Amodel" + (string-right-trim "-COLLISION-CHECK" (string collision-func)))) + :fat fat))) + (setf (get ll :pqpmodel) m) + )) + (fs + (setq usefs + (append fs + (mapcar #'(lambda (gv) (send gv :convert-to-faces :wrt :world)) glv))) + (send ll + (read-from-string + (format nil ":make-~Amodel" + (string-right-trim "-COLLISION-CHECK" (string collision-func)))) + :fat fat + :faces usefs)) + )) + )) ) ;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l +;; This euscollada-body class is for bodies in robot model converted from collada files. (defclass collada-body - :super body - :slots (glvertices) + :super gl::glbody + :slots (glvertices) ;; glvertices slot for backward compatibility ) (defmethod collada-body - (:draw (vwr) - (when glvertices - (send glvertices :draw vwr))) - (:set-color (&rest args) - (send-super* :set-color args) - (when glvertices (send* glvertices :set-color args))) + (:init (&key (name) (replace-obj)) + (if replace-obj + (replace-object self replace-obj) + (replace-object self (make-cube 10 10 10))) + (if name (send self :name name)) + (setq glvertices gl::aglvertices) + self) (:change-visual (&optional (visual :convex)) (case visual ((list :convex :hull :convex-hull) (unless (send self :get :original-mesh) - (send self :put :original-mesh glvertices)) ;; store original mesh + (send self :put :original-mesh gl::aglvertices)) ;; store original mesh (let* ((org-mesh (send self :get :original-mesh)) (org-cds (send org-mesh :copy-worldcoords)) (glv (gl::make-glvertices-from-faces (send self :faces)))) (send glv :set-offset (send org-cds :inverse-transformation)) (send glv :transform org-cds) (send org-mesh :assoc glv) - (setq glvertices glv) + (setq gl::aglvertices glv) glv)) ((list :original :mesh :glvertices :original-mesh) (let ((org-mesh (send self :get :original-mesh))) (when org-mesh (dolist (d (send org-mesh :descendants)) ;; dissoc all discendants (send org-mesh :dissoc d)) - (setq glvertices org-mesh) + (setq gl::aglvertices org-mesh) org-mesh))) )) ) ;; -#| -;; overdriven by pr2-sensor-robot, which is defined below of this code. -;; (auto generated from make-pr2-model-file.l) +;; end of copy from /home/user/pr2eus_ws/src/euscollada/src/euscollada-robot.l +;; (defun pr2 () (setq *pr2* (instance pr2-robot :init))) -|# (defclass pr2-robot :super euscollada-robot - :slots (base_bellow_joint_jt base_footprint_joint_jt base_laser_joint_jt bl_caster_l_wheel_joint_jt bl_caster_r_wheel_joint_jt bl_caster_rotation_joint_jt br_caster_l_wheel_joint_jt br_caster_r_wheel_joint_jt br_caster_rotation_joint_jt double_stereo_frame_joint_jt fl_caster_l_wheel_joint_jt fl_caster_r_wheel_joint_jt fl_caster_rotation_joint_jt fr_caster_l_wheel_joint_jt fr_caster_r_wheel_joint_jt fr_caster_rotation_joint_jt head_chain_cb_jt head_mount_joint_jt head_mount_kinect_ir_joint_jt head_mount_kinect_ir_optical_frame_joint_jt head_mount_kinect_rgb_joint_jt head_mount_kinect_rgb_optical_frame_joint_jt head_mount_prosilica_joint_jt head_mount_prosilica_optical_frame_joint_jt head_pan_joint_jt head_plate_frame_joint_jt head_tilt_joint_jt high_def_frame_joint_jt high_def_optical_frame_joint_jt imu_joint_jt l_elbow_flex_joint_jt l_forearm_cam_frame_joint_jt l_forearm_cam_optical_frame_joint_jt l_forearm_joint_jt l_forearm_roll_joint_jt l_gripper_joint_jt l_gripper_l_finger_joint_jt l_gripper_l_finger_tip_joint_jt l_gripper_led_joint_jt l_gripper_motor_accelerometer_joint_jt l_gripper_motor_screw_joint_jt l_gripper_motor_slider_joint_jt l_gripper_palm_joint_jt l_gripper_r_finger_joint_jt l_gripper_r_finger_tip_joint_jt l_gripper_tool_joint_jt l_shoulder_lift_joint_jt l_shoulder_pan_joint_jt l_torso_lift_side_plate_joint_jt l_upper_arm_joint_jt l_upper_arm_roll_joint_jt l_wrist_flex_joint_jt l_wrist_roll_joint_jt laser_tilt_joint_jt laser_tilt_mount_joint_jt left_arm_chain_cb_jt narrow_stereo_frame_joint_jt narrow_stereo_l_stereo_camera_frame_joint_jt narrow_stereo_l_stereo_camera_optical_frame_joint_jt narrow_stereo_optical_frame_joint_jt narrow_stereo_r_stereo_camera_frame_joint_jt narrow_stereo_r_stereo_camera_optical_frame_joint_jt projector_wg6802418_child_frame_joint_jt projector_wg6802418_frame_joint_jt r_elbow_flex_joint_jt r_forearm_cam_frame_joint_jt r_forearm_cam_optical_frame_joint_jt r_forearm_joint_jt r_forearm_roll_joint_jt r_gripper_joint_jt r_gripper_l_finger_joint_jt r_gripper_l_finger_tip_joint_jt r_gripper_led_joint_jt r_gripper_motor_accelerometer_joint_jt r_gripper_motor_screw_joint_jt r_gripper_motor_slider_joint_jt r_gripper_palm_joint_jt r_gripper_r_finger_joint_jt r_gripper_r_finger_tip_joint_jt r_gripper_tool_joint_jt r_shoulder_lift_joint_jt r_shoulder_pan_joint_jt r_torso_lift_side_plate_joint_jt r_upper_arm_joint_jt r_upper_arm_roll_joint_jt r_wrist_flex_joint_jt r_wrist_roll_joint_jt right_arm_chain_cb_jt sensor_mount_frame_joint_jt torso_lift_joint_jt torso_lift_motor_screw_joint_jt wide_stereo_frame_joint_jt wide_stereo_l_stereo_camera_frame_joint_jt wide_stereo_l_stereo_camera_optical_frame_joint_jt wide_stereo_optical_frame_joint_jt wide_stereo_r_stereo_camera_frame_joint_jt wide_stereo_r_stereo_camera_optical_frame_joint_jt base_bellow_link_lk base_laser_link_lk bl_caster_l_wheel_link_lk bl_caster_r_wheel_link_lk bl_caster_rotation_link_lk br_caster_l_wheel_link_lk br_caster_r_wheel_link_lk br_caster_rotation_link_lk fl_caster_l_wheel_link_lk fl_caster_r_wheel_link_lk fl_caster_rotation_link_lk fr_caster_l_wheel_link_lk fr_caster_r_wheel_link_lk fr_caster_rotation_link_lk head_chain_cb_link_lk head_mount_kinect_ir_optical_frame_lk head_mount_kinect_rgb_optical_frame_lk head_mount_kinect_rgb_link_lk head_mount_kinect_ir_link_lk head_mount_prosilica_optical_frame_lk head_mount_prosilica_link_lk head_mount_link_lk projector_wg6802418_child_frame_lk projector_wg6802418_frame_lk narrow_stereo_l_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_frame_lk narrow_stereo_l_stereo_camera_frame_lk narrow_stereo_optical_frame_lk narrow_stereo_link_lk wide_stereo_l_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_frame_lk wide_stereo_l_stereo_camera_frame_lk wide_stereo_optical_frame_lk wide_stereo_link_lk double_stereo_link_lk high_def_optical_frame_lk high_def_frame_lk sensor_mount_link_lk head_plate_frame_lk head_tilt_link_lk head_pan_link_lk imu_link_lk l_forearm_cam_optical_frame_lk l_forearm_cam_frame_lk l_gripper_l_finger_tip_link_lk l_gripper_l_finger_link_lk l_gripper_led_frame_lk l_gripper_motor_accelerometer_link_lk l_gripper_motor_screw_link_lk l_gripper_motor_slider_link_lk l_gripper_l_finger_tip_frame_lk l_gripper_r_finger_tip_link_lk l_gripper_r_finger_link_lk l_gripper_tool_frame_lk l_gripper_palm_link_lk left_arm_chain_cb_link_lk l_wrist_roll_link_lk l_wrist_flex_link_lk l_forearm_link_lk l_forearm_roll_link_lk l_elbow_flex_link_lk l_upper_arm_link_lk l_upper_arm_roll_link_lk l_shoulder_lift_link_lk l_shoulder_pan_link_lk l_torso_lift_side_plate_link_lk laser_tilt_link_lk laser_tilt_mount_link_lk r_forearm_cam_optical_frame_lk r_forearm_cam_frame_lk r_gripper_l_finger_tip_link_lk r_gripper_l_finger_link_lk r_gripper_led_frame_lk r_gripper_motor_accelerometer_link_lk r_gripper_motor_screw_link_lk r_gripper_motor_slider_link_lk r_gripper_l_finger_tip_frame_lk r_gripper_r_finger_tip_link_lk r_gripper_r_finger_link_lk r_gripper_tool_frame_lk r_gripper_palm_link_lk right_arm_chain_cb_link_lk r_wrist_roll_link_lk r_wrist_flex_link_lk r_forearm_link_lk r_forearm_roll_link_lk r_elbow_flex_link_lk r_upper_arm_link_lk r_upper_arm_roll_link_lk r_shoulder_lift_link_lk r_shoulder_pan_link_lk r_torso_lift_side_plate_link_lk torso_lift_link_lk torso_lift_motor_screw_link_lk base_link_lk base_footprint_lk rarm-grasping-obj larm-grasping-obj)) + :slots ( ;; link names + base_bellow_link_lk base_footprint_lk base_laser_link_lk base_link_lk bl_caster_l_wheel_link_lk bl_caster_r_wheel_link_lk bl_caster_rotation_link_lk br_caster_l_wheel_link_lk br_caster_r_wheel_link_lk br_caster_rotation_link_lk double_stereo_link_lk fl_caster_l_wheel_link_lk fl_caster_r_wheel_link_lk fl_caster_rotation_link_lk fr_caster_l_wheel_link_lk fr_caster_r_wheel_link_lk fr_caster_rotation_link_lk head_chain_cb_link_lk head_mount_kinect_ir_link_lk head_mount_kinect_ir_optical_frame_lk head_mount_kinect_rgb_link_lk head_mount_kinect_rgb_optical_frame_lk head_mount_link_lk head_mount_prosilica_link_lk head_mount_prosilica_optical_frame_lk head_pan_link_lk head_plate_frame_lk head_tilt_link_lk high_def_frame_lk high_def_optical_frame_lk imu_link_lk l_elbow_flex_link_lk l_forearm_cam_frame_lk l_forearm_cam_optical_frame_lk l_forearm_link_lk l_forearm_roll_link_lk l_gripper_l_finger_link_lk l_gripper_l_finger_tip_frame_lk l_gripper_l_finger_tip_link_lk l_gripper_led_frame_lk l_gripper_motor_accelerometer_link_lk l_gripper_motor_screw_link_lk l_gripper_motor_slider_link_lk l_gripper_palm_link_lk l_gripper_r_finger_link_lk l_gripper_r_finger_tip_link_lk l_gripper_tool_frame_lk l_shoulder_lift_link_lk l_shoulder_pan_link_lk l_torso_lift_side_plate_link_lk l_upper_arm_link_lk l_upper_arm_roll_link_lk l_wrist_flex_link_lk l_wrist_roll_link_lk laser_tilt_link_lk laser_tilt_mount_link_lk left_arm_chain_cb_link_lk narrow_stereo_l_stereo_camera_frame_lk narrow_stereo_l_stereo_camera_optical_frame_lk narrow_stereo_link_lk narrow_stereo_optical_frame_lk narrow_stereo_r_stereo_camera_frame_lk narrow_stereo_r_stereo_camera_optical_frame_lk projector_wg6802418_child_frame_lk projector_wg6802418_frame_lk r_elbow_flex_link_lk r_forearm_cam_frame_lk r_forearm_cam_optical_frame_lk r_forearm_link_lk r_forearm_roll_link_lk r_gripper_l_finger_link_lk r_gripper_l_finger_tip_frame_lk r_gripper_l_finger_tip_link_lk r_gripper_led_frame_lk r_gripper_motor_accelerometer_link_lk r_gripper_motor_screw_link_lk r_gripper_motor_slider_link_lk r_gripper_palm_link_lk r_gripper_r_finger_link_lk r_gripper_r_finger_tip_link_lk r_gripper_tool_frame_lk r_shoulder_lift_link_lk r_shoulder_pan_link_lk r_torso_lift_side_plate_link_lk r_upper_arm_link_lk r_upper_arm_roll_link_lk r_wrist_flex_link_lk r_wrist_roll_link_lk right_arm_chain_cb_link_lk sensor_mount_link_lk torso_lift_link_lk torso_lift_motor_screw_link_lk wide_stereo_l_stereo_camera_frame_lk wide_stereo_l_stereo_camera_optical_frame_lk wide_stereo_link_lk wide_stereo_optical_frame_lk wide_stereo_r_stereo_camera_frame_lk wide_stereo_r_stereo_camera_optical_frame_lk + ;; joint names + base_bellow_joint_fixed_jt base_footprint_joint_fixed_jt base_laser_joint_fixed_jt bl_caster_l_wheel_joint_jt bl_caster_r_wheel_joint_jt bl_caster_rotation_joint_jt br_caster_l_wheel_joint_jt br_caster_r_wheel_joint_jt br_caster_rotation_joint_jt double_stereo_frame_joint_fixed_jt fl_caster_l_wheel_joint_jt fl_caster_r_wheel_joint_jt fl_caster_rotation_joint_jt fr_caster_l_wheel_joint_jt fr_caster_r_wheel_joint_jt fr_caster_rotation_joint_jt head_chain_cb_fixed_jt head_mount_joint_fixed_jt head_mount_kinect_ir_joint_fixed_jt head_mount_kinect_ir_optical_frame_joint_fixed_jt head_mount_kinect_rgb_joint_fixed_jt head_mount_kinect_rgb_optical_frame_joint_fixed_jt head_mount_prosilica_joint_fixed_jt head_mount_prosilica_optical_frame_joint_fixed_jt head_pan_joint_jt head_plate_frame_joint_fixed_jt head_tilt_joint_jt high_def_frame_joint_fixed_jt high_def_optical_frame_joint_fixed_jt imu_joint_fixed_jt l_elbow_flex_joint_jt l_forearm_cam_frame_joint_fixed_jt l_forearm_cam_optical_frame_joint_fixed_jt l_forearm_joint_fixed_jt l_forearm_roll_joint_jt l_gripper_joint_jt l_gripper_l_finger_joint_jt l_gripper_l_finger_tip_joint_jt l_gripper_led_joint_fixed_jt l_gripper_motor_accelerometer_joint_fixed_jt l_gripper_motor_screw_joint_jt l_gripper_motor_slider_joint_jt l_gripper_palm_joint_fixed_jt l_gripper_r_finger_joint_jt l_gripper_r_finger_tip_joint_jt l_gripper_tool_joint_fixed_jt l_shoulder_lift_joint_jt l_shoulder_pan_joint_jt l_torso_lift_side_plate_joint_fixed_jt l_upper_arm_joint_fixed_jt l_upper_arm_roll_joint_jt l_wrist_flex_joint_jt l_wrist_roll_joint_jt laser_tilt_joint_fixed_jt laser_tilt_mount_joint_jt left_arm_chain_cb_fixed_jt narrow_stereo_frame_joint_fixed_jt narrow_stereo_l_stereo_camera_frame_joint_fixed_jt narrow_stereo_l_stereo_camera_optical_frame_joint_fixed_jt narrow_stereo_optical_frame_joint_fixed_jt narrow_stereo_r_stereo_camera_frame_joint_fixed_jt narrow_stereo_r_stereo_camera_optical_frame_joint_fixed_jt projector_wg6802418_child_frame_joint_fixed_jt projector_wg6802418_frame_joint_fixed_jt r_elbow_flex_joint_jt r_forearm_cam_frame_joint_fixed_jt r_forearm_cam_optical_frame_joint_fixed_jt r_forearm_joint_fixed_jt r_forearm_roll_joint_jt r_gripper_joint_jt r_gripper_l_finger_joint_jt r_gripper_l_finger_tip_joint_jt r_gripper_led_joint_fixed_jt r_gripper_motor_accelerometer_joint_fixed_jt r_gripper_motor_screw_joint_jt r_gripper_motor_slider_joint_jt r_gripper_palm_joint_fixed_jt r_gripper_r_finger_joint_jt r_gripper_r_finger_tip_joint_jt r_gripper_tool_joint_fixed_jt r_shoulder_lift_joint_jt r_shoulder_pan_joint_jt r_torso_lift_side_plate_joint_fixed_jt r_upper_arm_joint_fixed_jt r_upper_arm_roll_joint_jt r_wrist_flex_joint_jt r_wrist_roll_joint_jt right_arm_chain_cb_fixed_jt sensor_mount_frame_joint_fixed_jt torso_lift_joint_jt torso_lift_motor_screw_joint_jt wide_stereo_frame_joint_fixed_jt wide_stereo_l_stereo_camera_frame_joint_fixed_jt wide_stereo_l_stereo_camera_optical_frame_joint_fixed_jt wide_stereo_optical_frame_joint_fixed_jt wide_stereo_r_stereo_camera_frame_joint_fixed_jt wide_stereo_r_stereo_camera_optical_frame_joint_fixed_jt + ;; sensor names + + ) + ) (defmethod pr2-robot (:init (&rest args) (let () (send-super* :init :name "pr2" args) - ;; node id=vkmodel0_node0, name=base_bellow_link, sid=node0 - (let ( b_gkmodel0_base_bellow_link_geom0) - ;; define bodyset-link for base_bellow_link : vkmodel0_node0 - (setq b_gkmodel0_base_bellow_link_geom0 (instance pr2_gkmodel0_base_bellow_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_base_bellow_link_geom0,domNode=base_bellow_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_base_bellow_link_geom0 :transform localcds :world) - ) + ;; link: base_bellow_link_lk + (let ((geom-lst (list + (send self :_make_instance_base_bellow_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq base_bellow_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_base_bellow_link_geom0) + :bodies geom-lst :name "base_bellow_link")) - (send base_bellow_link_lk :weight 1000.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.9000000000000000e+02 0.0000000000000000e+00 8.5100000000000011e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for base_bellow_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send base_bellow_link_lk :weight 1000.000) (setq (base_bellow_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (base_bellow_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=base_bellow_link_lk,domNode=base_bellow_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send base_bellow_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_bellow_link_lk :transform - (make-coords :pos (float-vector -2.9000000000000000e+02 0.0000000000000000e+00 8.0000000000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (base_bellow_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for base_bellow_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.9000000000000000e+02 0.0000000000000000e+00 8.5100000000000011e+02)) + )) + (send base_bellow_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node2, name=base_laser_link, sid=node2 - (let () - ;; define cascaded-coords for base_laser_link - (setq base_laser_link_lk (instance bodyset-link :init (make-cascoords) :name "base_laser_link")) - (send base_laser_link_lk :weight 1.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.7500000000000000e+02 0.0000000000000000e+00 3.0300000000000000e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (base_laser_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+05 1.0000000000000000e+03 1.0000000000000000e+05))) (transpose (send tmp-c :worldrot)))) - (setq (base_laser_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=base_laser_link_lk,domNode=base_laser_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.7500000000000000e+02 0.0000000000000000e+00 2.5200000000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_laser_link_lk :transform localcds :world) + ;; link: base_footprint_lk + (let ((geom-lst (list + (send self :_make_instance_base_footprint_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq base_footprint_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "base_footprint")) + ;; inertial parameter for base_footprint_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send base_footprint_lk :weight 1000.000) + (setq (base_footprint_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (base_footprint_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for base_footprint_lk + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send base_footprint_lk :transform world-cds)) ) - ;;1; + + ;; link: base_laser_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq base_laser_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "base_laser_link")) + ;; inertial parameter for base_laser_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send base_laser_link_lk :weight 1.000) + (setq (base_laser_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+03 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (base_laser_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for base_laser_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.7500000000000000e+02 0.0000000000000000e+00 3.0300000000000000e+02)) + )) + (send base_laser_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node4, name=bl_caster_l_wheel_link, sid=node4 - (let ( b_gkmodel0_bl_caster_l_wheel_link_geom0) - ;; define bodyset-link for bl_caster_l_wheel_link : vkmodel0_node4 - (setq b_gkmodel0_bl_caster_l_wheel_link_geom0 (instance pr2_gkmodel0_bl_caster_l_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_bl_caster_l_wheel_link_geom0,domNode=bl_caster_l_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_bl_caster_l_wheel_link_geom0 :transform localcds :world) + ;; link: base_link_lk + (let ((geom-lst (list + (send self :_make_instance_base_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq base_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "base_link")) + ;; inertial parameter for base_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -6.1000000000000000e+01 0.0000000000000000e+00 1.4650000000000003e+02) + :rot (quaternion2matrix (float-vector 6.8719103493307054e-01 -6.8968508724111810e-01 1.6794397935461167e-01 -1.5458907381624593e-01))) + )) + (send base_link_lk :weight 116000.000) + (setq (base_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 6.2938848215018797e+09 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 3.0417723116333189e+09 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.6692450764548006e+09)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (base_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for base_link_lk + (let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01)) + )) + (send base_link_lk :transform world-cds)) ) + + ;; link: bl_caster_l_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_bl_caster_l_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq bl_caster_l_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_bl_caster_l_wheel_link_geom0) + :bodies geom-lst :name "bl_caster_l_wheel_link")) - (send bl_caster_l_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 2.7360000000000002e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for bl_caster_l_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send bl_caster_l_wheel_link_lk :weight 440.360) (setq (bl_caster_l_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (bl_caster_l_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=bl_caster_l_wheel_link_lk,domNode=bl_caster_l_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (bl_caster_l_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for bl_caster_l_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 2.7360000000000002e+02 7.9199999999999989e+01)) + )) + (send bl_caster_l_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node5, name=bl_caster_r_wheel_link, sid=node5 - (let ( b_gkmodel0_bl_caster_r_wheel_link_geom0) - ;; define bodyset-link for bl_caster_r_wheel_link : vkmodel0_node5 - (setq b_gkmodel0_bl_caster_r_wheel_link_geom0 (instance pr2_gkmodel0_bl_caster_r_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_bl_caster_r_wheel_link_geom0,domNode=bl_caster_r_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_bl_caster_r_wheel_link_geom0 :transform localcds :world) - ) + ;; link: bl_caster_r_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_bl_caster_r_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq bl_caster_r_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_bl_caster_r_wheel_link_geom0) + :bodies geom-lst :name "bl_caster_r_wheel_link")) - (send bl_caster_r_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 1.7559999999999999e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for bl_caster_r_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 2.7755575615628914e-14 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send bl_caster_r_wheel_link_lk :weight 440.360) (setq (bl_caster_r_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (bl_caster_r_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=bl_caster_r_wheel_link_lk,domNode=bl_caster_r_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (bl_caster_r_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for bl_caster_r_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 1.7559999999999997e+02 7.9199999999999989e+01)) + )) + (send bl_caster_r_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node6, name=bl_caster_rotation_link, sid=node6 - (let ( b_gkmodel0_bl_caster_rotation_link_geom0) - ;; define bodyset-link for bl_caster_rotation_link : vkmodel0_node6 - (setq b_gkmodel0_bl_caster_rotation_link_geom0 (instance pr2_gkmodel0_bl_caster_rotation_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_bl_caster_rotation_link_geom0,domNode=bl_caster_rotation_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_bl_caster_rotation_link_geom0 :transform localcds :world) - ) + ;; link: bl_caster_rotation_link_lk + (let ((geom-lst (list + (send self :_make_instance_bl_caster_rotation_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq bl_caster_rotation_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_bl_caster_rotation_link_geom0) + :bodies geom-lst :name "bl_caster_rotation_link")) - (send bl_caster_rotation_link_lk :weight 3473.082) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 1.4919999999999999e+02) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for bl_caster_rotation_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0000000000000000e+01) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send bl_caster_rotation_link_lk :weight 3473.082) (setq (bl_caster_rotation_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (bl_caster_rotation_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=bl_caster_rotation_link_lk,domNode=bl_caster_rotation_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=bl_caster_l_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_l_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=bl_caster_l_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=1,parent=bl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) bl_caster_rotation_link_lk) - - ;; writeTransform(name=bl_caster_l_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=2,parent=bl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send bl_caster_rotation_link_lk :assoc bl_caster_l_wheel_link_lk) - - ;; writeTransform(name=bl_caster_r_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_r_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=bl_caster_r_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=1,parent=bl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) bl_caster_rotation_link_lk) - - ;; writeTransform(name=bl_caster_r_wheel_link_lk,domNode=bl_caster_rotation_link,targetCount=2,parent=bl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send bl_caster_rotation_link_lk :assoc bl_caster_r_wheel_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (bl_caster_rotation_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for bl_caster_rotation_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 7.9199999999999989e+01)) + )) + (send bl_caster_rotation_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node7, name=br_caster_l_wheel_link, sid=node7 - (let ( b_gkmodel0_br_caster_l_wheel_link_geom0) - ;; define bodyset-link for br_caster_l_wheel_link : vkmodel0_node7 - (setq b_gkmodel0_br_caster_l_wheel_link_geom0 (instance pr2_gkmodel0_br_caster_l_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_br_caster_l_wheel_link_geom0,domNode=br_caster_l_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_br_caster_l_wheel_link_geom0 :transform localcds :world) - ) + ;; link: br_caster_l_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_br_caster_l_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq br_caster_l_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_br_caster_l_wheel_link_geom0) + :bodies geom-lst :name "br_caster_l_wheel_link")) - (send br_caster_l_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 -1.7559999999999999e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for br_caster_l_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -2.7755575615628914e-14 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send br_caster_l_wheel_link_lk :weight 440.360) (setq (br_caster_l_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (br_caster_l_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=br_caster_l_wheel_link_lk,domNode=br_caster_l_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (br_caster_l_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for br_caster_l_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 -1.7559999999999997e+02 7.9199999999999989e+01)) + )) + (send br_caster_l_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node8, name=br_caster_r_wheel_link, sid=node8 - (let ( b_gkmodel0_br_caster_r_wheel_link_geom0) - ;; define bodyset-link for br_caster_r_wheel_link : vkmodel0_node8 - (setq b_gkmodel0_br_caster_r_wheel_link_geom0 (instance pr2_gkmodel0_br_caster_r_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_br_caster_r_wheel_link_geom0,domNode=br_caster_r_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_br_caster_r_wheel_link_geom0 :transform localcds :world) - ) + ;; link: br_caster_r_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_br_caster_r_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq br_caster_r_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_br_caster_r_wheel_link_geom0) + :bodies geom-lst :name "br_caster_r_wheel_link")) - (send br_caster_r_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 -2.7360000000000002e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for br_caster_r_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send br_caster_r_wheel_link_lk :weight 440.360) (setq (br_caster_r_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (br_caster_r_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=br_caster_r_wheel_link_lk,domNode=br_caster_r_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (br_caster_r_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for br_caster_r_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 -2.7360000000000002e+02 7.9199999999999989e+01)) + )) + (send br_caster_r_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node9, name=br_caster_rotation_link, sid=node9 - (let ( b_gkmodel0_br_caster_rotation_link_geom0) - ;; define bodyset-link for br_caster_rotation_link : vkmodel0_node9 - (setq b_gkmodel0_br_caster_rotation_link_geom0 (instance pr2_gkmodel0_br_caster_rotation_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_br_caster_rotation_link_geom0,domNode=br_caster_rotation_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_br_caster_rotation_link_geom0 :transform localcds :world) - ) + ;; link: br_caster_rotation_link_lk + (let ((geom-lst (list + (send self :_make_instance_br_caster_rotation_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq br_caster_rotation_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_br_caster_rotation_link_geom0) + :bodies geom-lst :name "br_caster_rotation_link")) - (send br_caster_rotation_link_lk :weight 3473.082) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -2.2459999999999999e+02 -2.2459999999999999e+02 1.4919999999999999e+02) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for br_caster_rotation_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0000000000000000e+01) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send br_caster_rotation_link_lk :weight 3473.082) (setq (br_caster_rotation_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (br_caster_rotation_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=br_caster_rotation_link_lk,domNode=br_caster_rotation_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=br_caster_l_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_l_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=br_caster_l_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=1,parent=br_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) br_caster_rotation_link_lk) - - ;; writeTransform(name=br_caster_l_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=2,parent=br_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send br_caster_rotation_link_lk :assoc br_caster_l_wheel_link_lk) - - ;; writeTransform(name=br_caster_r_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_r_wheel_link_lk :transform localcds :world) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (br_caster_rotation_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for br_caster_rotation_link_lk + (let ((world-cds (make-coords :pos (float-vector -2.2459999999999999e+02 -2.2459999999999999e+02 7.9199999999999989e+01)) + )) + (send br_caster_rotation_link_lk :transform world-cds)) ) - ;; writeTransform(name=br_caster_r_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=1,parent=br_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) br_caster_rotation_link_lk) - - ;; writeTransform(name=br_caster_r_wheel_link_lk,domNode=br_caster_rotation_link,targetCount=2,parent=br_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send br_caster_rotation_link_lk :assoc br_caster_r_wheel_link_lk) + ;; link: double_stereo_link_lk + (let ((geom-lst (list + (send self :_make_instance_double_stereo_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq double_stereo_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "double_stereo_link")) + ;; inertial parameter for double_stereo_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send double_stereo_link_lk :weight 100.000) + (setq (double_stereo_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (double_stereo_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for double_stereo_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03)) + )) + (send double_stereo_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node11, name=fl_caster_l_wheel_link, sid=node11 - (let ( b_gkmodel0_fl_caster_l_wheel_link_geom0) - ;; define bodyset-link for fl_caster_l_wheel_link : vkmodel0_node11 - (setq b_gkmodel0_fl_caster_l_wheel_link_geom0 (instance pr2_gkmodel0_fl_caster_l_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fl_caster_l_wheel_link_geom0,domNode=fl_caster_l_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fl_caster_l_wheel_link_geom0 :transform localcds :world) - ) + ;; link: fl_caster_l_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_fl_caster_l_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fl_caster_l_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fl_caster_l_wheel_link_geom0) + :bodies geom-lst :name "fl_caster_l_wheel_link")) - (send fl_caster_l_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 2.7360000000000002e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fl_caster_l_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fl_caster_l_wheel_link_lk :weight 440.360) (setq (fl_caster_l_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fl_caster_l_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fl_caster_l_wheel_link_lk,domNode=fl_caster_l_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fl_caster_l_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fl_caster_l_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 2.7360000000000002e+02 7.9199999999999989e+01)) + )) + (send fl_caster_l_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node12, name=fl_caster_r_wheel_link, sid=node12 - (let ( b_gkmodel0_fl_caster_r_wheel_link_geom0) - ;; define bodyset-link for fl_caster_r_wheel_link : vkmodel0_node12 - (setq b_gkmodel0_fl_caster_r_wheel_link_geom0 (instance pr2_gkmodel0_fl_caster_r_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fl_caster_r_wheel_link_geom0,domNode=fl_caster_r_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fl_caster_r_wheel_link_geom0 :transform localcds :world) - ) + ;; link: fl_caster_r_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_fl_caster_r_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fl_caster_r_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fl_caster_r_wheel_link_geom0) + :bodies geom-lst :name "fl_caster_r_wheel_link")) - (send fl_caster_r_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 1.7559999999999999e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fl_caster_r_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 2.7755575615628914e-14 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fl_caster_r_wheel_link_lk :weight 440.360) (setq (fl_caster_r_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fl_caster_r_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fl_caster_r_wheel_link_lk,domNode=fl_caster_r_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fl_caster_r_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fl_caster_r_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 1.7559999999999997e+02 7.9199999999999989e+01)) + )) + (send fl_caster_r_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node13, name=fl_caster_rotation_link, sid=node13 - (let ( b_gkmodel0_fl_caster_rotation_link_geom0) - ;; define bodyset-link for fl_caster_rotation_link : vkmodel0_node13 - (setq b_gkmodel0_fl_caster_rotation_link_geom0 (instance pr2_gkmodel0_fl_caster_rotation_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fl_caster_rotation_link_geom0,domNode=fl_caster_rotation_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fl_caster_rotation_link_geom0 :transform localcds :world) - ) + ;; link: fl_caster_rotation_link_lk + (let ((geom-lst (list + (send self :_make_instance_fl_caster_rotation_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fl_caster_rotation_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fl_caster_rotation_link_geom0) + :bodies geom-lst :name "fl_caster_rotation_link")) - (send fl_caster_rotation_link_lk :weight 3473.082) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 1.4919999999999999e+02) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fl_caster_rotation_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0000000000000000e+01) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fl_caster_rotation_link_lk :weight 3473.082) (setq (fl_caster_rotation_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fl_caster_rotation_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fl_caster_rotation_link_lk,domNode=fl_caster_rotation_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=fl_caster_l_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_l_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fl_caster_l_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=1,parent=fl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) fl_caster_rotation_link_lk) - - ;; writeTransform(name=fl_caster_l_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=2,parent=fl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send fl_caster_rotation_link_lk :assoc fl_caster_l_wheel_link_lk) - - ;; writeTransform(name=fl_caster_r_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_r_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fl_caster_r_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=1,parent=fl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) fl_caster_rotation_link_lk) - - ;; writeTransform(name=fl_caster_r_wheel_link_lk,domNode=fl_caster_rotation_link,targetCount=2,parent=fl_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send fl_caster_rotation_link_lk :assoc fl_caster_r_wheel_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fl_caster_rotation_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fl_caster_rotation_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 7.9199999999999989e+01)) + )) + (send fl_caster_rotation_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node14, name=fr_caster_l_wheel_link, sid=node14 - (let ( b_gkmodel0_fr_caster_l_wheel_link_geom0) - ;; define bodyset-link for fr_caster_l_wheel_link : vkmodel0_node14 - (setq b_gkmodel0_fr_caster_l_wheel_link_geom0 (instance pr2_gkmodel0_fr_caster_l_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fr_caster_l_wheel_link_geom0,domNode=fr_caster_l_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fr_caster_l_wheel_link_geom0 :transform localcds :world) - ) + ;; link: fr_caster_l_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_fr_caster_l_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fr_caster_l_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fr_caster_l_wheel_link_geom0) + :bodies geom-lst :name "fr_caster_l_wheel_link")) - (send fr_caster_l_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 -1.7559999999999999e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fr_caster_l_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -2.7755575615628914e-14 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fr_caster_l_wheel_link_lk :weight 440.360) (setq (fr_caster_l_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fr_caster_l_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fr_caster_l_wheel_link_lk,domNode=fr_caster_l_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fr_caster_l_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fr_caster_l_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 -1.7559999999999997e+02 7.9199999999999989e+01)) + )) + (send fr_caster_l_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node15, name=fr_caster_r_wheel_link, sid=node15 - (let ( b_gkmodel0_fr_caster_r_wheel_link_geom0) - ;; define bodyset-link for fr_caster_r_wheel_link : vkmodel0_node15 - (setq b_gkmodel0_fr_caster_r_wheel_link_geom0 (instance pr2_gkmodel0_fr_caster_r_wheel_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fr_caster_r_wheel_link_geom0,domNode=fr_caster_r_wheel_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fr_caster_r_wheel_link_geom0 :transform localcds :world) - ) + ;; link: fr_caster_r_wheel_link_lk + (let ((geom-lst (list + (send self :_make_instance_fr_caster_r_wheel_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fr_caster_r_wheel_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fr_caster_r_wheel_link_geom0) + :bodies geom-lst :name "fr_caster_r_wheel_link")) - (send fr_caster_r_wheel_link_lk :weight 440.360) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 -2.7360000000000002e+02 7.9199999999999989e+01) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fr_caster_r_wheel_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fr_caster_r_wheel_link_lk :weight 440.360) (setq (fr_caster_r_wheel_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fr_caster_r_wheel_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fr_caster_r_wheel_link_lk,domNode=fr_caster_r_wheel_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fr_caster_r_wheel_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fr_caster_r_wheel_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 -2.7360000000000002e+02 7.9199999999999989e+01)) + )) + (send fr_caster_r_wheel_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node16, name=fr_caster_rotation_link, sid=node16 - (let ( b_gkmodel0_fr_caster_rotation_link_geom0) - ;; define bodyset-link for fr_caster_rotation_link : vkmodel0_node16 - (setq b_gkmodel0_fr_caster_rotation_link_geom0 (instance pr2_gkmodel0_fr_caster_rotation_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_fr_caster_rotation_link_geom0,domNode=fr_caster_rotation_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_fr_caster_rotation_link_geom0 :transform localcds :world) - ) + ;; link: fr_caster_rotation_link_lk + (let ((geom-lst (list + (send self :_make_instance_fr_caster_rotation_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq fr_caster_rotation_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_fr_caster_rotation_link_geom0) + :bodies geom-lst :name "fr_caster_rotation_link")) - (send fr_caster_rotation_link_lk :weight 3473.082) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 1.4919999999999999e+02) :rot (matrix-exponent (scale 1.6287877870904515e+00 (float-vector 9.1138501203707201e-01 3.8312337282203113e-01 1.5031247796393091e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for fr_caster_rotation_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.0000000000000000e+01) + :rot (quaternion2matrix (float-vector 6.8630934663031751e-01 6.6285921044798191e-01 2.7864936668790563e-01 1.0932373162572707e-01))) + )) + (send fr_caster_rotation_link_lk :weight 3473.082) (setq (fr_caster_rotation_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2544593986297460e+07 1.1456840427869651e+07 1.5392469553832879e+07))) (transpose (send tmp-c :worldrot)))) - (setq (fr_caster_rotation_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=fr_caster_rotation_link_lk,domNode=fr_caster_rotation_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_rotation_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=fr_caster_l_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_l_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fr_caster_l_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=1,parent=fr_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_l_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) fr_caster_rotation_link_lk) - - ;; writeTransform(name=fr_caster_l_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=2,parent=fr_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send fr_caster_rotation_link_lk :assoc fr_caster_l_wheel_link_lk) - - ;; writeTransform(name=fr_caster_r_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_r_wheel_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fr_caster_r_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=1,parent=fr_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_r_wheel_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) fr_caster_rotation_link_lk) - - ;; writeTransform(name=fr_caster_r_wheel_link_lk,domNode=fr_caster_rotation_link,targetCount=2,parent=fr_caster_rotation_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send fr_caster_rotation_link_lk :assoc fr_caster_r_wheel_link_lk) - ) - - ;; node id=vkmodel0_node17, name=head_chain_cb_link, sid=node17 - (let () - ;; define cascaded-coords for head_chain_cb_link - (setq head_chain_cb_link_lk (instance bodyset-link :init (make-cascoords) :name "head_chain_cb_link")) - (progn (send head_chain_cb_link_lk :weight 0.0) (send head_chain_cb_link_lk :centroid (float-vector 0 0 0)) (send head_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=head_chain_cb_link_lk,domNode=head_chain_cb_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_chain_cb_link_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node19, name=head_mount_kinect_ir_optical_frame, sid=node19 - (let () - ;; define cascaded-coords for head_mount_kinect_ir_optical_frame - (setq head_mount_kinect_ir_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "head_mount_kinect_ir_optical_frame")) - (progn (send head_mount_kinect_ir_optical_frame_lk :weight 0.0) (send head_mount_kinect_ir_optical_frame_lk :centroid (float-vector 0 0 0)) (send head_mount_kinect_ir_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=head_mount_kinect_ir_optical_frame_lk,domNode=head_mount_kinect_ir_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 1.0000000000000000e+01 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send head_mount_kinect_ir_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node21, name=head_mount_kinect_rgb_optical_frame, sid=node21 - (let () - ;; define cascaded-coords for head_mount_kinect_rgb_optical_frame - (setq head_mount_kinect_rgb_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "head_mount_kinect_rgb_optical_frame")) - (progn (send head_mount_kinect_rgb_optical_frame_lk :weight 0.0) (send head_mount_kinect_rgb_optical_frame_lk :centroid (float-vector 0 0 0)) (send head_mount_kinect_rgb_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=head_mount_kinect_rgb_optical_frame_lk,domNode=head_mount_kinect_rgb_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send head_mount_kinect_rgb_optical_frame_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2544593986297460e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.1456840427869651e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5392469553832879e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (fr_caster_rotation_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for fr_caster_rotation_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 7.9199999999999989e+01)) + )) + (send fr_caster_rotation_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node20, name=head_mount_kinect_rgb_link, sid=node20 - (let ( b_gkmodel0_head_mount_kinect_rgb_link_geom0) - ;; define bodyset-link for head_mount_kinect_rgb_link : vkmodel0_node20 - (setq b_gkmodel0_head_mount_kinect_rgb_link_geom0 (instance pr2_gkmodel0_head_mount_kinect_rgb_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_mount_kinect_rgb_link_geom0,domNode=head_mount_kinect_rgb_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_mount_kinect_rgb_link_geom0 :transform localcds :world) - ) - (setq head_mount_kinect_rgb_link_lk + ;; link: head_chain_cb_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_chain_cb_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_head_mount_kinect_rgb_link_geom0) - :name "head_mount_kinect_rgb_link")) - (send head_mount_kinect_rgb_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.6450399138460000e+02 -8.7223001369000013e+00 1.4421910357032000e+03) :rot (matrix-exponent (scale 5.1150493128436600e-02 (float-vector -2.1898583126967591e-01 -9.5285105422441974e-01 -2.1004779019675701e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (head_mount_kinect_rgb_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_mount_kinect_rgb_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_mount_kinect_rgb_link_lk,domNode=head_mount_kinect_rgb_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_rgb_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_kinect_rgb_link_lk :transform - (make-coords :pos (float-vector -1.8366991384599999e+01 -2.1222300136900000e+01 -2.1886964296799999e+01) - :angle 5.1150493128436600e-02 :axis (float-vector -2.1898583126967591e-01 -9.5285105422441974e-01 -2.1004779019675701e-01)) :local) - ;;1; - - ;; writeTransform(name=head_mount_kinect_rgb_optical_frame_lk,domNode=head_mount_kinect_rgb_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -1.8366991384599999e+01 -2.1222300136900000e+01 -2.1886964296799999e+01) - :angle 5.1150493128436600e-02 :axis (float-vector -2.1898583126967591e-01 -9.5285105422441974e-01 -2.1004779019675701e-01)) :local) - (send head_mount_kinect_rgb_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_mount_kinect_rgb_optical_frame_lk,domNode=head_mount_kinect_rgb_link,targetCount=1,parent=head_mount_kinect_rgb_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_rgb_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_kinect_rgb_link_lk) - - ;; writeTransform(name=head_mount_kinect_rgb_optical_frame_lk,domNode=head_mount_kinect_rgb_link,targetCount=2,parent=head_mount_kinect_rgb_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_kinect_rgb_link_lk :assoc head_mount_kinect_rgb_optical_frame_lk) - ) - - ;; node id=vkmodel0_node18, name=head_mount_kinect_ir_link, sid=node18 - (let ( b_gkmodel0_head_mount_kinect_ir_link_geom0) - ;; define bodyset-link for head_mount_kinect_ir_link : vkmodel0_node18 - (setq b_gkmodel0_head_mount_kinect_ir_link_geom0 (instance pr2_gkmodel0_head_mount_kinect_ir_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_mount_kinect_ir_link_geom0,domNode=head_mount_kinect_ir_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_mount_kinect_ir_link_geom0 :transform localcds :world) - ) + :bodies geom-lst + :name "head_chain_cb_link")) + (progn (send head_chain_cb_link_lk :weight 0.0) (setq (head_chain_cb_link_lk . acentroid) (float-vector 0 0 0)) (send head_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for head_chain_cb_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3000000000000027e-01 0.0000000000000000e+00 1.1721250000000000e+03)) + )) + (send head_chain_cb_link_lk :transform world-cds)) + ) + + ;; link: head_mount_kinect_ir_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_mount_kinect_ir_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq head_mount_kinect_ir_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_head_mount_kinect_ir_link_geom0) + :bodies geom-lst :name "head_mount_kinect_ir_link")) - (send head_mount_kinect_ir_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.4613700000000000e+02 1.2500000000000000e+01 1.4640780000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for head_mount_kinect_ir_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 2.7755575615628914e-14 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send head_mount_kinect_ir_link_lk :weight 100.000) (setq (head_mount_kinect_ir_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_mount_kinect_ir_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_mount_kinect_ir_link_lk,domNode=head_mount_kinect_ir_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_ir_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_kinect_ir_link_lk :transform - (make-coords :pos (float-vector -3.2266999999999996e+01 1.2500000000000000e+01 1.3645300000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_mount_kinect_ir_optical_frame_lk,domNode=head_mount_kinect_ir_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -3.2266999999999996e+01 1.2500000000000000e+01 1.3645300000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_kinect_ir_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_mount_kinect_ir_optical_frame_lk,domNode=head_mount_kinect_ir_link,targetCount=1,parent=head_mount_kinect_ir_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_ir_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_kinect_ir_link_lk) - - ;; writeTransform(name=head_mount_kinect_ir_optical_frame_lk,domNode=head_mount_kinect_ir_link,targetCount=2,parent=head_mount_kinect_ir_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_kinect_ir_link_lk :assoc head_mount_kinect_ir_optical_frame_lk) - - ;; writeTransform(name=head_mount_kinect_rgb_link_lk,domNode=head_mount_kinect_ir_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -3.2266999999999996e+01 1.2500000000000000e+01 1.3645300000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_kinect_rgb_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_mount_kinect_rgb_link_lk,domNode=head_mount_kinect_ir_link,targetCount=1,parent=head_mount_kinect_ir_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_rgb_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_kinect_ir_link_lk) - - ;; writeTransform(name=head_mount_kinect_rgb_link_lk,domNode=head_mount_kinect_ir_link,targetCount=2,parent=head_mount_kinect_ir_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_kinect_ir_link_lk :assoc head_mount_kinect_rgb_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_mount_kinect_ir_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_mount_kinect_ir_link_lk + (let ((world-cds (make-coords :pos (float-vector -1.4613700000000003e+02 1.2500000000000000e+01 1.4640780000000000e+03)) + )) + (send head_mount_kinect_ir_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node24, name=head_mount_prosilica_optical_frame, sid=node24 - (let () - ;; define cascaded-coords for head_mount_prosilica_optical_frame - (setq head_mount_prosilica_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "head_mount_prosilica_optical_frame")) - (progn (send head_mount_prosilica_optical_frame_lk :weight 0.0) (send head_mount_prosilica_optical_frame_lk :centroid (float-vector 0 0 0)) (send head_mount_prosilica_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=head_mount_prosilica_optical_frame_lk,domNode=head_mount_prosilica_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send head_mount_prosilica_optical_frame_lk :transform localcds :world) - ) - ;;1; + ;; link: head_mount_kinect_ir_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_mount_kinect_ir_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_mount_kinect_ir_optical_frame")) + (progn (send head_mount_kinect_ir_optical_frame_lk :weight 0.0) (setq (head_mount_kinect_ir_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send head_mount_kinect_ir_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for head_mount_kinect_ir_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector -1.4613700000000003e+02 2.2500000000000000e+01 1.4640780000000000e+03) + :rot (quaternion2matrix (float-vector 5.0000000000244815e-01 -5.0000000000000011e-01 4.9999999999755174e-01 -5.0000000000000011e-01))) + )) + (send head_mount_kinect_ir_optical_frame_lk :transform world-cds)) + ) + + ;; link: head_mount_kinect_rgb_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_mount_kinect_rgb_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_mount_kinect_rgb_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_mount_kinect_rgb_link")) + ;; inertial parameter for head_mount_kinect_rgb_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send head_mount_kinect_rgb_link_lk :weight 100.000) + (setq (head_mount_kinect_rgb_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_mount_kinect_rgb_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_mount_kinect_rgb_link_lk + (let ((world-cds (make-coords :pos (float-vector -1.6450399138460000e+02 -8.7223001369000013e+00 1.4421910357032000e+03) + :rot (quaternion2matrix (float-vector 9.9967297120778287e-01 -5.6000060945167749e-03 -2.4366744094289648e-02 -5.3714384096068416e-03))) + )) + (send head_mount_kinect_rgb_link_lk :transform world-cds)) + ) + + ;; link: head_mount_kinect_rgb_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_mount_kinect_rgb_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_mount_kinect_rgb_optical_frame")) + (progn (send head_mount_kinect_rgb_optical_frame_lk :weight 0.0) (setq (head_mount_kinect_rgb_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send head_mount_kinect_rgb_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for head_mount_kinect_rgb_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector -1.6450399138460000e+02 -8.7223001369000013e+00 1.4421910357032000e+03) + :rot (quaternion2matrix (float-vector 5.0653413540136216e-01 -4.8776739739922853e-01 4.8753882971178447e-01 -5.1750557990309753e-01))) + )) + (send head_mount_kinect_rgb_optical_frame_lk :transform world-cds)) + ) + + ;; link: head_mount_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_mount_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_mount_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_mount_link")) + ;; inertial parameter for head_mount_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.3877787807814457e-14 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send head_mount_link_lk :weight 100.000) + (setq (head_mount_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_mount_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_mount_link_lk + (let ((world-cds (make-coords :pos (float-vector -1.1387000000000002e+02 0.0000000000000000e+00 1.3276250000000000e+03)) + )) + (send head_mount_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node23, name=head_mount_prosilica_link, sid=node23 - (let ( b_gkmodel0_head_mount_prosilica_link_geom0) - ;; define bodyset-link for head_mount_prosilica_link : vkmodel0_node23 - (setq b_gkmodel0_head_mount_prosilica_link_geom0 (instance pr2_gkmodel0_head_mount_prosilica_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_mount_prosilica_link_geom0,domNode=head_mount_prosilica_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_mount_prosilica_link_geom0 :transform localcds :world) - ) + ;; link: head_mount_prosilica_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_mount_prosilica_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq head_mount_prosilica_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_head_mount_prosilica_link_geom0) + :bodies geom-lst :name "head_mount_prosilica_link")) - (send head_mount_prosilica_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.6032700000000000e+02 1.2500000000000000e+01 1.4165460000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for head_mount_prosilica_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send head_mount_prosilica_link_lk :weight 100.000) (setq (head_mount_prosilica_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_mount_prosilica_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_mount_prosilica_link_lk,domNode=head_mount_prosilica_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_prosilica_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_prosilica_link_lk :transform - (make-coords :pos (float-vector -4.6457000000000001e+01 1.2500000000000000e+01 8.8921000000000006e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_mount_prosilica_optical_frame_lk,domNode=head_mount_prosilica_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -4.6457000000000001e+01 1.2500000000000000e+01 8.8921000000000006e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_prosilica_optical_frame_lk :transform localcds :world) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_mount_prosilica_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_mount_prosilica_link_lk + (let ((world-cds (make-coords :pos (float-vector -1.6032700000000000e+02 1.2500000000000000e+01 1.4165460000000000e+03)) + )) + (send head_mount_prosilica_link_lk :transform world-cds)) ) - ;; writeTransform(name=head_mount_prosilica_optical_frame_lk,domNode=head_mount_prosilica_link,targetCount=1,parent=head_mount_prosilica_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_prosilica_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_prosilica_link_lk) - - ;; writeTransform(name=head_mount_prosilica_optical_frame_lk,domNode=head_mount_prosilica_link,targetCount=2,parent=head_mount_prosilica_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_prosilica_link_lk :assoc head_mount_prosilica_optical_frame_lk) + ;; link: head_mount_prosilica_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_mount_prosilica_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_mount_prosilica_optical_frame")) + (progn (send head_mount_prosilica_optical_frame_lk :weight 0.0) (setq (head_mount_prosilica_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send head_mount_prosilica_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for head_mount_prosilica_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector -1.6032700000000000e+02 1.2500000000000000e+01 1.4165460000000000e+03) + :rot (quaternion2matrix (float-vector 5.0000000000244815e-01 -5.0000000000000011e-01 4.9999999999755174e-01 -5.0000000000000011e-01))) + )) + (send head_mount_prosilica_optical_frame_lk :transform world-cds)) + ) + + ;; link: head_pan_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_pan_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_pan_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_pan_link")) + ;; inertial parameter for head_pan_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.0907000000000007e+01 3.1692999999999998e+01 9.0506999999999891e+01) + :rot (quaternion2matrix (float-vector 9.9332080286057656e-01 -9.7402366566314874e-02 -5.0156631550354866e-02 3.6205992642419915e-02))) + )) + (send head_pan_link_lk :weight 6339.000) + (setq (head_pan_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.2179798694053225e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 4.6122618877570637e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.8393525428376131e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_pan_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_pan_link_lk + (let ((world-cds (make-coords :pos (float-vector -6.7070000000000007e+01 0.0000000000000000e+00 1.1721250000000000e+03)) + )) + (send head_pan_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node22, name=head_mount_link, sid=node22 - (let ( b_gkmodel0_head_mount_link_geom0) - ;; define bodyset-link for head_mount_link : vkmodel0_node22 - (setq b_gkmodel0_head_mount_link_geom0 (instance pr2_gkmodel0_head_mount_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_mount_link_geom0,domNode=head_mount_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_mount_link_geom0 :transform localcds :world) - ) - (setq head_mount_link_lk + ;; link: head_plate_frame_lk + (let ((geom-lst (list + (send self :_make_instance_head_plate_frame_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_plate_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_head_mount_link_geom0) - :name "head_mount_link")) - (send head_mount_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.1387000000000000e+02 0.0000000000000000e+00 1.3276250000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (head_mount_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_mount_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_mount_link_lk,domNode=head_mount_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_link_lk :transform - (make-coords :pos (float-vector -1.3800000000000000e+02 0.0000000000000000e+00 9.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_mount_kinect_ir_link_lk,domNode=head_mount_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -1.3800000000000000e+02 0.0000000000000000e+00 9.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_kinect_ir_link_lk :transform localcds :world) + :bodies geom-lst + :name "head_plate_frame")) + ;; inertial parameter for head_plate_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send head_plate_frame_lk :weight 10.000) + (setq (head_plate_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_plate_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_plate_frame_lk + (let ((world-cds (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03)) + )) + (send head_plate_frame_lk :transform world-cds)) ) - ;; writeTransform(name=head_mount_kinect_ir_link_lk,domNode=head_mount_link,targetCount=1,parent=head_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_kinect_ir_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_link_lk) - - ;; writeTransform(name=head_mount_kinect_ir_link_lk,domNode=head_mount_link,targetCount=2,parent=head_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_link_lk :assoc head_mount_kinect_ir_link_lk) - - ;; writeTransform(name=head_mount_prosilica_link_lk,domNode=head_mount_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -1.3800000000000000e+02 0.0000000000000000e+00 9.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_prosilica_link_lk :transform localcds :world) + ;; link: head_tilt_link_lk + (let ((geom-lst (list + (send self :_make_instance_head_tilt_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq head_tilt_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "head_tilt_link")) + ;; inertial parameter for head_tilt_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.7159999999999997e+00 -1.9556000000000001e+01 5.5001999999999995e+01) + :rot (quaternion2matrix (float-vector 9.9447945946553229e-01 1.0440601476237568e-01 7.0609131813543287e-04 1.0463757338150654e-02))) + )) + (send head_tilt_link_lk :weight 4479.000) + (setq (head_tilt_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 2.4210046119098920e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 5.4142523398749784e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 6.7900115482151285e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (head_tilt_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for head_tilt_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3000000000000027e-01 0.0000000000000000e+00 1.1721250000000000e+03)) + )) + (send head_tilt_link_lk :transform world-cds)) ) - ;; writeTransform(name=head_mount_prosilica_link_lk,domNode=head_mount_link,targetCount=1,parent=head_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_prosilica_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_mount_link_lk) - - ;; writeTransform(name=head_mount_prosilica_link_lk,domNode=head_mount_link,targetCount=2,parent=head_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_mount_link_lk :assoc head_mount_prosilica_link_lk) + ;; link: high_def_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq high_def_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "high_def_frame")) + ;; inertial parameter for high_def_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -2.2204460492503131e-13)) + )) + (send high_def_frame_lk :weight 10.000) + (setq (high_def_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (high_def_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for high_def_frame_lk + (let ((world-cds (make-coords :pos (float-vector 4.7640579288500000e+01 -1.0750883907600000e+02 1.2866355484246001e+03) + :rot (quaternion2matrix (float-vector 9.9997012409009334e-01 2.0284391083384063e-03 -7.4480164138416224e-03 4.0424438923839174e-04))) + )) + (send high_def_frame_lk :transform world-cds)) + ) + + ;; link: high_def_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq high_def_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "high_def_optical_frame")) + ;; inertial parameter for high_def_optical_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 2.2204460492503131e-13 -1.3877787807814457e-14) + :rot (quaternion2matrix (float-vector 1.0000000000000000e+00 -2.7755575615628918e-16 3.8857805861880489e-16 -2.7755575615628918e-16))) + )) + (send high_def_optical_frame_lk :weight 10.000) + (setq (high_def_optical_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (high_def_optical_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for high_def_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 4.7640579288500000e+01 -1.0750883907600000e+02 1.2866355484246001e+03) + :rot (quaternion2matrix (float-vector 5.0492541200318575e-01 -4.9544895647856996e-01 4.9707315119520945e-01 -5.0249272850318305e-01))) + )) + (send high_def_optical_frame_lk :transform world-cds)) + ) + + ;; link: imu_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq imu_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "imu_link")) + ;; inertial parameter for imu_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send imu_link_lk :weight 1.000) + (setq (imu_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+03 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (imu_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for imu_link_lk + (let ((world-cds (make-coords :pos (float-vector -7.9770000000000010e+01 -1.4969999999999999e+02 9.5467500000000007e+02) + :rot (quaternion2matrix (float-vector -1.0286788442024686e-13 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) + )) + (send imu_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node63, name=projector_wg6802418_child_frame, sid=node63 - (let () - ;; define cascaded-coords for projector_wg6802418_child_frame - (setq projector_wg6802418_child_frame_lk (instance bodyset-link :init (make-cascoords) :name "projector_wg6802418_child_frame")) - (send projector_wg6802418_child_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.4129999999999999e+01 1.1000000000000000e+02 1.2912250000000001e+03) :rot (matrix-exponent (scale 1.5707963267900003e+00 (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (projector_wg6802418_child_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (projector_wg6802418_child_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=projector_wg6802418_child_frame_lk,domNode=projector_wg6802418_child_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 1.5707963267900003e+00 :axis (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send projector_wg6802418_child_frame_lk :transform localcds :world) - ) - ;;1; + ;; link: l_elbow_flex_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_elbow_flex_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_elbow_flex_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_elbow_flex_link")) + ;; inertial parameter for l_elbow_flex_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.0139999999999983e+01 3.1999999999998696e-01 -1.2109999999999953e+01) + :rot (quaternion2matrix (float-vector 6.7023857211269999e-01 -6.5469615865643171e-01 -2.3355256344108982e-01 2.6001230048391416e-01))) + )) + (send l_elbow_flex_link_lk :weight 1903.270) + (setq (l_elbow_flex_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.0897687844015122e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 3.9647676565655996e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 4.4185162390328888e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_elbow_flex_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_elbow_flex_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_elbow_flex_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node64, name=projector_wg6802418_frame, sid=node64 - (let () - ;; define bodyset-link for projector_wg6802418_frame_lk - (setq projector_wg6802418_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "projector_wg6802418_frame")) - (send projector_wg6802418_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.4129999999999999e+01 1.1000000000000000e+02 1.2912250000000001e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (projector_wg6802418_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (projector_wg6802418_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=projector_wg6802418_frame_lk,domNode=projector_wg6802418_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send projector_wg6802418_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send projector_wg6802418_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 1.1000000000000000e+02 5.4600000000000001e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=projector_wg6802418_child_frame_lk,domNode=projector_wg6802418_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 1.1000000000000000e+02 5.4600000000000001e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send projector_wg6802418_child_frame_lk :transform localcds :world) + ;; link: l_forearm_cam_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_forearm_cam_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_forearm_cam_frame")) + ;; inertial parameter for l_forearm_cam_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_forearm_cam_frame_lk :weight 10.000) + (setq (l_forearm_cam_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_forearm_cam_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_forearm_cam_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.8888260177999996e+02 2.0468654474639999e+02 8.3695536614599996e+02) + :rot (quaternion2matrix (float-vector 7.0376576488431553e-01 -6.6021535308457147e-01 -1.7154001878113354e-01 -1.9850304200383823e-01))) + )) + (send l_forearm_cam_frame_lk :transform world-cds)) + ) + + ;; link: l_forearm_cam_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_forearm_cam_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_forearm_cam_optical_frame")) + (progn (send l_forearm_cam_optical_frame_lk :weight 0.0) (setq (l_forearm_cam_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send l_forearm_cam_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for l_forearm_cam_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.8888260177999996e+02 2.0468654474639999e+02 8.3695536614599996e+02) + :rot (quaternion2matrix (float-vector 8.2936942898225313e-03 -4.9696902859405995e-01 3.5256717509081381e-02 -8.6701208937579910e-01))) + )) + (send l_forearm_cam_optical_frame_lk :transform world-cds)) + ) + + ;; link: l_forearm_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_forearm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_forearm_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_forearm_link")) + ;; inertial parameter for l_forearm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.8790999999999997e+02 -1.7000000000000348e-01 -9.1200000000000170e+00) + :rot (quaternion2matrix (float-vector 7.0455582233769354e-01 -7.0911110961966251e-01 -1.7761550919348956e-02 2.1143668862499916e-02))) + )) + (send l_forearm_link_lk :weight 2579.680) + (setq (l_forearm_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.6089171216999060e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.6632586642306658e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5077544915993441e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_forearm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_forearm_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_forearm_link_lk :transform world-cds)) ) - ;; writeTransform(name=projector_wg6802418_child_frame_lk,domNode=projector_wg6802418_frame,targetCount=1,parent=projector_wg6802418_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send projector_wg6802418_child_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) projector_wg6802418_frame_lk) - - ;; writeTransform(name=projector_wg6802418_child_frame_lk,domNode=projector_wg6802418_frame,targetCount=2,parent=projector_wg6802418_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send projector_wg6802418_frame_lk :assoc projector_wg6802418_child_frame_lk) + ;; link: l_forearm_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_forearm_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_forearm_roll_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_forearm_roll_link")) + ;; inertial parameter for l_forearm_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_forearm_roll_link_lk :weight 100.000) + (setq (l_forearm_roll_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_forearm_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_forearm_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_forearm_roll_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node58, name=narrow_stereo_l_stereo_camera_optical_frame, sid=node58 - (let () - ;; define cascaded-coords for narrow_stereo_l_stereo_camera_optical_frame - (setq narrow_stereo_l_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "narrow_stereo_l_stereo_camera_optical_frame")) - (progn (send narrow_stereo_l_stereo_camera_optical_frame_lk :weight 0.0) (send narrow_stereo_l_stereo_camera_optical_frame_lk :centroid (float-vector 0 0 0)) (send narrow_stereo_l_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_optical_frame_lk,domNode=narrow_stereo_l_stereo_camera_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send narrow_stereo_l_stereo_camera_optical_frame_lk :transform localcds :world) - ) - ;;1; + ;; link: l_gripper_l_finger_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_l_finger_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_l_finger_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_l_finger_link")) + ;; inertial parameter for l_gripper_l_finger_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 3.5979999999999905e+01 1.7299999999999983e+01 -1.6399999999999748e+00) + :rot (quaternion2matrix (float-vector 6.3262934235930901e-01 7.7302450075385043e-01 2.5774405529421746e-02 3.9356275737085514e-02))) + )) + (send l_gripper_l_finger_link_lk :weight 171.260) + (setq (l_gripper_l_finger_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 7.6623944609730548e+04 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.8133591439139261e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9773963099887679e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_l_finger_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_l_finger_link_lk + (let ((world-cds (make-coords :pos (float-vector 8.4791000000000008e+02 1.9800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_l_finger_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node62, name=narrow_stereo_r_stereo_camera_optical_frame, sid=node62 - (let () - ;; define cascaded-coords for narrow_stereo_r_stereo_camera_optical_frame - (setq narrow_stereo_r_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "narrow_stereo_r_stereo_camera_optical_frame")) - (progn (send narrow_stereo_r_stereo_camera_optical_frame_lk :weight 0.0) (send narrow_stereo_r_stereo_camera_optical_frame_lk :centroid (float-vector 0 0 0)) (send narrow_stereo_r_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_optical_frame_lk,domNode=narrow_stereo_r_stereo_camera_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send narrow_stereo_r_stereo_camera_optical_frame_lk :transform localcds :world) - ) - ;;1; + ;; link: l_gripper_l_finger_tip_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_l_finger_tip_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_l_finger_tip_frame")) + (progn (send l_gripper_l_finger_tip_frame_lk :weight 0.0) (setq (l_gripper_l_finger_tip_frame_lk . acentroid) (float-vector 0 0 0)) (send l_gripper_l_finger_tip_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for l_gripper_l_finger_tip_frame_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 1.7304999999999998e+02 7.9067500000000007e+02)) + )) + (send l_gripper_l_finger_tip_frame_lk :transform world-cds)) + ) + + ;; link: l_gripper_l_finger_tip_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_l_finger_tip_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_l_finger_tip_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_l_finger_tip_link")) + ;; inertial parameter for l_gripper_l_finger_tip_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 4.2299999999998450e+00 2.8399999999999812e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 9.3563462459842295e-01 0.0000000000000000e+00 0.0000000000000000e+00 3.5297004016285605e-01))) + )) + (send l_gripper_l_finger_tip_link_lk :weight 44.190) + (setq (l_gripper_l_finger_tip_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.2362449620368520e+03 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.5004895037963150e+04 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5417679999999997e+04)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_l_finger_tip_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_l_finger_tip_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 2.0295000000000002e+02 7.9067500000000007e+02)) + )) + (send l_gripper_l_finger_tip_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node61, name=narrow_stereo_r_stereo_camera_frame, sid=node61 - (let () - ;; define bodyset-link for narrow_stereo_r_stereo_camera_frame_lk - (setq narrow_stereo_r_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "narrow_stereo_r_stereo_camera_frame")) - (send narrow_stereo_r_stereo_camera_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.6882539335745214e+01 -2.9358342299091682e+01 1.2816386387348691e+03) :rot (matrix-exponent (scale 1.8189603032039571e-02 (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (narrow_stereo_r_stereo_camera_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (narrow_stereo_r_stereo_camera_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_frame_lk,domNode=narrow_stereo_r_stereo_camera_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_optical_frame_lk,domNode=narrow_stereo_r_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_r_stereo_camera_optical_frame_lk :transform localcds :world) + ;; link: l_gripper_led_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_led_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_led_frame")) + (progn (send l_gripper_led_frame_lk :weight 0.0) (setq (l_gripper_led_frame_lk . acentroid) (float-vector 0 0 0)) (send l_gripper_led_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for l_gripper_led_frame_lk + (let ((world-cds (make-coords :pos (float-vector 8.2230000000000007e+02 1.8800000000000000e+02 8.1507500000000005e+02)) + )) + (send l_gripper_led_frame_lk :transform world-cds)) + ) + + ;; link: l_gripper_motor_accelerometer_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_motor_accelerometer_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_motor_accelerometer_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_motor_accelerometer_link")) + ;; inertial parameter for l_gripper_motor_accelerometer_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_gripper_motor_accelerometer_link_lk :weight 1.000) + (setq (l_gripper_motor_accelerometer_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_motor_accelerometer_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_motor_accelerometer_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_motor_accelerometer_link_lk :transform world-cds)) ) - ;; writeTransform(name=narrow_stereo_r_stereo_camera_optical_frame_lk,domNode=narrow_stereo_r_stereo_camera_frame,targetCount=1,parent=narrow_stereo_r_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_r_stereo_camera_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) narrow_stereo_r_stereo_camera_frame_lk) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_optical_frame_lk,domNode=narrow_stereo_r_stereo_camera_frame,targetCount=2,parent=narrow_stereo_r_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send narrow_stereo_r_stereo_camera_frame_lk :assoc narrow_stereo_r_stereo_camera_optical_frame_lk) + ;; link: l_gripper_motor_screw_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_motor_screw_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "l_gripper_motor_screw_link")) + ;; inertial parameter for l_gripper_motor_screw_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_gripper_motor_screw_link_lk :weight 10.000) + (setq (l_gripper_motor_screw_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_motor_screw_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_motor_screw_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3927999999999997e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_motor_screw_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node57, name=narrow_stereo_l_stereo_camera_frame, sid=node57 - (let () - ;; define bodyset-link for narrow_stereo_l_stereo_camera_frame_lk - (setq narrow_stereo_l_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "narrow_stereo_l_stereo_camera_frame")) - (send narrow_stereo_l_stereo_camera_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) :rot (matrix-exponent (scale 1.8189603032039571e-02 (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (narrow_stereo_l_stereo_camera_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (narrow_stereo_l_stereo_camera_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_optical_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_l_stereo_camera_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_optical_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=1,parent=narrow_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_l_stereo_camera_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) narrow_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_optical_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=2,parent=narrow_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send narrow_stereo_l_stereo_camera_frame_lk :assoc narrow_stereo_l_stereo_camera_optical_frame_lk) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_r_stereo_camera_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=1,parent=narrow_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) narrow_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=narrow_stereo_r_stereo_camera_frame_lk,domNode=narrow_stereo_l_stereo_camera_frame,targetCount=2,parent=narrow_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send narrow_stereo_l_stereo_camera_frame_lk :assoc narrow_stereo_r_stereo_camera_frame_lk) - ) - - ;; node id=vkmodel0_node60, name=narrow_stereo_optical_frame, sid=node60 - (let () - ;; define cascaded-coords for narrow_stereo_optical_frame - (setq narrow_stereo_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "narrow_stereo_optical_frame")) - (progn (send narrow_stereo_optical_frame_lk :weight 0.0) (send narrow_stereo_optical_frame_lk :centroid (float-vector 0 0 0)) (send narrow_stereo_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=narrow_stereo_optical_frame_lk,domNode=narrow_stereo_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send narrow_stereo_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node59, name=narrow_stereo_link, sid=node59 - (let () - ;; define bodyset-link for narrow_stereo_link_lk - (setq narrow_stereo_link_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "narrow_stereo_link")) - (send narrow_stereo_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) :rot (matrix-exponent (scale 1.8189603032039571e-02 (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (narrow_stereo_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (narrow_stereo_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=narrow_stereo_link_lk,domNode=narrow_stereo_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_link_lk :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_link_lk :transform - (make-coords :pos (float-vector 3.3690754083900003e+01 6.0632256042200005e+01 4.4112548693500003e+01) - :angle 1.8189603032039571e-02 :axis (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)) :local) - ;;1; - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_frame_lk,domNode=narrow_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.3690754083900003e+01 6.0632256042200005e+01 4.4112548693500003e+01) - :angle 1.8189603032039571e-02 :axis (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)) :local) - (send narrow_stereo_l_stereo_camera_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_frame_lk,domNode=narrow_stereo_link,targetCount=1,parent=narrow_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) narrow_stereo_link_lk) - - ;; writeTransform(name=narrow_stereo_l_stereo_camera_frame_lk,domNode=narrow_stereo_link,targetCount=2,parent=narrow_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send narrow_stereo_link_lk :assoc narrow_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=narrow_stereo_optical_frame_lk,domNode=narrow_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.3690754083900003e+01 6.0632256042200005e+01 4.4112548693500003e+01) - :angle 1.8189603032039571e-02 :axis (float-vector -5.5360838623877118e-01 -6.0706099694982807e-01 -5.7008306470933201e-01)) :local) - (send narrow_stereo_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=narrow_stereo_optical_frame_lk,domNode=narrow_stereo_link,targetCount=1,parent=narrow_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) narrow_stereo_link_lk) - - ;; writeTransform(name=narrow_stereo_optical_frame_lk,domNode=narrow_stereo_link,targetCount=2,parent=narrow_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send narrow_stereo_link_lk :assoc narrow_stereo_optical_frame_lk) - ) - - ;; node id=vkmodel0_node93, name=wide_stereo_l_stereo_camera_optical_frame, sid=node93 - (let () - ;; define cascaded-coords for wide_stereo_l_stereo_camera_optical_frame - (setq wide_stereo_l_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "wide_stereo_l_stereo_camera_optical_frame")) - (progn (send wide_stereo_l_stereo_camera_optical_frame_lk :weight 0.0) (send wide_stereo_l_stereo_camera_optical_frame_lk :centroid (float-vector 0 0 0)) (send wide_stereo_l_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_optical_frame_lk,domNode=wide_stereo_l_stereo_camera_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send wide_stereo_l_stereo_camera_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node97, name=wide_stereo_r_stereo_camera_optical_frame, sid=node97 - (let () - ;; define cascaded-coords for wide_stereo_r_stereo_camera_optical_frame - (setq wide_stereo_r_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "wide_stereo_r_stereo_camera_optical_frame")) - (progn (send wide_stereo_r_stereo_camera_optical_frame_lk :weight 0.0) (send wide_stereo_r_stereo_camera_optical_frame_lk :centroid (float-vector 0 0 0)) (send wide_stereo_r_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_optical_frame_lk,domNode=wide_stereo_r_stereo_camera_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send wide_stereo_r_stereo_camera_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node96, name=wide_stereo_r_stereo_camera_frame, sid=node96 - (let () - ;; define bodyset-link for wide_stereo_r_stereo_camera_frame_lk - (setq wide_stereo_r_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "wide_stereo_r_stereo_camera_frame")) - (send wide_stereo_r_stereo_camera_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.8487477843992181e+01 -5.9412626369381428e+01 1.2813791146042822e+03) :rot (matrix-exponent (scale 1.6578770553785212e-02 (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (wide_stereo_r_stereo_camera_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (wide_stereo_r_stereo_camera_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_frame_lk,domNode=wide_stereo_r_stereo_camera_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=wide_stereo_r_stereo_camera_optical_frame_lk,domNode=wide_stereo_r_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -9.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_r_stereo_camera_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_optical_frame_lk,domNode=wide_stereo_r_stereo_camera_frame,targetCount=1,parent=wide_stereo_r_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_r_stereo_camera_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) wide_stereo_r_stereo_camera_frame_lk) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_optical_frame_lk,domNode=wide_stereo_r_stereo_camera_frame,targetCount=2,parent=wide_stereo_r_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send wide_stereo_r_stereo_camera_frame_lk :assoc wide_stereo_r_stereo_camera_optical_frame_lk) - ) - - ;; node id=vkmodel0_node92, name=wide_stereo_l_stereo_camera_frame, sid=node92 - (let () - ;; define bodyset-link for wide_stereo_l_stereo_camera_frame_lk - (setq wide_stereo_l_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "wide_stereo_l_stereo_camera_frame")) - (send wide_stereo_l_stereo_camera_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111346999e+03) :rot (matrix-exponent (scale 1.6578770553785212e-02 (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (wide_stereo_l_stereo_camera_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (wide_stereo_l_stereo_camera_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=wide_stereo_l_stereo_camera_optical_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_l_stereo_camera_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_optical_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=1,parent=wide_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_l_stereo_camera_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) wide_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_optical_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=2,parent=wide_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send wide_stereo_l_stereo_camera_frame_lk :assoc wide_stereo_l_stereo_camera_optical_frame_lk) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_r_stereo_camera_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=1,parent=wide_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_r_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) wide_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=wide_stereo_r_stereo_camera_frame_lk,domNode=wide_stereo_l_stereo_camera_frame,targetCount=2,parent=wide_stereo_l_stereo_camera_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send wide_stereo_l_stereo_camera_frame_lk :assoc wide_stereo_r_stereo_camera_frame_lk) - ) - - ;; node id=vkmodel0_node95, name=wide_stereo_optical_frame, sid=node95 - (let () - ;; define cascaded-coords for wide_stereo_optical_frame - (setq wide_stereo_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "wide_stereo_optical_frame")) - (progn (send wide_stereo_optical_frame_lk :weight 0.0) (send wide_stereo_optical_frame_lk :centroid (float-vector 0 0 0)) (send wide_stereo_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=wide_stereo_optical_frame_lk,domNode=wide_stereo_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send wide_stereo_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node94, name=wide_stereo_link, sid=node94 - (let () - ;; define bodyset-link for wide_stereo_link_lk - (setq wide_stereo_link_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "wide_stereo_link")) - (send wide_stereo_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111346999e+03) :rot (matrix-exponent (scale 1.6578770553785212e-02 (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (wide_stereo_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (wide_stereo_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=wide_stereo_link_lk,domNode=wide_stereo_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_link_lk :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_link_lk :transform - (make-coords :pos (float-vector 3.5089675205800006e+01 3.0581954459599999e+01 4.4091311134700000e+01) - :angle 1.6578770553785212e-02 :axis (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)) :local) - ;;1; - - ;; writeTransform(name=wide_stereo_l_stereo_camera_frame_lk,domNode=wide_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.5089675205800006e+01 3.0581954459599999e+01 4.4091311134700000e+01) - :angle 1.6578770553785212e-02 :axis (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)) :local) - (send wide_stereo_l_stereo_camera_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_frame_lk,domNode=wide_stereo_link,targetCount=1,parent=wide_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_l_stereo_camera_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) wide_stereo_link_lk) - - ;; writeTransform(name=wide_stereo_l_stereo_camera_frame_lk,domNode=wide_stereo_link,targetCount=2,parent=wide_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send wide_stereo_link_lk :assoc wide_stereo_l_stereo_camera_frame_lk) - - ;; writeTransform(name=wide_stereo_optical_frame_lk,domNode=wide_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+01 -0.0000000000000000e+00 -2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.5089675205800006e+01 3.0581954459599999e+01 4.4091311134700000e+01) - :angle 1.6578770553785212e-02 :axis (float-vector -4.4726399073674111e-01 -7.4956463541355667e-01 -4.8796288785888853e-01)) :local) - (send wide_stereo_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_optical_frame_lk,domNode=wide_stereo_link,targetCount=1,parent=wide_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) wide_stereo_link_lk) - - ;; writeTransform(name=wide_stereo_optical_frame_lk,domNode=wide_stereo_link,targetCount=2,parent=wide_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send wide_stereo_link_lk :assoc wide_stereo_optical_frame_lk) - ) - - ;; node id=vkmodel0_node10, name=double_stereo_link, sid=node10 - (let ( b_gkmodel0_double_stereo_link_geom0) - ;; define bodyset-link for double_stereo_link : vkmodel0_node10 - (setq b_gkmodel0_double_stereo_link_geom0 (instance pr2_gkmodel0_double_stereo_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_double_stereo_link_geom0,domNode=double_stereo_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -1.0000000000000000e+01 0.0000000000000000e+00 2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_double_stereo_link_geom0 :transform localcds :world) - ) - (setq double_stereo_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_double_stereo_link_geom0) - :name "double_stereo_link")) - (send double_stereo_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (double_stereo_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (double_stereo_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=double_stereo_link_lk,domNode=double_stereo_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send double_stereo_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send double_stereo_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=narrow_stereo_link_lk,domNode=double_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send narrow_stereo_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=narrow_stereo_link_lk,domNode=double_stereo_link,targetCount=1,parent=double_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send narrow_stereo_link_lk :transform - (make-coords :pos (float-vector -1.0000000000000000e+01 0.0000000000000000e+00 2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) double_stereo_link_lk) - - ;; writeTransform(name=narrow_stereo_link_lk,domNode=double_stereo_link,targetCount=2,parent=double_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send double_stereo_link_lk :assoc narrow_stereo_link_lk) - - ;; writeTransform(name=wide_stereo_link_lk,domNode=double_stereo_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send wide_stereo_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=wide_stereo_link_lk,domNode=double_stereo_link,targetCount=1,parent=double_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send wide_stereo_link_lk :transform - (make-coords :pos (float-vector -1.0000000000000000e+01 0.0000000000000000e+00 2.5000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) double_stereo_link_lk) - - ;; writeTransform(name=wide_stereo_link_lk,domNode=double_stereo_link,targetCount=2,parent=double_stereo_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send double_stereo_link_lk :assoc wide_stereo_link_lk) - ) - - ;; node id=vkmodel0_node29, name=high_def_optical_frame, sid=node29 - (let () - ;; define cascaded-coords for high_def_optical_frame - (setq high_def_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "high_def_optical_frame")) - (send high_def_optical_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.7640579288500000e+01 -1.0750883907600000e+02 1.2866355484245998e+03) :rot (matrix-exponent (scale 2.0830015521432586e+00 (float-vector -5.7399236127280828e-01 5.7587403919013991e-01 -5.8215278079495536e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (high_def_optical_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (high_def_optical_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=high_def_optical_frame_lk,domNode=high_def_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send high_def_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node28, name=high_def_frame, sid=node28 - (let () - ;; define bodyset-link for high_def_frame_lk - (setq high_def_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "high_def_frame")) - (send high_def_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.7640579288500000e+01 -1.0750883907600000e+02 1.2866355484245998e+03) :rot (matrix-exponent (scale 1.5459898749864526e-02 (float-vector 2.6241560076007681e-01 -9.6353678731335879e-01 5.2296385836683182e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (high_def_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (high_def_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=high_def_frame_lk,domNode=high_def_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send high_def_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send high_def_frame_lk :transform - (make-coords :pos (float-vector 2.3510579288499997e+01 -1.0750883907600000e+02 5.0010548424600003e+01) - :angle 1.5459898749864526e-02 :axis (float-vector 2.6241560076007681e-01 -9.6353678731335879e-01 5.2296385836683182e-02)) :local) - ;;1; - - ;; writeTransform(name=high_def_optical_frame_lk,domNode=high_def_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.3510579288499997e+01 -1.0750883907600000e+02 5.0010548424600003e+01) - :angle 1.5459898749864526e-02 :axis (float-vector 2.6241560076007681e-01 -9.6353678731335879e-01 5.2296385836683182e-02)) :local) - (send high_def_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=high_def_optical_frame_lk,domNode=high_def_frame,targetCount=1,parent=high_def_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send high_def_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) high_def_frame_lk) - - ;; writeTransform(name=high_def_optical_frame_lk,domNode=high_def_frame,targetCount=2,parent=high_def_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send high_def_frame_lk :assoc high_def_optical_frame_lk) - ) - - ;; node id=vkmodel0_node89, name=sensor_mount_link, sid=node89 - (let ( b_gkmodel0_sensor_mount_link_geom0) - ;; define bodyset-link for sensor_mount_link : vkmodel0_node89 - (setq b_gkmodel0_sensor_mount_link_geom0 (instance pr2_gkmodel0_sensor_mount_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_sensor_mount_link_geom0,domNode=sensor_mount_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_sensor_mount_link_geom0 :transform localcds :world) - ) - (setq sensor_mount_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_sensor_mount_link_geom0) - :name "sensor_mount_link")) - (send sensor_mount_link_lk :weight 50.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (sensor_mount_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (sensor_mount_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=sensor_mount_link_lk,domNode=sensor_mount_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send sensor_mount_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send sensor_mount_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=double_stereo_link_lk,domNode=sensor_mount_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send double_stereo_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=double_stereo_link_lk,domNode=sensor_mount_link,targetCount=1,parent=sensor_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send double_stereo_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) sensor_mount_link_lk) - - ;; writeTransform(name=double_stereo_link_lk,domNode=sensor_mount_link,targetCount=2,parent=sensor_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send sensor_mount_link_lk :assoc double_stereo_link_lk) - - ;; writeTransform(name=high_def_frame_lk,domNode=sensor_mount_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send high_def_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=high_def_frame_lk,domNode=sensor_mount_link,targetCount=1,parent=sensor_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send high_def_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) sensor_mount_link_lk) - - ;; writeTransform(name=high_def_frame_lk,domNode=sensor_mount_link,targetCount=2,parent=sensor_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send sensor_mount_link_lk :assoc high_def_frame_lk) - ) - - ;; node id=vkmodel0_node26, name=head_plate_frame, sid=node26 - (let ( b_gkmodel0_head_plate_frame_geom0) - ;; define bodyset-link for head_plate_frame : vkmodel0_node26 - (setq b_gkmodel0_head_plate_frame_geom0 (instance pr2_gkmodel0_head_plate_frame_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_plate_frame_geom0,domNode=head_plate_frame,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_plate_frame_geom0 :transform localcds :world) - ) - (setq head_plate_frame_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_head_plate_frame_geom0) - :name "head_plate_frame")) - (send head_plate_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (head_plate_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (head_plate_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_plate_frame_lk,domNode=head_plate_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_plate_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_plate_frame_lk :transform - (make-coords :pos (float-vector 2.3199999999999999e+01 0.0000000000000000e+00 6.4500000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_mount_link_lk,domNode=head_plate_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.3199999999999999e+01 0.0000000000000000e+00 6.4500000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_mount_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_mount_link_lk,domNode=head_plate_frame,targetCount=1,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_mount_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_plate_frame_lk) - - ;; writeTransform(name=head_mount_link_lk,domNode=head_plate_frame,targetCount=2,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_plate_frame_lk :assoc head_mount_link_lk) - - ;; writeTransform(name=projector_wg6802418_frame_lk,domNode=head_plate_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.3199999999999999e+01 0.0000000000000000e+00 6.4500000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send projector_wg6802418_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=projector_wg6802418_frame_lk,domNode=head_plate_frame,targetCount=1,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send projector_wg6802418_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_plate_frame_lk) - - ;; writeTransform(name=projector_wg6802418_frame_lk,domNode=head_plate_frame,targetCount=2,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_plate_frame_lk :assoc projector_wg6802418_frame_lk) - - ;; writeTransform(name=sensor_mount_link_lk,domNode=head_plate_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 2.3199999999999999e+01 0.0000000000000000e+00 6.4500000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send sensor_mount_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=sensor_mount_link_lk,domNode=head_plate_frame,targetCount=1,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send sensor_mount_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_plate_frame_lk) - - ;; writeTransform(name=sensor_mount_link_lk,domNode=head_plate_frame,targetCount=2,parent=head_plate_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_plate_frame_lk :assoc sensor_mount_link_lk) - ) - - ;; node id=vkmodel0_node27, name=head_tilt_link, sid=node27 - (let ( b_gkmodel0_head_tilt_link_geom0) - ;; define bodyset-link for head_tilt_link : vkmodel0_node27 - (setq b_gkmodel0_head_tilt_link_geom0 (instance pr2_gkmodel0_head_tilt_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_tilt_link_geom0,domNode=head_tilt_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_tilt_link_geom0 :transform localcds :world) - ) - (setq head_tilt_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_head_tilt_link_geom0) - :name "head_tilt_link")) - (send head_tilt_link_lk :weight 4479.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.6459999999999999e+00 -1.9556000000000001e+01 1.2271270000000002e+03) :rot (matrix-exponent (scale 2.1024989740774000e-01 (float-vector 9.9499278898660082e-01 6.7290737177335153e-03 9.9719955031914734e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (head_tilt_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.4210046119098920e+07 5.4142523398749791e+07 6.7900115482151285e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_tilt_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_tilt_link_lk,domNode=head_tilt_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_tilt_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_tilt_link_lk :transform - (make-coords :pos (float-vector 6.8000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_chain_cb_link_lk,domNode=head_tilt_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 6.8000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_chain_cb_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_chain_cb_link_lk,domNode=head_tilt_link,targetCount=1,parent=head_tilt_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_chain_cb_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_tilt_link_lk) - - ;; writeTransform(name=head_chain_cb_link_lk,domNode=head_tilt_link,targetCount=2,parent=head_tilt_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_tilt_link_lk :assoc head_chain_cb_link_lk) - - ;; writeTransform(name=head_plate_frame_lk,domNode=head_tilt_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 6.8000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_plate_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_plate_frame_lk,domNode=head_tilt_link,targetCount=1,parent=head_tilt_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_plate_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_tilt_link_lk) - - ;; writeTransform(name=head_plate_frame_lk,domNode=head_tilt_link,targetCount=2,parent=head_tilt_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_tilt_link_lk :assoc head_plate_frame_lk) - ) - - ;; node id=vkmodel0_node25, name=head_pan_link, sid=node25 - (let ( b_gkmodel0_head_pan_link_geom0) - ;; define bodyset-link for head_pan_link : vkmodel0_node25 - (setq b_gkmodel0_head_pan_link_geom0 (instance pr2_gkmodel0_head_pan_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_head_pan_link_geom0,domNode=head_pan_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_head_pan_link_geom0 :transform localcds :world) - ) - (setq head_pan_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_head_pan_link_geom0) - :name "head_pan_link")) - (send head_pan_link_lk :weight 6339.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -5.6162999999999997e+01 3.1692999999999998e+01 1.2626320000000001e+03) :rot (matrix-exponent (scale 2.3128589563762811e-01 (float-vector -8.4414835472481764e-01 -4.3468798032689138e-01 3.1378322927573971e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (head_pan_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2179798694053229e+07 4.6122618877570637e+07 5.8393525428376131e+07))) (transpose (send tmp-c :worldrot)))) - (setq (head_pan_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=head_pan_link_lk,domNode=head_pan_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send head_pan_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_pan_link_lk :transform - (make-coords :pos (float-vector -1.7069999999999997e+01 0.0000000000000000e+00 3.8144999999999999e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_tilt_link_lk,domNode=head_pan_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -1.7069999999999997e+01 0.0000000000000000e+00 3.8144999999999999e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_tilt_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_tilt_link_lk,domNode=head_pan_link,targetCount=1,parent=head_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send head_tilt_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) head_pan_link_lk) - - ;; writeTransform(name=head_tilt_link_lk,domNode=head_pan_link,targetCount=2,parent=head_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send head_pan_link_lk :assoc head_tilt_link_lk) - ) - - ;; node id=vkmodel0_node30, name=imu_link, sid=node30 - (let () - ;; define cascaded-coords for imu_link - (setq imu_link_lk (instance bodyset-link :init (make-cascoords) :name "imu_link")) - (send imu_link_lk :weight 1.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -7.9770000000000010e+01 -1.4969999999999999e+02 9.5467500000000007e+02) :rot (matrix-exponent (scale 3.1415926535895875e+00 (float-vector -0.0000000000000000e+00 -1.0000000000000000e+00 -0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (imu_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+05 1.0000000000000000e+03 1.0000000000000000e+05))) (transpose (send tmp-c :worldrot)))) - (setq (imu_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=imu_link_lk,domNode=imu_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -2.9770000000000000e+01 -1.4969999999999999e+02 1.6400000000000000e+02) - :angle 3.1415926535895875e+00 :axis (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send imu_link_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node33, name=l_forearm_cam_optical_frame, sid=node33 - (let () - ;; define cascaded-coords for l_forearm_cam_optical_frame - (setq l_forearm_cam_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "l_forearm_cam_optical_frame")) - (progn (send l_forearm_cam_optical_frame_lk :weight 0.0) (send l_forearm_cam_optical_frame_lk :centroid (float-vector 0 0 0)) (send l_forearm_cam_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=l_forearm_cam_optical_frame_lk,domNode=l_forearm_cam_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send l_forearm_cam_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node32, name=l_forearm_cam_frame, sid=node32 - (let () - ;; define bodyset-link for l_forearm_cam_frame_lk - (setq l_forearm_cam_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "l_forearm_cam_frame")) - (send l_forearm_cam_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.8888260177999996e+02 2.0468654474639999e+02 8.3695536614599996e+02) :rot (matrix-exponent (scale 1.5802239628030832e+00 (float-vector -9.2931522451557047e-01 -2.4145871543610370e-01 -2.7941170738450000e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_forearm_cam_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (l_forearm_cam_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_forearm_cam_frame_lk,domNode=l_forearm_cam_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector 1.3888260178000002e+02 1.6686544746399999e+01 4.6280366145999999e+01) - :angle 1.5802239628030832e+00 :axis (float-vector -9.2931522451557047e-01 -2.4145871543610370e-01 -2.7941170738450000e-01)) :local) - ;;1; - - ;; writeTransform(name=l_forearm_cam_optical_frame_lk,domNode=l_forearm_cam_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.3888260178000002e+02 1.6686544746399999e+01 4.6280366145999999e+01) - :angle 1.5802239628030832e+00 :axis (float-vector -9.2931522451557047e-01 -2.4145871543610370e-01 -2.7941170738450000e-01)) :local) - (send l_forearm_cam_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_forearm_cam_optical_frame_lk,domNode=l_forearm_cam_frame,targetCount=1,parent=l_forearm_cam_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_cam_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_forearm_cam_frame_lk) - - ;; writeTransform(name=l_forearm_cam_optical_frame_lk,domNode=l_forearm_cam_frame,targetCount=2,parent=l_forearm_cam_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_forearm_cam_frame_lk :assoc l_forearm_cam_optical_frame_lk) - ) - - ;; node id=vkmodel0_node38, name=l_gripper_l_finger_tip_link, sid=node38 - (let ( b_gkmodel0_l_gripper_l_finger_tip_link_geom0) - ;; define bodyset-link for l_gripper_l_finger_tip_link : vkmodel0_node38 - (setq b_gkmodel0_l_gripper_l_finger_tip_link_geom0 (instance pr2_gkmodel0_l_gripper_l_finger_tip_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_l_finger_tip_link_geom0,domNode=l_gripper_l_finger_tip_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_l_finger_tip_link_geom0 :transform localcds :world) - ) - (setq l_gripper_l_finger_tip_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_l_finger_tip_link_geom0) - :name "l_gripper_l_finger_tip_link")) - (send l_gripper_l_finger_tip_link_lk :weight 44.190) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.4350999999999999e+02 2.0578999999999999e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 7.2148713900874673e-01 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_l_finger_tip_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2362449620368520e+03 1.5004895037963150e+04 1.5417679999999998e+04))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_l_finger_tip_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_l_finger_tip_link_lk,domNode=l_gripper_l_finger_tip_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - ) - - ;; node id=vkmodel0_node36, name=l_gripper_l_finger_link, sid=node36 - (let ( b_gkmodel0_l_gripper_l_finger_link_geom0) - ;; define bodyset-link for l_gripper_l_finger_link : vkmodel0_node36 - (setq b_gkmodel0_l_gripper_l_finger_link_geom0 (instance pr2_gkmodel0_l_gripper_l_finger_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_l_finger_link_geom0,domNode=l_gripper_l_finger_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_l_finger_link_geom0 :transform localcds :world) - ) - (setq l_gripper_l_finger_link_lk + ;; link: l_gripper_motor_slider_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_motor_slider_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_l_finger_link_geom0) - :name "l_gripper_l_finger_link")) - (send l_gripper_l_finger_link_lk :weight 171.260) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.8388999999999999e+02 2.1529999999999998e+02 7.8903500000000008e+02) :rot (matrix-exponent (scale 1.7717054301322330e+00 (float-vector 9.9815325492233042e-01 3.3280713286308203e-02 5.0818046116628178e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_l_finger_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 7.6623944609730534e+04 1.8133591439139261e+05 1.9773963099887679e+05))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_l_finger_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_l_finger_link_lk,domNode=l_gripper_l_finger_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_l_finger_tip_link_lk,domNode=l_gripper_l_finger_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_tip_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_l_finger_tip_link_lk,domNode=l_gripper_l_finger_link,targetCount=1,parent=l_gripper_l_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_l_finger_link_lk) - - ;; writeTransform(name=l_gripper_l_finger_tip_link_lk,domNode=l_gripper_l_finger_link,targetCount=2,parent=l_gripper_l_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_l_finger_link_lk :assoc l_gripper_l_finger_tip_link_lk) - ) - - ;; node id=vkmodel0_node39, name=l_gripper_led_frame, sid=node39 - (let () - ;; define cascaded-coords for l_gripper_led_frame - (setq l_gripper_led_frame_lk (instance bodyset-link :init (make-cascoords) :name "l_gripper_led_frame")) - (progn (send l_gripper_led_frame_lk :weight 0.0) (send l_gripper_led_frame_lk :centroid (float-vector 0 0 0)) (send l_gripper_led_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=l_gripper_led_frame_lk,domNode=l_gripper_led_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 5.1299999999999997e+01 0.0000000000000000e+00 2.4400000000000002e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_led_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node40, name=l_gripper_motor_accelerometer_link, sid=node40 - (let ( b_gkmodel0_l_gripper_motor_accelerometer_link_geom0) - ;; define bodyset-link for l_gripper_motor_accelerometer_link : vkmodel0_node40 - (setq b_gkmodel0_l_gripper_motor_accelerometer_link_geom0 (instance pr2_gkmodel0_l_gripper_motor_accelerometer_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_motor_accelerometer_link_geom0,domNode=l_gripper_motor_accelerometer_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_motor_accelerometer_link_geom0 :transform localcds :world) - ) - (setq l_gripper_motor_accelerometer_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_motor_accelerometer_link_geom0) - :name "l_gripper_motor_accelerometer_link")) - (send l_gripper_motor_accelerometer_link_lk :weight 1.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_motor_accelerometer_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_motor_accelerometer_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_motor_accelerometer_link_lk,domNode=l_gripper_motor_accelerometer_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - ) - - ;; node id=vkmodel0_node41, name=l_gripper_motor_screw_link, sid=node41 - (let () - ;; define cascaded-coords for l_gripper_motor_screw_link - (setq l_gripper_motor_screw_link_lk (instance bodyset-link :init (make-cascoords) :name "l_gripper_motor_screw_link")) - (send l_gripper_motor_screw_link_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.3927999999999997e+02 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_motor_screw_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+05 1.0000000000000000e+05 1.0000000000000000e+05))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_motor_screw_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_motor_screw_link_lk,domNode=l_gripper_motor_screw_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_screw_link_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node42, name=l_gripper_motor_slider_link, sid=node42 - (let () - ;; define bodyset-link for l_gripper_motor_slider_link_lk - (setq l_gripper_motor_slider_link_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "l_gripper_motor_slider_link")) - (send l_gripper_motor_slider_link_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.3927999999999997e+02 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + :bodies geom-lst + :name "l_gripper_motor_slider_link")) + ;; inertial parameter for l_gripper_motor_slider_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_gripper_motor_slider_link_lk :weight 10.000) (setq (l_gripper_motor_slider_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_motor_slider_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_motor_slider_link_lk,domNode=l_gripper_motor_slider_link,targetCount=0,parent=:local), translateCount=4, rotateCount=3, matrixCount=0 - (send l_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector 1.6828000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_motor_screw_link_lk,domNode=l_gripper_motor_slider_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.6828000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_screw_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_motor_screw_link_lk,domNode=l_gripper_motor_slider_link,targetCount=1,parent=l_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send l_gripper_motor_screw_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_motor_slider_link_lk) - - ;; writeTransform(name=l_gripper_motor_screw_link_lk,domNode=l_gripper_motor_slider_link,targetCount=2,parent=l_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=l_gripper_motor_screw_link_lk,domNode=l_gripper_motor_slider_link,targetCount=3,parent=l_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send l_gripper_motor_slider_link_lk :assoc l_gripper_motor_screw_link_lk) - ) - - ;; node id=vkmodel0_node37, name=l_gripper_l_finger_tip_frame, sid=node37 - (let () - ;; define cascaded-coords for l_gripper_l_finger_tip_frame - (setq l_gripper_l_finger_tip_frame_lk (instance bodyset-link :init (make-cascoords) :name "l_gripper_l_finger_tip_frame")) - (progn (send l_gripper_l_finger_tip_frame_lk :weight 0.0) (send l_gripper_l_finger_tip_frame_lk :centroid (float-vector 0 0 0)) (send l_gripper_l_finger_tip_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=l_gripper_l_finger_tip_frame_lk,domNode=l_gripper_l_finger_tip_frame,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_tip_frame_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_motor_slider_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_motor_slider_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3927999999999997e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_motor_slider_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node45, name=l_gripper_r_finger_tip_link, sid=node45 - (let ( b_gkmodel0_l_gripper_r_finger_tip_link_geom0) - ;; define bodyset-link for l_gripper_r_finger_tip_link : vkmodel0_node45 - (setq b_gkmodel0_l_gripper_r_finger_tip_link_geom0 (instance pr2_gkmodel0_l_gripper_r_finger_tip_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_r_finger_tip_link_geom0,domNode=l_gripper_r_finger_tip_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_r_finger_tip_link_geom0 :transform localcds :world) - ) - (setq l_gripper_r_finger_tip_link_lk + ;; link: l_gripper_palm_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_palm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_palm_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_r_finger_tip_link_geom0) - :name "l_gripper_r_finger_tip_link")) - (send l_gripper_r_finger_tip_link_lk :weight 44.190) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.4350999999999999e+02 1.7021000000000001e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 7.2148713900874673e-01 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_r_finger_tip_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2362449620368520e+03 1.5004895037963150e+04 1.5417679999999998e+04))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_r_finger_tip_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_r_finger_tip_link_lk,domNode=l_gripper_r_finger_tip_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send l_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_l_finger_tip_frame_lk,domNode=l_gripper_r_finger_tip_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_tip_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_l_finger_tip_frame_lk,domNode=l_gripper_r_finger_tip_link,targetCount=1,parent=l_gripper_r_finger_tip_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_l_finger_tip_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_r_finger_tip_link_lk) - - ;; writeTransform(name=l_gripper_l_finger_tip_frame_lk,domNode=l_gripper_r_finger_tip_link,targetCount=2,parent=l_gripper_r_finger_tip_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_r_finger_tip_link_lk :assoc l_gripper_l_finger_tip_frame_lk) + :bodies geom-lst + :name "l_gripper_palm_link")) + ;; inertial parameter for l_gripper_palm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 6.6230000000000018e+01 5.3000000000000269e-01 -1.1900000000000244e+00) + :rot (quaternion2matrix (float-vector 1.4899072945442145e-03 9.9970499746458896e-01 2.4226387096224839e-02 8.8339619865787514e-04))) + )) + (send l_gripper_palm_link_lk :weight 580.070) + (setq (l_gripper_palm_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.5147110342667863e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 6.7817787266766967e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 8.6563651390565163e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_palm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_palm_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_palm_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node44, name=l_gripper_r_finger_link, sid=node44 - (let ( b_gkmodel0_l_gripper_r_finger_link_geom0) - ;; define bodyset-link for l_gripper_r_finger_link : vkmodel0_node44 - (setq b_gkmodel0_l_gripper_r_finger_link_geom0 (instance pr2_gkmodel0_l_gripper_r_finger_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_r_finger_link_geom0,domNode=l_gripper_r_finger_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_r_finger_link_geom0 :transform localcds :world) - ) + ;; link: l_gripper_r_finger_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_r_finger_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq l_gripper_r_finger_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_r_finger_link_geom0) + :bodies geom-lst :name "l_gripper_r_finger_link")) - (send l_gripper_r_finger_link_lk :weight 173.890) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.8366999999999996e+02 1.6064000000000001e+02 7.8972500000000002e+02) :rot (matrix-exponent (scale 1.4218414509258943e+00 (float-vector 9.9806971201230776e-01 5.3984491916526822e-02 3.0700563450585590e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for l_gripper_r_finger_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 3.5759999999999906e+01 -1.7359999999999985e+01 -9.5000000000000639e-01) + :rot (quaternion2matrix (float-vector 7.5776139467964265e-01 6.5127216354607009e-01 3.5226594320275487e-02 2.0033092017423846e-02))) + )) + (send l_gripper_r_finger_link_lk :weight 173.890) (setq (l_gripper_r_finger_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 7.6684670622283287e+04 1.8134000171817749e+05 1.9890313765953921e+05))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_r_finger_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_r_finger_link_lk,domNode=l_gripper_r_finger_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_r_finger_tip_link_lk,domNode=l_gripper_r_finger_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_r_finger_tip_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_r_finger_tip_link_lk,domNode=l_gripper_r_finger_link,targetCount=1,parent=l_gripper_r_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_r_finger_link_lk) - - ;; writeTransform(name=l_gripper_r_finger_tip_link_lk,domNode=l_gripper_r_finger_link,targetCount=2,parent=l_gripper_r_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_r_finger_link_lk :assoc l_gripper_r_finger_tip_link_lk) - ) - - ;; node id=vkmodel0_node46, name=l_gripper_tool_frame, sid=node46 - (let () - ;; define cascaded-coords for l_gripper_tool_frame - (setq l_gripper_tool_frame_lk (instance bodyset-link :init (make-cascoords) :name "l_gripper_tool_frame")) - (progn (send l_gripper_tool_frame_lk :weight 0.0) (send l_gripper_tool_frame_lk :centroid (float-vector 0 0 0)) (send l_gripper_tool_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=l_gripper_tool_frame_lk,domNode=l_gripper_tool_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.8000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_tool_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node43, name=l_gripper_palm_link, sid=node43 - (let ( b_gkmodel0_l_gripper_palm_link_geom0) - ;; define bodyset-link for l_gripper_palm_link : vkmodel0_node43 - (setq b_gkmodel0_l_gripper_palm_link_geom0 (instance pr2_gkmodel0_l_gripper_palm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_gripper_palm_link_geom0,domNode=l_gripper_palm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_gripper_palm_link_geom0 :transform localcds :world) - ) - (setq l_gripper_palm_link_lk - (instance bodyset-link - :init (make-cascoords) - :bodies (list b_gkmodel0_l_gripper_palm_link_geom0) - :name "l_gripper_palm_link")) - (send l_gripper_palm_link_lk :weight 580.070) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.3723000000000002e+02 1.8853000000000000e+02 7.8948500000000001e+02) :rot (matrix-exponent (scale 3.1386128378982598e+00 (float-vector 9.9970610705088270e-01 2.4226413985424290e-02 8.8339717915143713e-04)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_gripper_palm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.5147110342667857e+05 6.7817787266766978e+05 8.6563651390565163e+05))) (transpose (send tmp-c :worldrot)))) - (setq (l_gripper_palm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_gripper_palm_link_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_palm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_palm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_l_finger_link_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_l_finger_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_l_finger_link_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_l_finger_link_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_l_finger_link_lk) - - ;; writeTransform(name=l_gripper_led_frame_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_led_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_led_frame_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_led_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_led_frame_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_led_frame_lk) - - ;; writeTransform(name=l_gripper_motor_accelerometer_link_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_accelerometer_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_motor_accelerometer_link_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_motor_accelerometer_link_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_motor_accelerometer_link_lk) - - ;; writeTransform(name=l_gripper_motor_slider_link_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_motor_slider_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_motor_slider_link_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_motor_slider_link_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_motor_slider_link_lk) - - ;; writeTransform(name=l_gripper_r_finger_link_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_r_finger_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_r_finger_link_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_r_finger_link_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_r_finger_link_lk) - - ;; writeTransform(name=l_gripper_tool_frame_lk,domNode=l_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_tool_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_tool_frame_lk,domNode=l_gripper_palm_link,targetCount=1,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_tool_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_gripper_palm_link_lk) - - ;; writeTransform(name=l_gripper_tool_frame_lk,domNode=l_gripper_palm_link,targetCount=2,parent=l_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_gripper_palm_link_lk :assoc l_gripper_tool_frame_lk) - ) - - ;; node id=vkmodel0_node56, name=left_arm_chain_cb_link, sid=node56 - (let () - ;; define cascaded-coords for left_arm_chain_cb_link - (setq left_arm_chain_cb_link_lk (instance bodyset-link :init (make-cascoords) :name "left_arm_chain_cb_link")) - (progn (send left_arm_chain_cb_link_lk :weight 0.0) (send left_arm_chain_cb_link_lk :centroid (float-vector 0 0 0)) (send left_arm_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=left_arm_chain_cb_link_lk,domNode=left_arm_chain_cb_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send left_arm_chain_cb_link_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 7.6684670622283287e+04 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.8134000171817749e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9890313765953921e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_r_finger_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_r_finger_link_lk + (let ((world-cds (make-coords :pos (float-vector 8.4791000000000008e+02 1.7800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_r_finger_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node53, name=l_wrist_roll_link, sid=node53 - (let ( b_gkmodel0_l_wrist_roll_link_geom0) - ;; define bodyset-link for l_wrist_roll_link : vkmodel0_node53 - (setq b_gkmodel0_l_wrist_roll_link_geom0 (instance pr2_gkmodel0_l_wrist_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_wrist_roll_link_geom0,domNode=l_wrist_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_wrist_roll_link_geom0 :transform localcds :world) - ) - (setq l_wrist_roll_link_lk + ;; link: l_gripper_r_finger_tip_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_gripper_r_finger_tip_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_r_finger_tip_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_wrist_roll_link_geom0) - :name "l_wrist_roll_link")) - (send l_wrist_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_wrist_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_wrist_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_wrist_roll_link_lk,domNode=l_wrist_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_wrist_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_wrist_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_gripper_palm_link_lk,domNode=l_wrist_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_gripper_palm_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_gripper_palm_link_lk,domNode=l_wrist_roll_link,targetCount=1,parent=l_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_gripper_palm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_wrist_roll_link_lk) - - ;; writeTransform(name=l_gripper_palm_link_lk,domNode=l_wrist_roll_link,targetCount=2,parent=l_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_wrist_roll_link_lk :assoc l_gripper_palm_link_lk) - - ;; writeTransform(name=left_arm_chain_cb_link_lk,domNode=l_wrist_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send left_arm_chain_cb_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=left_arm_chain_cb_link_lk,domNode=l_wrist_roll_link,targetCount=1,parent=l_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send left_arm_chain_cb_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_wrist_roll_link_lk) - - ;; writeTransform(name=left_arm_chain_cb_link_lk,domNode=l_wrist_roll_link,targetCount=2,parent=l_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_wrist_roll_link_lk :assoc left_arm_chain_cb_link_lk) + :bodies geom-lst + :name "l_gripper_r_finger_tip_link")) + ;; inertial parameter for l_gripper_r_finger_tip_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 4.2299999999998450e+00 -2.8399999999999812e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 9.3563462459842295e-01 0.0000000000000000e+00 0.0000000000000000e+00 -3.5297004016285605e-01))) + )) + (send l_gripper_r_finger_tip_link_lk :weight 44.190) + (setq (l_gripper_r_finger_tip_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.2362449620368520e+03 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.5004895037963150e+04 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5417679999999997e+04)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_gripper_r_finger_tip_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_gripper_r_finger_tip_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 1.7304999999999998e+02 7.9067500000000007e+02)) + )) + (send l_gripper_r_finger_tip_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node52, name=l_wrist_flex_link, sid=node52 - (let ( b_gkmodel0_l_wrist_flex_link_geom0) - ;; define bodyset-link for l_wrist_flex_link : vkmodel0_node52 - (setq b_gkmodel0_l_wrist_flex_link_geom0 (instance pr2_gkmodel0_l_wrist_flex_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_wrist_flex_link_geom0,domNode=l_wrist_flex_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_wrist_flex_link_geom0 :transform localcds :world) - ) - (setq l_wrist_flex_link_lk + ;; link: l_gripper_tool_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_gripper_tool_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_wrist_flex_link_geom0) - :name "l_wrist_flex_link")) - (send l_wrist_flex_link_lk :weight 614.020) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.6943000000000006e+02 1.8800000000000000e+02 7.8992499999999995e+02) :rot (matrix-exponent (scale 1.6020364257483304e+00 (float-vector -9.6984440751447565e-01 1.7207315992342950e-01 -1.7260548324680050e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_wrist_flex_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.5277143381554517e+05 6.4339106681473507e+05 1.9824412936971989e+05))) (transpose (send tmp-c :worldrot)))) - (setq (l_wrist_flex_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_wrist_flex_link_lk,domNode=l_wrist_flex_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_wrist_flex_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_wrist_flex_link_lk :transform - (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_wrist_roll_link_lk,domNode=l_wrist_flex_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_wrist_roll_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_wrist_roll_link_lk,domNode=l_wrist_flex_link,targetCount=1,parent=l_wrist_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_wrist_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_wrist_flex_link_lk) - - ;; writeTransform(name=l_wrist_roll_link_lk,domNode=l_wrist_flex_link,targetCount=2,parent=l_wrist_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_wrist_flex_link_lk :assoc l_wrist_roll_link_lk) - ) - - ;; node id=vkmodel0_node34, name=l_forearm_link, sid=node34 - (let ( b_gkmodel0_l_forearm_link_geom0) - ;; define bodyset-link for l_forearm_link : vkmodel0_node34 - (setq b_gkmodel0_l_forearm_link_geom0 (instance pr2_gkmodel0_l_forearm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_forearm_link_geom0,domNode=l_forearm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_forearm_link_geom0 :transform localcds :world) - ) - (setq l_forearm_link_lk + :bodies geom-lst + :name "l_gripper_tool_frame")) + (progn (send l_gripper_tool_frame_lk :weight 0.0) (setq (l_gripper_tool_frame_lk . acentroid) (float-vector 0 0 0)) (send l_gripper_tool_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for l_gripper_tool_frame_lk + (let ((world-cds (make-coords :pos (float-vector 9.5100000000000011e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_gripper_tool_frame_lk :transform world-cds)) + ) + + ;; link: l_shoulder_lift_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_shoulder_lift_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_shoulder_lift_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_forearm_link_geom0) - :name "l_forearm_link")) - (send l_forearm_link_lk :weight 2579.680) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 6.3790999999999997e+02 1.8782999999999998e+02 7.8155499999999995e+02) :rot (matrix-exponent (scale 1.5779985754811521e+00 (float-vector -9.9924263837171390e-01 -2.5028657373233270e-02 2.9794562759500778e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_forearm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.6089171216999060e+06 1.6632586642306661e+07 1.5077544915993441e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_forearm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_forearm_link_lk,domNode=l_forearm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_wrist_flex_link_lk,domNode=l_forearm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_wrist_flex_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_wrist_flex_link_lk,domNode=l_forearm_link,targetCount=1,parent=l_forearm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_wrist_flex_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_forearm_link_lk) - - ;; writeTransform(name=l_wrist_flex_link_lk,domNode=l_forearm_link,targetCount=2,parent=l_forearm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_forearm_link_lk :assoc l_wrist_flex_link_lk) + :bodies geom-lst + :name "l_shoulder_lift_link")) + ;; inertial parameter for l_shoulder_lift_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 2.1949999999999996e+01 -2.6639999999999997e+01 -3.1270000000000021e+01) + :rot (quaternion2matrix (float-vector 2.9576183828508645e-01 2.3898442472179413e-01 -4.7801368988356990e-01 7.9177919399193220e-01))) + )) + (send l_shoulder_lift_link_lk :weight 2749.880) + (setq (l_shoulder_lift_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 2.6187368693981063e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 2.0730163313329030e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5168089652689919e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_shoulder_lift_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_shoulder_lift_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_shoulder_lift_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node35, name=l_forearm_roll_link, sid=node35 - (let ( b_gkmodel0_l_forearm_roll_link_geom0) - ;; define bodyset-link for l_forearm_roll_link : vkmodel0_node35 - (setq b_gkmodel0_l_forearm_roll_link_geom0 (instance pr2_gkmodel0_l_forearm_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_forearm_roll_link_geom0,domNode=l_forearm_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_forearm_roll_link_geom0 :transform localcds :world) - ) - (setq l_forearm_roll_link_lk + ;; link: l_shoulder_pan_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_shoulder_pan_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_shoulder_pan_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_forearm_roll_link_geom0) - :name "l_forearm_roll_link")) - (send l_forearm_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.5000000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_forearm_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_forearm_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_forearm_roll_link_lk,domNode=l_forearm_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_forearm_cam_frame_lk,domNode=l_forearm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_cam_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_forearm_cam_frame_lk,domNode=l_forearm_roll_link,targetCount=1,parent=l_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_forearm_roll_link_lk) - - ;; writeTransform(name=l_forearm_cam_frame_lk,domNode=l_forearm_roll_link,targetCount=2,parent=l_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_forearm_roll_link_lk :assoc l_forearm_cam_frame_lk) - - ;; writeTransform(name=l_forearm_link_lk,domNode=l_forearm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_forearm_link_lk,domNode=l_forearm_roll_link,targetCount=1,parent=l_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_forearm_roll_link_lk) - - ;; writeTransform(name=l_forearm_link_lk,domNode=l_forearm_roll_link,targetCount=2,parent=l_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_forearm_roll_link_lk :assoc l_forearm_link_lk) + :bodies geom-lst + :name "l_shoulder_pan_link")) + ;; inertial parameter for l_shoulder_pan_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -1.2010000000000007e+00 2.4513000000000005e+01 -9.8230999999999952e+01) + :rot (quaternion2matrix (float-vector 9.2748205313791365e-01 8.7656121686357058e-02 -7.4059439643071295e-02 3.5582108543162694e-01))) + )) + (send l_shoulder_pan_link_lk :weight 25799.322) + (setq (l_shoulder_pan_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 9.3420134354104972e+08 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 8.3770052521175265e+08 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.4203263939719772e+08)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_shoulder_pan_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_shoulder_pan_link_lk + (let ((world-cds (make-coords :pos (float-vector -5.0000000000000000e+01 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_shoulder_pan_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node31, name=l_elbow_flex_link, sid=node31 - (let ( b_gkmodel0_l_elbow_flex_link_geom0) - ;; define bodyset-link for l_elbow_flex_link : vkmodel0_node31 - (setq b_gkmodel0_l_elbow_flex_link_geom0 (instance pr2_gkmodel0_l_elbow_flex_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_elbow_flex_link_geom0,domNode=l_elbow_flex_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_elbow_flex_link_geom0 :transform localcds :world) - ) - (setq l_elbow_flex_link_lk + ;; link: l_torso_lift_side_plate_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_torso_lift_side_plate_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_elbow_flex_link_geom0) - :name "l_elbow_flex_link")) - (send l_elbow_flex_link_lk :weight 1903.270) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.6013999999999999e+02 1.8831999999999999e+02 7.7856500000000005e+02) :rot (matrix-exponent (scale 1.6725322467090611e+00 (float-vector -8.8216660002903247e-01 -3.1469906779613738e-01 3.5035208936362727e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_elbow_flex_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.0897687844015122e+06 3.9647676565655996e+06 4.4185162390328888e+06))) (transpose (send tmp-c :worldrot)))) - (setq (l_elbow_flex_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_elbow_flex_link_lk,domNode=l_elbow_flex_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_elbow_flex_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_elbow_flex_link_lk :transform - (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_forearm_roll_link_lk,domNode=l_elbow_flex_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_forearm_roll_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_forearm_roll_link_lk,domNode=l_elbow_flex_link,targetCount=1,parent=l_elbow_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_forearm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_elbow_flex_link_lk) - - ;; writeTransform(name=l_forearm_roll_link_lk,domNode=l_elbow_flex_link,targetCount=2,parent=l_elbow_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_elbow_flex_link_lk :assoc l_forearm_roll_link_lk) + :bodies geom-lst + :name "l_torso_lift_side_plate_link")) + ;; inertial parameter for l_torso_lift_side_plate_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -6.2499999999999993e+01 0.0000000000000000e+00 5.0000000000000043e+01)) + )) + (send l_torso_lift_side_plate_link_lk :weight 100.000) + (setq (l_torso_lift_side_plate_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_torso_lift_side_plate_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_torso_lift_side_plate_link_lk + (let ((world-cds (make-coords :pos (float-vector 3.4999999999999960e+00 2.0928500000000000e+02 9.6730000000000007e+02)) + )) + (send l_torso_lift_side_plate_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node50, name=l_upper_arm_link, sid=node50 - (let ( b_gkmodel0_l_upper_arm_link_geom0) - ;; define bodyset-link for l_upper_arm_link : vkmodel0_node50 - (setq b_gkmodel0_l_upper_arm_link_geom0 (instance pr2_gkmodel0_l_upper_arm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_upper_arm_link_geom0,domNode=l_upper_arm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_upper_arm_link_geom0 :transform localcds :world) - ) + ;; link: l_upper_arm_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_upper_arm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq l_upper_arm_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_upper_arm_link_geom0) + :bodies geom-lst :name "l_upper_arm_link")) - (send l_upper_arm_link_lk :weight 6017.690) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.6405000000000001e+02 2.0458000000000001e+02 7.9010500000000002e+02) :rot (matrix-exponent (scale 2.9396688916327878e+00 (float-vector 9.9958039678309218e-01 2.7905178662063941e-02 -7.7673271332098217e-03)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for l_upper_arm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 2.1405000000000001e+02 1.6580000000000013e+01 -5.6999999999995943e-01) + :rot (quaternion2matrix (float-vector 1.0079044589567206e-01 9.9449021067012888e-01 2.7763076482626922e-02 -7.7277733956259828e-03))) + )) + (send l_upper_arm_link_lk :weight 6017.690) (setq (l_upper_arm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.5107107160877610e+07 7.4882121073444739e+07 7.6069696785677627e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_upper_arm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_upper_arm_link_lk,domNode=l_upper_arm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_upper_arm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_upper_arm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_elbow_flex_link_lk,domNode=l_upper_arm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_elbow_flex_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_elbow_flex_link_lk,domNode=l_upper_arm_link,targetCount=1,parent=l_upper_arm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_elbow_flex_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_upper_arm_link_lk) - - ;; writeTransform(name=l_elbow_flex_link_lk,domNode=l_upper_arm_link,targetCount=2,parent=l_upper_arm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_upper_arm_link_lk :assoc l_elbow_flex_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.5107107160877610e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 7.4882121073444754e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.6069696785677612e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_upper_arm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_upper_arm_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_upper_arm_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node51, name=l_upper_arm_roll_link, sid=node51 - (let ( b_gkmodel0_l_upper_arm_roll_link_geom0) - ;; define bodyset-link for l_upper_arm_roll_link : vkmodel0_node51 - (setq b_gkmodel0_l_upper_arm_roll_link_geom0 (instance pr2_gkmodel0_l_upper_arm_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_upper_arm_roll_link_geom0,domNode=l_upper_arm_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_upper_arm_roll_link_geom0 :transform localcds :world) - ) + ;; link: l_upper_arm_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_upper_arm_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq l_upper_arm_roll_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_upper_arm_roll_link_geom0) + :bodies geom-lst :name "l_upper_arm_roll_link")) - (send l_upper_arm_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.0000000000000000e+01 1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for l_upper_arm_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_upper_arm_roll_link_lk :weight 100.000) (setq (l_upper_arm_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_upper_arm_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_upper_arm_roll_link_lk,domNode=l_upper_arm_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_upper_arm_link_lk,domNode=l_upper_arm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_upper_arm_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_upper_arm_link_lk,domNode=l_upper_arm_roll_link,targetCount=1,parent=l_upper_arm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_upper_arm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_upper_arm_roll_link_lk) - - ;; writeTransform(name=l_upper_arm_link_lk,domNode=l_upper_arm_roll_link,targetCount=2,parent=l_upper_arm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_upper_arm_roll_link_lk :assoc l_upper_arm_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_upper_arm_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_upper_arm_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_upper_arm_roll_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node47, name=l_shoulder_lift_link, sid=node47 - (let ( b_gkmodel0_l_shoulder_lift_link_geom0) - ;; define bodyset-link for l_shoulder_lift_link : vkmodel0_node47 - (setq b_gkmodel0_l_shoulder_lift_link_geom0 (instance pr2_gkmodel0_l_shoulder_lift_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_shoulder_lift_link_geom0,domNode=l_shoulder_lift_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_shoulder_lift_link_geom0 :transform localcds :world) - ) - (setq l_shoulder_lift_link_lk + ;; link: l_wrist_flex_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_wrist_flex_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_wrist_flex_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_shoulder_lift_link_geom0) - :name "l_shoulder_lift_link")) - (send l_shoulder_lift_link_lk :weight 2749.880) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.1950000000000003e+01 1.6136000000000001e+02 7.5940499999999997e+02) :rot (matrix-exponent (scale 2.5410867772154906e+00 (float-vector 2.5017691190252062e-01 -5.0040076428166858e-01 8.2886101842060378e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_shoulder_lift_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.6187368693981059e+07 2.0730163313329030e+07 1.5168089652689921e+07))) (transpose (send tmp-c :worldrot)))) - (setq (l_shoulder_lift_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_shoulder_lift_link_lk,domNode=l_shoulder_lift_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_upper_arm_roll_link_lk,domNode=l_shoulder_lift_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_upper_arm_roll_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_upper_arm_roll_link_lk,domNode=l_shoulder_lift_link,targetCount=1,parent=l_shoulder_lift_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_shoulder_lift_link_lk) - - ;; writeTransform(name=l_upper_arm_roll_link_lk,domNode=l_shoulder_lift_link,targetCount=2,parent=l_shoulder_lift_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_shoulder_lift_link_lk :assoc l_upper_arm_roll_link_lk) + :bodies geom-lst + :name "l_wrist_flex_link")) + ;; inertial parameter for l_wrist_flex_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -1.5699999999999603e+00 0.0000000000000000e+00 -7.5000000000002842e-01) + :rot (quaternion2matrix (float-vector 6.9597592710835521e-01 -6.9641143568018082e-01 1.2355973330960543e-01 -1.2394197611783576e-01))) + )) + (send l_wrist_flex_link_lk :weight 614.020) + (setq (l_wrist_flex_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 6.5277143381554517e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 6.4339106681473507e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9824412936971989e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_wrist_flex_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_wrist_flex_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_wrist_flex_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node48, name=l_shoulder_pan_link, sid=node48 - (let ( b_gkmodel0_l_shoulder_pan_link_geom0) - ;; define bodyset-link for l_shoulder_pan_link : vkmodel0_node48 - (setq b_gkmodel0_l_shoulder_pan_link_geom0 (instance pr2_gkmodel0_l_shoulder_pan_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_l_shoulder_pan_link_geom0,domNode=l_shoulder_pan_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_l_shoulder_pan_link_geom0 :transform localcds :world) - ) - (setq l_shoulder_pan_link_lk + ;; link: l_wrist_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_l_wrist_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq l_wrist_roll_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_l_shoulder_pan_link_geom0) - :name "l_shoulder_pan_link")) - (send l_shoulder_pan_link_lk :weight 25799.322) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -5.1201000000000001e+01 2.1251300000000001e+02 6.9244400000000007e+02) :rot (matrix-exponent (scale 7.6635123664586935e-01 (float-vector 2.3445760813806441e-01 -1.9808997642959120e-01 9.5172999911965683e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_shoulder_pan_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 9.3420134354104972e+08 8.3770052521175265e+08 2.4203263939719772e+08))) (transpose (send tmp-c :worldrot)))) - (setq (l_shoulder_pan_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_shoulder_pan_link_lk,domNode=l_shoulder_pan_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send l_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 1.8800000000000000e+02 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=l_shoulder_lift_link_lk,domNode=l_shoulder_pan_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 1.8800000000000000e+02 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_shoulder_lift_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=l_shoulder_lift_link_lk,domNode=l_shoulder_pan_link,targetCount=1,parent=l_shoulder_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send l_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) l_shoulder_pan_link_lk) - - ;; writeTransform(name=l_shoulder_lift_link_lk,domNode=l_shoulder_pan_link,targetCount=2,parent=l_shoulder_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send l_shoulder_pan_link_lk :assoc l_shoulder_lift_link_lk) - ) - - ;; node id=vkmodel0_node49, name=l_torso_lift_side_plate_link, sid=node49 - (let () - ;; define cascaded-coords for l_torso_lift_side_plate_link - (setq l_torso_lift_side_plate_link_lk (instance bodyset-link :init (make-cascoords) :name "l_torso_lift_side_plate_link")) - (send l_torso_lift_side_plate_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -5.9000000000000000e+01 2.0928500000000000e+02 1.0173000000000001e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (l_torso_lift_side_plate_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (l_torso_lift_side_plate_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=l_torso_lift_side_plate_link_lk,domNode=l_torso_lift_side_plate_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 5.3500000000000000e+01 2.0928500000000000e+02 1.7662500000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_torso_lift_side_plate_link_lk :transform localcds :world) - ) - ;;1; + :bodies geom-lst + :name "l_wrist_roll_link")) + ;; inertial parameter for l_wrist_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send l_wrist_roll_link_lk :weight 100.000) + (setq (l_wrist_roll_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (l_wrist_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for l_wrist_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send l_wrist_roll_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node54, name=laser_tilt_link, sid=node54 - (let () - ;; define cascaded-coords for laser_tilt_link - (setq laser_tilt_link_lk (instance bodyset-link :init (make-cascoords) :name "laser_tilt_link")) - (send laser_tilt_link_lk :weight 1.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.8930000000000000e+01 0.0000000000000000e+00 1.0468768892414998e+03) :rot (matrix-exponent (scale 1.0309330508599999e-02 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; link: laser_tilt_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq laser_tilt_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "laser_tilt_link")) + ;; inertial parameter for laser_tilt_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -2.2204460492503131e-13)) + )) + (send laser_tilt_link_lk :weight 1.000) (setq (laser_tilt_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+05 1.0000000000000000e+03 1.0000000000000000e+05))) (transpose (send tmp-c :worldrot)))) - (setq (laser_tilt_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=laser_tilt_link_lk,domNode=laser_tilt_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.9201889241499998e+01) - :angle 1.0309330508599999e-02 :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)) :local) - (send laser_tilt_link_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+03 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (laser_tilt_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for laser_tilt_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.8930000000000000e+01 0.0000000000000000e+00 1.0468768892415001e+03) + :rot (quaternion2matrix (float-vector 9.9998671474247458e-01 0.0000000000000000e+00 0.0000000000000000e+00 -5.1546424272613288e-03))) + )) + (send laser_tilt_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node55, name=laser_tilt_mount_link, sid=node55 - (let ( b_gkmodel0_laser_tilt_mount_link_geom0) - ;; define bodyset-link for laser_tilt_mount_link : vkmodel0_node55 - (setq b_gkmodel0_laser_tilt_mount_link_geom0 (instance pr2_gkmodel0_laser_tilt_mount_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_laser_tilt_mount_link_geom0,domNode=laser_tilt_mount_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_laser_tilt_mount_link_geom0 :transform localcds :world) - ) + ;; link: laser_tilt_mount_link_lk + (let ((geom-lst (list + (send self :_make_instance_laser_tilt_mount_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq laser_tilt_mount_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_laser_tilt_mount_link_geom0) + :bodies geom-lst :name "laser_tilt_mount_link")) - (send laser_tilt_mount_link_lk :weight 591.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.7794000000000004e+01 1.6700000000000002e+00 1.0105450000000001e+03) :rot (matrix-exponent (scale 2.6421957325871837e-01 (float-vector -3.8030945532861110e-01 3.6775231954706861e-01 -8.4860058311045594e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for laser_tilt_mount_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -1.1359999999999981e+00 1.6700000000000002e+00 -7.1300000000000807e+00) + :rot (quaternion2matrix (float-vector 9.9128618671773705e-01 -5.0096581162311353e-02 4.8442481946443447e-02 -1.1178262173220145e-01))) + )) + (send laser_tilt_mount_link_lk :weight 591.000) (setq (laser_tilt_mount_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.2045714172574710e+06 1.0817501043531031e+06 7.8792147838942648e+05))) (transpose (send tmp-c :worldrot)))) - (setq (laser_tilt_mount_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=laser_tilt_mount_link_lk,domNode=laser_tilt_mount_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send laser_tilt_mount_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send laser_tilt_mount_link_lk :transform - (make-coords :pos (float-vector 9.8930000000000007e+01 0.0000000000000000e+00 2.2700000000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=laser_tilt_link_lk,domNode=laser_tilt_mount_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 9.8930000000000007e+01 0.0000000000000000e+00 2.2700000000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send laser_tilt_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=laser_tilt_link_lk,domNode=laser_tilt_mount_link,targetCount=1,parent=laser_tilt_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send laser_tilt_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) laser_tilt_mount_link_lk) - - ;; writeTransform(name=laser_tilt_link_lk,domNode=laser_tilt_mount_link,targetCount=2,parent=laser_tilt_mount_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send laser_tilt_mount_link_lk :assoc laser_tilt_link_lk) - ) - - ;; node id=vkmodel0_node67, name=r_forearm_cam_optical_frame, sid=node67 - (let () - ;; define cascaded-coords for r_forearm_cam_optical_frame - (setq r_forearm_cam_optical_frame_lk (instance bodyset-link :init (make-cascoords) :name "r_forearm_cam_optical_frame")) - (progn (send r_forearm_cam_optical_frame_lk :weight 0.0) (send r_forearm_cam_optical_frame_lk :centroid (float-vector 0 0 0)) (send r_forearm_cam_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=r_forearm_cam_optical_frame_lk,domNode=r_forearm_cam_optical_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 2.0943951023875425e+00 :axis (float-vector -5.7735026919056809e-01 5.7735026918774102e-01 -5.7735026919056809e-01)) :local) - (send r_forearm_cam_optical_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node66, name=r_forearm_cam_frame, sid=node66 - (let () - ;; define bodyset-link for r_forearm_cam_frame_lk - (setq r_forearm_cam_frame_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "r_forearm_cam_frame")) - (send r_forearm_cam_frame_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.9278174482800000e+02 -2.0033502870120000e+02 8.2942074642509999e+02) :rot (matrix-exponent (scale 1.6466871642612548e+00 (float-vector 9.2520917047178552e-01 -2.6280242140047289e-01 2.7372043800373880e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_forearm_cam_frame_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (r_forearm_cam_frame_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_forearm_cam_frame_lk,domNode=r_forearm_cam_frame,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector 1.4278174482800000e+02 -1.2335028701200001e+01 3.8745746425100002e+01) - :angle 1.6466871642612548e+00 :axis (float-vector 9.2520917047178552e-01 -2.6280242140047289e-01 2.7372043800373880e-01)) :local) - ;;1; - - ;; writeTransform(name=r_forearm_cam_optical_frame_lk,domNode=r_forearm_cam_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.4278174482800000e+02 -1.2335028701200001e+01 3.8745746425100002e+01) - :angle 1.6466871642612548e+00 :axis (float-vector 9.2520917047178552e-01 -2.6280242140047289e-01 2.7372043800373880e-01)) :local) - (send r_forearm_cam_optical_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_forearm_cam_optical_frame_lk,domNode=r_forearm_cam_frame,targetCount=1,parent=r_forearm_cam_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_cam_optical_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_forearm_cam_frame_lk) - - ;; writeTransform(name=r_forearm_cam_optical_frame_lk,domNode=r_forearm_cam_frame,targetCount=2,parent=r_forearm_cam_frame_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_forearm_cam_frame_lk :assoc r_forearm_cam_optical_frame_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.2045714172574708e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0817501043531031e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.8792147838942648e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (laser_tilt_mount_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for laser_tilt_mount_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.8930000000000000e+01 0.0000000000000000e+00 1.0176750000000001e+03)) + )) + (send laser_tilt_mount_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node72, name=r_gripper_l_finger_tip_link, sid=node72 - (let ( b_gkmodel0_r_gripper_l_finger_tip_link_geom0) - ;; define bodyset-link for r_gripper_l_finger_tip_link : vkmodel0_node72 - (setq b_gkmodel0_r_gripper_l_finger_tip_link_geom0 (instance pr2_gkmodel0_r_gripper_l_finger_tip_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_l_finger_tip_link_geom0,domNode=r_gripper_l_finger_tip_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_l_finger_tip_link_geom0 :transform localcds :world) - ) - (setq r_gripper_l_finger_tip_link_lk + ;; link: left_arm_chain_cb_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq left_arm_chain_cb_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_l_finger_tip_link_geom0) - :name "r_gripper_l_finger_tip_link")) - (send r_gripper_l_finger_tip_link_lk :weight 44.190) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.4350999999999999e+02 -1.7021000000000001e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 7.2148713900874673e-01 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_l_finger_tip_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2362449620368520e+03 1.5004895037963150e+04 1.5417679999999998e+04))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_l_finger_tip_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_l_finger_tip_link_lk,domNode=r_gripper_l_finger_tip_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - ) - - ;; node id=vkmodel0_node70, name=r_gripper_l_finger_link, sid=node70 - (let ( b_gkmodel0_r_gripper_l_finger_link_geom0) - ;; define bodyset-link for r_gripper_l_finger_link : vkmodel0_node70 - (setq b_gkmodel0_r_gripper_l_finger_link_geom0 (instance pr2_gkmodel0_r_gripper_l_finger_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_l_finger_link_geom0,domNode=r_gripper_l_finger_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_l_finger_link_geom0 :transform localcds :world) - ) - (setq r_gripper_l_finger_link_lk + :bodies geom-lst + :name "left_arm_chain_cb_link")) + (progn (send left_arm_chain_cb_link_lk :weight 0.0) (setq (left_arm_chain_cb_link_lk . acentroid) (float-vector 0 0 0)) (send left_arm_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for left_arm_chain_cb_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send left_arm_chain_cb_link_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_l_stereo_camera_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_l_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_l_finger_link_geom0) - :name "r_gripper_l_finger_link")) - (send r_gripper_l_finger_link_lk :weight 171.260) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.8388999999999999e+02 -1.6070000000000002e+02 7.8903500000000008e+02) :rot (matrix-exponent (scale 1.7717054301322330e+00 (float-vector 9.9815325492233042e-01 3.3280713286308203e-02 5.0818046116628178e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_l_finger_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 7.6623944609730534e+04 1.8133591439139261e+05 1.9773963099887679e+05))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_l_finger_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_l_finger_link_lk,domNode=r_gripper_l_finger_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_l_finger_tip_link_lk,domNode=r_gripper_l_finger_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_tip_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_l_finger_tip_link_lk,domNode=r_gripper_l_finger_link,targetCount=1,parent=r_gripper_l_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_l_finger_tip_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_l_finger_link_lk) - - ;; writeTransform(name=r_gripper_l_finger_tip_link_lk,domNode=r_gripper_l_finger_link,targetCount=2,parent=r_gripper_l_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_l_finger_link_lk :assoc r_gripper_l_finger_tip_link_lk) - ) - - ;; node id=vkmodel0_node73, name=r_gripper_led_frame, sid=node73 - (let () - ;; define cascaded-coords for r_gripper_led_frame - (setq r_gripper_led_frame_lk (instance bodyset-link :init (make-cascoords) :name "r_gripper_led_frame")) - (progn (send r_gripper_led_frame_lk :weight 0.0) (send r_gripper_led_frame_lk :centroid (float-vector 0 0 0)) (send r_gripper_led_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=r_gripper_led_frame_lk,domNode=r_gripper_led_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 5.1299999999999997e+01 0.0000000000000000e+00 2.4400000000000002e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_led_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node74, name=r_gripper_motor_accelerometer_link, sid=node74 - (let ( b_gkmodel0_r_gripper_motor_accelerometer_link_geom0) - ;; define bodyset-link for r_gripper_motor_accelerometer_link : vkmodel0_node74 - (setq b_gkmodel0_r_gripper_motor_accelerometer_link_geom0 (instance pr2_gkmodel0_r_gripper_motor_accelerometer_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_motor_accelerometer_link_geom0,domNode=r_gripper_motor_accelerometer_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_motor_accelerometer_link_geom0 :transform localcds :world) - ) - (setq r_gripper_motor_accelerometer_link_lk + :bodies geom-lst + :name "narrow_stereo_l_stereo_camera_frame")) + ;; inertial parameter for narrow_stereo_l_stereo_camera_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send narrow_stereo_l_stereo_camera_frame_lk :weight 10.000) + (setq (narrow_stereo_l_stereo_camera_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (narrow_stereo_l_stereo_camera_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for narrow_stereo_l_stereo_camera_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) + :rot (quaternion2matrix (float-vector 9.9995864257776801e-01 -5.0348889792875724e-03 -5.5210231623546158e-03 -5.1847208444301598e-03))) + )) + (send narrow_stereo_l_stereo_camera_frame_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_l_stereo_camera_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_l_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_motor_accelerometer_link_geom0) - :name "r_gripper_motor_accelerometer_link")) - (send r_gripper_motor_accelerometer_link_lk :weight 1.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_motor_accelerometer_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_motor_accelerometer_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_motor_accelerometer_link_lk,domNode=r_gripper_motor_accelerometer_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - ) - - ;; node id=vkmodel0_node75, name=r_gripper_motor_screw_link, sid=node75 - (let () - ;; define cascaded-coords for r_gripper_motor_screw_link - (setq r_gripper_motor_screw_link_lk (instance bodyset-link :init (make-cascoords) :name "r_gripper_motor_screw_link")) - (send r_gripper_motor_screw_link_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.3927999999999997e+02 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_motor_screw_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+05 1.0000000000000000e+05 1.0000000000000000e+05))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_motor_screw_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_motor_screw_link_lk,domNode=r_gripper_motor_screw_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_screw_link_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node76, name=r_gripper_motor_slider_link, sid=node76 - (let () - ;; define bodyset-link for r_gripper_motor_slider_link_lk - (setq r_gripper_motor_slider_link_lk (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 10 10 10)) :name "r_gripper_motor_slider_link")) - (send r_gripper_motor_slider_link_lk :weight 10.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.3927999999999997e+02 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_motor_slider_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_motor_slider_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_motor_slider_link_lk,domNode=r_gripper_motor_slider_link,targetCount=0,parent=:local), translateCount=4, rotateCount=3, matrixCount=0 - (send r_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector 1.6828000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_motor_screw_link_lk,domNode=r_gripper_motor_slider_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.6828000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_screw_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_motor_screw_link_lk,domNode=r_gripper_motor_slider_link,targetCount=1,parent=r_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send r_gripper_motor_screw_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_motor_slider_link_lk) - - ;; writeTransform(name=r_gripper_motor_screw_link_lk,domNode=r_gripper_motor_slider_link,targetCount=2,parent=r_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=r_gripper_motor_screw_link_lk,domNode=r_gripper_motor_slider_link,targetCount=3,parent=r_gripper_motor_slider_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send r_gripper_motor_slider_link_lk :assoc r_gripper_motor_screw_link_lk) - ) - - ;; node id=vkmodel0_node71, name=r_gripper_l_finger_tip_frame, sid=node71 - (let () - ;; define cascaded-coords for r_gripper_l_finger_tip_frame - (setq r_gripper_l_finger_tip_frame_lk (instance bodyset-link :init (make-cascoords) :name "r_gripper_l_finger_tip_frame")) - (progn (send r_gripper_l_finger_tip_frame_lk :weight 0.0) (send r_gripper_l_finger_tip_frame_lk :centroid (float-vector 0 0 0)) (send r_gripper_l_finger_tip_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=r_gripper_l_finger_tip_frame_lk,domNode=r_gripper_l_finger_tip_frame,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_tip_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node79, name=r_gripper_r_finger_tip_link, sid=node79 - (let ( b_gkmodel0_r_gripper_r_finger_tip_link_geom0) - ;; define bodyset-link for r_gripper_r_finger_tip_link : vkmodel0_node79 - (setq b_gkmodel0_r_gripper_r_finger_tip_link_geom0 (instance pr2_gkmodel0_r_gripper_r_finger_tip_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_r_finger_tip_link_geom0,domNode=r_gripper_r_finger_tip_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_r_finger_tip_link_geom0 :transform localcds :world) - ) - (setq r_gripper_r_finger_tip_link_lk + :bodies geom-lst + :name "narrow_stereo_l_stereo_camera_optical_frame")) + (progn (send narrow_stereo_l_stereo_camera_optical_frame_lk :weight 0.0) (setq (narrow_stereo_l_stereo_camera_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send narrow_stereo_l_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for narrow_stereo_l_stereo_camera_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) + :rot (quaternion2matrix (float-vector 4.9763002796063699e-01 -4.9714389377516049e-01 4.9729372563781626e-01 -5.0784963778192060e-01))) + )) + (send narrow_stereo_l_stereo_camera_optical_frame_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_r_finger_tip_link_geom0) - :name "r_gripper_r_finger_tip_link")) - (send r_gripper_r_finger_tip_link_lk :weight 44.190) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 9.4350999999999999e+02 -2.0578999999999999e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 7.2148713900874673e-01 (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_r_finger_tip_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.2362449620368520e+03 1.5004895037963150e+04 1.5417679999999998e+04))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_r_finger_tip_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_r_finger_tip_link_lk,domNode=r_gripper_r_finger_tip_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send r_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_l_finger_tip_frame_lk,domNode=r_gripper_r_finger_tip_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 -0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_tip_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_l_finger_tip_frame_lk,domNode=r_gripper_r_finger_tip_link,targetCount=1,parent=r_gripper_r_finger_tip_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_l_finger_tip_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_r_finger_tip_link_lk) - - ;; writeTransform(name=r_gripper_l_finger_tip_frame_lk,domNode=r_gripper_r_finger_tip_link,targetCount=2,parent=r_gripper_r_finger_tip_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_r_finger_tip_link_lk :assoc r_gripper_l_finger_tip_frame_lk) - ) - - ;; node id=vkmodel0_node78, name=r_gripper_r_finger_link, sid=node78 - (let ( b_gkmodel0_r_gripper_r_finger_link_geom0) - ;; define bodyset-link for r_gripper_r_finger_link : vkmodel0_node78 - (setq b_gkmodel0_r_gripper_r_finger_link_geom0 (instance pr2_gkmodel0_r_gripper_r_finger_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_r_finger_link_geom0,domNode=r_gripper_r_finger_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_r_finger_link_geom0 :transform localcds :world) - ) - (setq r_gripper_r_finger_link_lk + :bodies geom-lst + :name "narrow_stereo_link")) + ;; inertial parameter for narrow_stereo_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send narrow_stereo_link_lk :weight 100.000) + (setq (narrow_stereo_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (narrow_stereo_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for narrow_stereo_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) + :rot (quaternion2matrix (float-vector 9.9995864257776801e-01 -5.0348889792875724e-03 -5.5210231623546158e-03 -5.1847208444301598e-03))) + )) + (send narrow_stereo_link_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_optical_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_r_finger_link_geom0) - :name "r_gripper_r_finger_link")) - (send r_gripper_r_finger_link_lk :weight 173.890) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.8366999999999996e+02 -2.1535999999999999e+02 7.8972500000000002e+02) :rot (matrix-exponent (scale 1.4218414509258943e+00 (float-vector 9.9806971201230776e-01 5.3984491916526822e-02 3.0700563450585590e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_r_finger_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 7.6684670622283287e+04 1.8134000171817749e+05 1.9890313765953921e+05))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_r_finger_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_r_finger_link_lk,domNode=r_gripper_r_finger_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_r_finger_tip_link_lk,domNode=r_gripper_r_finger_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_r_finger_tip_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_r_finger_tip_link_lk,domNode=r_gripper_r_finger_link,targetCount=1,parent=r_gripper_r_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_r_finger_tip_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 3.1415926535895875e+00 :axis (float-vector -1.0000000000000000e+00 -0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_r_finger_link_lk) - - ;; writeTransform(name=r_gripper_r_finger_tip_link_lk,domNode=r_gripper_r_finger_link,targetCount=2,parent=r_gripper_r_finger_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_r_finger_link_lk :assoc r_gripper_r_finger_tip_link_lk) - ) - - ;; node id=vkmodel0_node80, name=r_gripper_tool_frame, sid=node80 - (let () - ;; define cascaded-coords for r_gripper_tool_frame - (setq r_gripper_tool_frame_lk (instance bodyset-link :init (make-cascoords) :name "r_gripper_tool_frame")) - (progn (send r_gripper_tool_frame_lk :weight 0.0) (send r_gripper_tool_frame_lk :centroid (float-vector 0 0 0)) (send r_gripper_tool_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=r_gripper_tool_frame_lk,domNode=r_gripper_tool_frame,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.8000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_tool_frame_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node77, name=r_gripper_palm_link, sid=node77 - (let ( b_gkmodel0_r_gripper_palm_link_geom0) - ;; define bodyset-link for r_gripper_palm_link : vkmodel0_node77 - (setq b_gkmodel0_r_gripper_palm_link_geom0 (instance pr2_gkmodel0_r_gripper_palm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_gripper_palm_link_geom0,domNode=r_gripper_palm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_gripper_palm_link_geom0 :transform localcds :world) - ) - (setq r_gripper_palm_link_lk + :bodies geom-lst + :name "narrow_stereo_optical_frame")) + (progn (send narrow_stereo_optical_frame_lk :weight 0.0) (setq (narrow_stereo_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send narrow_stereo_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for narrow_stereo_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.7820754083899999e+01 6.0632256042200005e+01 1.2807375486935000e+03) + :rot (quaternion2matrix (float-vector 4.9763002796063699e-01 -4.9714389377516049e-01 4.9729372563781626e-01 -5.0784963778192060e-01))) + )) + (send narrow_stereo_optical_frame_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_r_stereo_camera_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_r_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_gripper_palm_link_geom0) - :name "r_gripper_palm_link")) - (send r_gripper_palm_link_lk :weight 580.070) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 8.3723000000000002e+02 -1.8747000000000000e+02 7.8948500000000001e+02) :rot (matrix-exponent (scale 3.1386128378982598e+00 (float-vector 9.9970610705088270e-01 2.4226413985424290e-02 8.8339717915143713e-04)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_gripper_palm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.5147110342667857e+05 6.7817787266766978e+05 8.6563651390565163e+05))) (transpose (send tmp-c :worldrot)))) - (setq (r_gripper_palm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_gripper_palm_link_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_palm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_palm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_l_finger_link_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_l_finger_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_l_finger_link_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_l_finger_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_l_finger_link_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_l_finger_link_lk) - - ;; writeTransform(name=r_gripper_led_frame_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_led_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_led_frame_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_led_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_led_frame_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_led_frame_lk) - - ;; writeTransform(name=r_gripper_motor_accelerometer_link_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_accelerometer_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_motor_accelerometer_link_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_motor_accelerometer_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_motor_accelerometer_link_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_motor_accelerometer_link_lk) - - ;; writeTransform(name=r_gripper_motor_slider_link_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_motor_slider_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_motor_slider_link_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_motor_slider_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_motor_slider_link_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_motor_slider_link_lk) - - ;; writeTransform(name=r_gripper_r_finger_link_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_r_finger_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_r_finger_link_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_r_finger_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_r_finger_link_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_r_finger_link_lk) - - ;; writeTransform(name=r_gripper_tool_frame_lk,domNode=r_gripper_palm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_tool_frame_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_tool_frame_lk,domNode=r_gripper_palm_link,targetCount=1,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_tool_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_gripper_palm_link_lk) - - ;; writeTransform(name=r_gripper_tool_frame_lk,domNode=r_gripper_palm_link,targetCount=2,parent=r_gripper_palm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_gripper_palm_link_lk :assoc r_gripper_tool_frame_lk) - ) - - ;; node id=vkmodel0_node88, name=right_arm_chain_cb_link, sid=node88 - (let () - ;; define cascaded-coords for right_arm_chain_cb_link - (setq right_arm_chain_cb_link_lk (instance bodyset-link :init (make-cascoords) :name "right_arm_chain_cb_link")) - (progn (send right_arm_chain_cb_link_lk :weight 0.0) (send right_arm_chain_cb_link_lk :centroid (float-vector 0 0 0)) (send right_arm_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) - - ;; writeTransform(name=right_arm_chain_cb_link_lk,domNode=right_arm_chain_cb_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send right_arm_chain_cb_link_lk :transform localcds :world) - ) - ;;1; - ) - - ;; node id=vkmodel0_node87, name=r_wrist_roll_link, sid=node87 - (let ( b_gkmodel0_r_wrist_roll_link_geom0) - ;; define bodyset-link for r_wrist_roll_link : vkmodel0_node87 - (setq b_gkmodel0_r_wrist_roll_link_geom0 (instance pr2_gkmodel0_r_wrist_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_wrist_roll_link_geom0,domNode=r_wrist_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_wrist_roll_link_geom0 :transform localcds :world) - ) - (setq r_wrist_roll_link_lk + :bodies geom-lst + :name "narrow_stereo_r_stereo_camera_frame")) + ;; inertial parameter for narrow_stereo_r_stereo_camera_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.3877787807814457e-14 0.0000000000000000e+00 -4.4408920985006262e-13)) + )) + (send narrow_stereo_r_stereo_camera_frame_lk :weight 10.000) + (setq (narrow_stereo_r_stereo_camera_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (narrow_stereo_r_stereo_camera_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for narrow_stereo_r_stereo_camera_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.6882539335745200e+01 -2.9358342299091692e+01 1.2816386387348696e+03) + :rot (quaternion2matrix (float-vector 9.9995864257776801e-01 -5.0348889792875724e-03 -5.5210231623546158e-03 -5.1847208444301598e-03))) + )) + (send narrow_stereo_r_stereo_camera_frame_lk :transform world-cds)) + ) + + ;; link: narrow_stereo_r_stereo_camera_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq narrow_stereo_r_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_wrist_roll_link_geom0) - :name "r_wrist_roll_link")) - (send r_wrist_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_wrist_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_wrist_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_wrist_roll_link_lk,domNode=r_wrist_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_wrist_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_wrist_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_gripper_palm_link_lk,domNode=r_wrist_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_gripper_palm_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_gripper_palm_link_lk,domNode=r_wrist_roll_link,targetCount=1,parent=r_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_gripper_palm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_wrist_roll_link_lk) - - ;; writeTransform(name=r_gripper_palm_link_lk,domNode=r_wrist_roll_link,targetCount=2,parent=r_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_wrist_roll_link_lk :assoc r_gripper_palm_link_lk) - - ;; writeTransform(name=right_arm_chain_cb_link_lk,domNode=r_wrist_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send right_arm_chain_cb_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=right_arm_chain_cb_link_lk,domNode=r_wrist_roll_link,targetCount=1,parent=r_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send right_arm_chain_cb_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_wrist_roll_link_lk) - - ;; writeTransform(name=right_arm_chain_cb_link_lk,domNode=r_wrist_roll_link,targetCount=2,parent=r_wrist_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_wrist_roll_link_lk :assoc right_arm_chain_cb_link_lk) - ) - - ;; node id=vkmodel0_node86, name=r_wrist_flex_link, sid=node86 - (let ( b_gkmodel0_r_wrist_flex_link_geom0) - ;; define bodyset-link for r_wrist_flex_link : vkmodel0_node86 - (setq b_gkmodel0_r_wrist_flex_link_geom0 (instance pr2_gkmodel0_r_wrist_flex_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_wrist_flex_link_geom0,domNode=r_wrist_flex_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_wrist_flex_link_geom0 :transform localcds :world) - ) - (setq r_wrist_flex_link_lk + :bodies geom-lst + :name "narrow_stereo_r_stereo_camera_optical_frame")) + (progn (send narrow_stereo_r_stereo_camera_optical_frame_lk :weight 0.0) (setq (narrow_stereo_r_stereo_camera_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send narrow_stereo_r_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for narrow_stereo_r_stereo_camera_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.6882539335745200e+01 -2.9358342299091692e+01 1.2816386387348696e+03) + :rot (quaternion2matrix (float-vector 4.9763002796063699e-01 -4.9714389377516049e-01 4.9729372563781626e-01 -5.0784963778192060e-01))) + )) + (send narrow_stereo_r_stereo_camera_optical_frame_lk :transform world-cds)) + ) + + ;; link: projector_wg6802418_child_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq projector_wg6802418_child_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_wrist_flex_link_geom0) - :name "r_wrist_flex_link")) - (send r_wrist_flex_link_lk :weight 614.020) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.6943000000000006e+02 -1.8800000000000000e+02 7.8992499999999995e+02) :rot (matrix-exponent (scale 1.6020364257483304e+00 (float-vector -9.6984440751447565e-01 1.7207315992342950e-01 -1.7260548324680050e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_wrist_flex_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.5277143381554517e+05 6.4339106681473507e+05 1.9824412936971989e+05))) (transpose (send tmp-c :worldrot)))) - (setq (r_wrist_flex_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_wrist_flex_link_lk,domNode=r_wrist_flex_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_wrist_flex_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_wrist_flex_link_lk :transform - (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_wrist_roll_link_lk,domNode=r_wrist_flex_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_wrist_roll_link_lk :transform localcds :world) + :bodies geom-lst + :name "projector_wg6802418_child_frame")) + ;; inertial parameter for projector_wg6802418_child_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send projector_wg6802418_child_frame_lk :weight 10.000) + (setq (projector_wg6802418_child_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (projector_wg6802418_child_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for projector_wg6802418_child_frame_lk + (let ((world-cds (make-coords :pos (float-vector 2.4129999999999999e+01 1.1000000000000000e+02 1.2912250000000001e+03) + :rot (quaternion2matrix (float-vector 7.0710678118827863e-01 0.0000000000000000e+00 -7.0710678118481640e-01 0.0000000000000000e+00))) + )) + (send projector_wg6802418_child_frame_lk :transform world-cds)) + ) + + ;; link: projector_wg6802418_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq projector_wg6802418_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "projector_wg6802418_frame")) + ;; inertial parameter for projector_wg6802418_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send projector_wg6802418_frame_lk :weight 10.000) + (setq (projector_wg6802418_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (projector_wg6802418_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for projector_wg6802418_frame_lk + (let ((world-cds (make-coords :pos (float-vector 2.4129999999999999e+01 1.1000000000000000e+02 1.2912250000000001e+03)) + )) + (send projector_wg6802418_frame_lk :transform world-cds)) ) - ;; writeTransform(name=r_wrist_roll_link_lk,domNode=r_wrist_flex_link,targetCount=1,parent=r_wrist_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_wrist_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_wrist_flex_link_lk) - - ;; writeTransform(name=r_wrist_roll_link_lk,domNode=r_wrist_flex_link,targetCount=2,parent=r_wrist_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_wrist_flex_link_lk :assoc r_wrist_roll_link_lk) + ;; link: r_elbow_flex_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_elbow_flex_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_elbow_flex_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_elbow_flex_link")) + ;; inertial parameter for r_elbow_flex_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.0139999999999983e+01 3.1999999999998696e-01 -1.2109999999999953e+01) + :rot (quaternion2matrix (float-vector 6.7023857211269999e-01 -6.5469615865643171e-01 -2.3355256344108982e-01 2.6001230048391416e-01))) + )) + (send r_elbow_flex_link_lk :weight 1903.270) + (setq (r_elbow_flex_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.0897687844015122e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 3.9647676565655996e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 4.4185162390328888e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_elbow_flex_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_elbow_flex_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_elbow_flex_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node68, name=r_forearm_link, sid=node68 - (let ( b_gkmodel0_r_forearm_link_geom0) - ;; define bodyset-link for r_forearm_link : vkmodel0_node68 - (setq b_gkmodel0_r_forearm_link_geom0 (instance pr2_gkmodel0_r_forearm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_forearm_link_geom0,domNode=r_forearm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_forearm_link_geom0 :transform localcds :world) - ) + ;; link: r_forearm_cam_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_forearm_cam_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_forearm_cam_frame")) + ;; inertial parameter for r_forearm_cam_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_forearm_cam_frame_lk :weight 10.000) + (setq (r_forearm_cam_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_forearm_cam_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_forearm_cam_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.9278174482800000e+02 -2.0033502870120000e+02 8.2942074642509999e+02) + :rot (quaternion2matrix (float-vector 6.7977275225487255e-01 6.7856950148554640e-01 -1.9274528806062191e-01 2.0075281038112730e-01))) + )) + (send r_forearm_cam_frame_lk :transform world-cds)) + ) + + ;; link: r_forearm_cam_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_forearm_cam_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_forearm_cam_optical_frame")) + (progn (send r_forearm_cam_optical_frame_lk :weight 0.0) (setq (r_forearm_cam_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send r_forearm_cam_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for r_forearm_cam_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.9278174482800000e+02 -2.0033502870120000e+02 8.2942074642509999e+02) + :rot (quaternion2matrix (float-vector 8.7592017609227635e-01 -4.6053865427630736e-03 4.8242207764719869e-01 3.4021357744196679e-03))) + )) + (send r_forearm_cam_optical_frame_lk :transform world-cds)) + ) + + ;; link: r_forearm_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_forearm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq r_forearm_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_forearm_link_geom0) + :bodies geom-lst :name "r_forearm_link")) - (send r_forearm_link_lk :weight 2579.680) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 6.3790999999999997e+02 -1.8817000000000002e+02 7.8155499999999995e+02) :rot (matrix-exponent (scale 1.5779985754811521e+00 (float-vector -9.9924263837171390e-01 -2.5028657373233270e-02 2.9794562759500778e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for r_forearm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 1.8790999999999997e+02 -1.7000000000000348e-01 -9.1200000000000170e+00) + :rot (quaternion2matrix (float-vector 7.0455582233769354e-01 -7.0911110961966251e-01 -1.7761550919348956e-02 2.1143668862499916e-02))) + )) + (send r_forearm_link_lk :weight 2579.680) (setq (r_forearm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.6089171216999060e+06 1.6632586642306661e+07 1.5077544915993441e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_forearm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_forearm_link_lk,domNode=r_forearm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_wrist_flex_link_lk,domNode=r_forearm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_wrist_flex_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_wrist_flex_link_lk,domNode=r_forearm_link,targetCount=1,parent=r_forearm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_wrist_flex_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_forearm_link_lk) - - ;; writeTransform(name=r_wrist_flex_link_lk,domNode=r_forearm_link,targetCount=2,parent=r_forearm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_forearm_link_lk :assoc r_wrist_flex_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.6089171216999060e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.6632586642306658e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5077544915993441e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_forearm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_forearm_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_forearm_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node69, name=r_forearm_roll_link, sid=node69 - (let ( b_gkmodel0_r_forearm_roll_link_geom0) - ;; define bodyset-link for r_forearm_roll_link : vkmodel0_node69 - (setq b_gkmodel0_r_forearm_roll_link_geom0 (instance pr2_gkmodel0_r_forearm_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_forearm_roll_link_geom0,domNode=r_forearm_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_forearm_roll_link_geom0 :transform localcds :world) - ) + ;; link: r_forearm_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_forearm_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq r_forearm_roll_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_forearm_roll_link_geom0) + :bodies geom-lst :name "r_forearm_roll_link")) - (send r_forearm_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.5000000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for r_forearm_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_forearm_roll_link_lk :weight 100.000) (setq (r_forearm_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_forearm_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_forearm_roll_link_lk,domNode=r_forearm_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_forearm_cam_frame_lk,domNode=r_forearm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_cam_frame_lk :transform localcds :world) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_forearm_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_forearm_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 4.5000000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_forearm_roll_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_forearm_cam_frame_lk,domNode=r_forearm_roll_link,targetCount=1,parent=r_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_cam_frame_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_forearm_roll_link_lk) - - ;; writeTransform(name=r_forearm_cam_frame_lk,domNode=r_forearm_roll_link,targetCount=2,parent=r_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_forearm_roll_link_lk :assoc r_forearm_cam_frame_lk) - - ;; writeTransform(name=r_forearm_link_lk,domNode=r_forearm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_link_lk :transform localcds :world) + ;; link: r_gripper_l_finger_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_l_finger_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_l_finger_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_l_finger_link")) + ;; inertial parameter for r_gripper_l_finger_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 3.5979999999999905e+01 1.7299999999999983e+01 -1.6399999999999748e+00) + :rot (quaternion2matrix (float-vector 6.3262934235930901e-01 7.7302450075385043e-01 2.5774405529421746e-02 3.9356275737085514e-02))) + )) + (send r_gripper_l_finger_link_lk :weight 171.260) + (setq (r_gripper_l_finger_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 7.6623944609730548e+04 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.8133591439139261e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9773963099887679e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_l_finger_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_l_finger_link_lk + (let ((world-cds (make-coords :pos (float-vector 8.4791000000000008e+02 -1.7800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_l_finger_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_forearm_link_lk,domNode=r_forearm_roll_link,targetCount=1,parent=r_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_forearm_roll_link_lk) + ;; link: r_gripper_l_finger_tip_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_l_finger_tip_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_l_finger_tip_frame")) + (progn (send r_gripper_l_finger_tip_frame_lk :weight 0.0) (setq (r_gripper_l_finger_tip_frame_lk . acentroid) (float-vector 0 0 0)) (send r_gripper_l_finger_tip_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for r_gripper_l_finger_tip_frame_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 -2.0295000000000002e+02 7.9067500000000007e+02)) + )) + (send r_gripper_l_finger_tip_frame_lk :transform world-cds)) + ) + + ;; link: r_gripper_l_finger_tip_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_l_finger_tip_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_l_finger_tip_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_l_finger_tip_link")) + ;; inertial parameter for r_gripper_l_finger_tip_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 4.2299999999998450e+00 2.8399999999999812e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 9.3563462459842295e-01 0.0000000000000000e+00 0.0000000000000000e+00 3.5297004016285605e-01))) + )) + (send r_gripper_l_finger_tip_link_lk :weight 44.190) + (setq (r_gripper_l_finger_tip_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.2362449620368520e+03 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.5004895037963150e+04 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5417679999999997e+04)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_l_finger_tip_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_l_finger_tip_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 -1.7304999999999998e+02 7.9067500000000007e+02)) + )) + (send r_gripper_l_finger_tip_link_lk :transform world-cds)) + ) - ;; writeTransform(name=r_forearm_link_lk,domNode=r_forearm_roll_link,targetCount=2,parent=r_forearm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_forearm_roll_link_lk :assoc r_forearm_link_lk) + ;; link: r_gripper_led_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_led_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_led_frame")) + (progn (send r_gripper_led_frame_lk :weight 0.0) (setq (r_gripper_led_frame_lk . acentroid) (float-vector 0 0 0)) (send r_gripper_led_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for r_gripper_led_frame_lk + (let ((world-cds (make-coords :pos (float-vector 8.2230000000000007e+02 -1.8800000000000000e+02 8.1507500000000005e+02)) + )) + (send r_gripper_led_frame_lk :transform world-cds)) + ) + + ;; link: r_gripper_motor_accelerometer_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_motor_accelerometer_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_motor_accelerometer_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_motor_accelerometer_link")) + ;; inertial parameter for r_gripper_motor_accelerometer_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_gripper_motor_accelerometer_link_lk :weight 1.000) + (setq (r_gripper_motor_accelerometer_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_motor_accelerometer_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_motor_accelerometer_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_motor_accelerometer_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node65, name=r_elbow_flex_link, sid=node65 - (let ( b_gkmodel0_r_elbow_flex_link_geom0) - ;; define bodyset-link for r_elbow_flex_link : vkmodel0_node65 - (setq b_gkmodel0_r_elbow_flex_link_geom0 (instance pr2_gkmodel0_r_elbow_flex_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_elbow_flex_link_geom0,domNode=r_elbow_flex_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_elbow_flex_link_geom0 :transform localcds :world) - ) - (setq r_elbow_flex_link_lk + ;; link: r_gripper_motor_screw_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_motor_screw_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_elbow_flex_link_geom0) - :name "r_elbow_flex_link")) - (send r_elbow_flex_link_lk :weight 1903.270) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 4.6013999999999999e+02 -1.8768000000000001e+02 7.7856500000000005e+02) :rot (matrix-exponent (scale 1.6725322467090611e+00 (float-vector -8.8216660002903247e-01 -3.1469906779613738e-01 3.5035208936362727e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_elbow_flex_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 3.0897687844015122e+06 3.9647676565655996e+06 4.4185162390328888e+06))) (transpose (send tmp-c :worldrot)))) - (setq (r_elbow_flex_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_elbow_flex_link_lk,domNode=r_elbow_flex_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_elbow_flex_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_elbow_flex_link_lk :transform - (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_forearm_roll_link_lk,domNode=r_elbow_flex_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_forearm_roll_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_forearm_roll_link_lk,domNode=r_elbow_flex_link,targetCount=1,parent=r_elbow_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_forearm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_elbow_flex_link_lk) - - ;; writeTransform(name=r_forearm_roll_link_lk,domNode=r_elbow_flex_link,targetCount=2,parent=r_elbow_flex_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_elbow_flex_link_lk :assoc r_forearm_roll_link_lk) + :bodies geom-lst + :name "r_gripper_motor_screw_link")) + ;; inertial parameter for r_gripper_motor_screw_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_gripper_motor_screw_link_lk :weight 10.000) + (setq (r_gripper_motor_screw_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_motor_screw_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_motor_screw_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3927999999999997e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_motor_screw_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node84, name=r_upper_arm_link, sid=node84 - (let ( b_gkmodel0_r_upper_arm_link_geom0) - ;; define bodyset-link for r_upper_arm_link : vkmodel0_node84 - (setq b_gkmodel0_r_upper_arm_link_geom0 (instance pr2_gkmodel0_r_upper_arm_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_upper_arm_link_geom0,domNode=r_upper_arm_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_upper_arm_link_geom0 :transform localcds :world) - ) - (setq r_upper_arm_link_lk + ;; link: r_gripper_motor_slider_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_motor_slider_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_upper_arm_link_geom0) - :name "r_upper_arm_link")) - (send r_upper_arm_link_lk :weight 6017.690) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 2.6398000000000002e+02 -2.0421000000000001e+02 7.9047500000000002e+02) :rot (matrix-exponent (scale 1.9973601034355085e-01 (float-vector -9.4720967440641535e-01 8.6825510450977084e-02 3.0863435234241149e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_upper_arm_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.5132686535267271e+07 7.4930655272408560e+07 7.6138485232324168e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_upper_arm_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_upper_arm_link_lk,domNode=r_upper_arm_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_upper_arm_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_upper_arm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_elbow_flex_link_lk,domNode=r_upper_arm_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_elbow_flex_link_lk :transform localcds :world) + :bodies geom-lst + :name "r_gripper_motor_slider_link")) + ;; inertial parameter for r_gripper_motor_slider_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_gripper_motor_slider_link_lk :weight 10.000) + (setq (r_gripper_motor_slider_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_motor_slider_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_motor_slider_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3927999999999997e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_motor_slider_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_elbow_flex_link_lk,domNode=r_upper_arm_link,targetCount=1,parent=r_upper_arm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_elbow_flex_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_upper_arm_link_lk) - - ;; writeTransform(name=r_elbow_flex_link_lk,domNode=r_upper_arm_link,targetCount=2,parent=r_upper_arm_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_upper_arm_link_lk :assoc r_elbow_flex_link_lk) + ;; link: r_gripper_palm_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_palm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_palm_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_palm_link")) + ;; inertial parameter for r_gripper_palm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 6.6230000000000018e+01 5.3000000000000269e-01 -1.1900000000000244e+00) + :rot (quaternion2matrix (float-vector 1.4899072945442145e-03 9.9970499746458896e-01 2.4226387096224839e-02 8.8339619865787514e-04))) + )) + (send r_gripper_palm_link_lk :weight 580.070) + (setq (r_gripper_palm_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.5147110342667863e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 6.7817787266766967e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 8.6563651390565163e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_palm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_palm_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_palm_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node85, name=r_upper_arm_roll_link, sid=node85 - (let ( b_gkmodel0_r_upper_arm_roll_link_geom0) - ;; define bodyset-link for r_upper_arm_roll_link : vkmodel0_node85 - (setq b_gkmodel0_r_upper_arm_roll_link_geom0 (instance pr2_gkmodel0_r_upper_arm_roll_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_upper_arm_roll_link_geom0,domNode=r_upper_arm_roll_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_upper_arm_roll_link_geom0 :transform localcds :world) - ) - (setq r_upper_arm_roll_link_lk + ;; link: r_gripper_r_finger_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_r_finger_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_r_finger_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_upper_arm_roll_link_geom0) - :name "r_upper_arm_roll_link")) - (send r_upper_arm_roll_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 5.0000000000000000e+01 -1.8800000000000000e+02 7.9067500000000007e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (r_upper_arm_roll_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_upper_arm_roll_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_upper_arm_roll_link_lk,domNode=r_upper_arm_roll_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_upper_arm_link_lk,domNode=r_upper_arm_roll_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_upper_arm_link_lk :transform localcds :world) + :bodies geom-lst + :name "r_gripper_r_finger_link")) + ;; inertial parameter for r_gripper_r_finger_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 3.5759999999999906e+01 -1.7359999999999985e+01 -9.5000000000000639e-01) + :rot (quaternion2matrix (float-vector 7.5776139467964265e-01 6.5127216354607009e-01 3.5226594320275487e-02 2.0033092017423846e-02))) + )) + (send r_gripper_r_finger_link_lk :weight 173.890) + (setq (r_gripper_r_finger_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 7.6684670622283287e+04 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.8134000171817749e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9890313765953921e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_r_finger_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_r_finger_link_lk + (let ((world-cds (make-coords :pos (float-vector 8.4791000000000008e+02 -1.9800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_r_finger_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_upper_arm_link_lk,domNode=r_upper_arm_roll_link,targetCount=1,parent=r_upper_arm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_upper_arm_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_upper_arm_roll_link_lk) - - ;; writeTransform(name=r_upper_arm_link_lk,domNode=r_upper_arm_roll_link,targetCount=2,parent=r_upper_arm_roll_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_upper_arm_roll_link_lk :assoc r_upper_arm_link_lk) + ;; link: r_gripper_r_finger_tip_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_gripper_r_finger_tip_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_r_finger_tip_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_r_finger_tip_link")) + ;; inertial parameter for r_gripper_r_finger_tip_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 4.2299999999998450e+00 -2.8399999999999812e+00 0.0000000000000000e+00) + :rot (quaternion2matrix (float-vector 9.3563462459842295e-01 0.0000000000000000e+00 0.0000000000000000e+00 -3.5297004016285605e-01))) + )) + (send r_gripper_r_finger_tip_link_lk :weight 44.190) + (setq (r_gripper_r_finger_tip_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 3.2362449620368520e+03 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.5004895037963150e+04 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5417679999999997e+04)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_gripper_r_finger_tip_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_gripper_r_finger_tip_link_lk + (let ((world-cds (make-coords :pos (float-vector 9.3928000000000009e+02 -2.0295000000000002e+02 7.9067500000000007e+02)) + )) + (send r_gripper_r_finger_tip_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node81, name=r_shoulder_lift_link, sid=node81 - (let ( b_gkmodel0_r_shoulder_lift_link_geom0) - ;; define bodyset-link for r_shoulder_lift_link : vkmodel0_node81 - (setq b_gkmodel0_r_shoulder_lift_link_geom0 (instance pr2_gkmodel0_r_shoulder_lift_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_shoulder_lift_link_geom0,domNode=r_shoulder_lift_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_shoulder_lift_link_geom0 :transform localcds :world) - ) + ;; link: r_gripper_tool_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_gripper_tool_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_gripper_tool_frame")) + (progn (send r_gripper_tool_frame_lk :weight 0.0) (setq (r_gripper_tool_frame_lk . acentroid) (float-vector 0 0 0)) (send r_gripper_tool_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for r_gripper_tool_frame_lk + (let ((world-cds (make-coords :pos (float-vector 9.5100000000000011e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_gripper_tool_frame_lk :transform world-cds)) + ) + + ;; link: r_shoulder_lift_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_shoulder_lift_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq r_shoulder_lift_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_shoulder_lift_link_geom0) + :bodies geom-lst :name "r_shoulder_lift_link")) - (send r_shoulder_lift_link_lk :weight 2749.880) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 7.1950000000000003e+01 -2.1463999999999999e+02 7.5940499999999997e+02) :rot (matrix-exponent (scale 2.5410867772154906e+00 (float-vector 2.5017691190252062e-01 -5.0040076428166858e-01 8.2886101842060378e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for r_shoulder_lift_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 2.1949999999999996e+01 -2.6639999999999997e+01 -3.1270000000000021e+01) + :rot (quaternion2matrix (float-vector 2.9576183828508645e-01 2.3898442472179413e-01 -4.7801368988356990e-01 7.9177919399193220e-01))) + )) + (send r_shoulder_lift_link_lk :weight 2749.880) (setq (r_shoulder_lift_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.6187368693981059e+07 2.0730163313329030e+07 1.5168089652689921e+07))) (transpose (send tmp-c :worldrot)))) - (setq (r_shoulder_lift_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_shoulder_lift_link_lk,domNode=r_shoulder_lift_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_upper_arm_roll_link_lk,domNode=r_shoulder_lift_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_upper_arm_roll_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_upper_arm_roll_link_lk,domNode=r_shoulder_lift_link,targetCount=1,parent=r_shoulder_lift_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_upper_arm_roll_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_shoulder_lift_link_lk) - - ;; writeTransform(name=r_upper_arm_roll_link_lk,domNode=r_shoulder_lift_link,targetCount=2,parent=r_shoulder_lift_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_shoulder_lift_link_lk :assoc r_upper_arm_roll_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 2.6187368693981063e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 2.0730163313329030e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.5168089652689919e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_shoulder_lift_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_shoulder_lift_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_shoulder_lift_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node82, name=r_shoulder_pan_link, sid=node82 - (let ( b_gkmodel0_r_shoulder_pan_link_geom0) - ;; define bodyset-link for r_shoulder_pan_link : vkmodel0_node82 - (setq b_gkmodel0_r_shoulder_pan_link_geom0 (instance pr2_gkmodel0_r_shoulder_pan_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_r_shoulder_pan_link_geom0,domNode=r_shoulder_pan_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_r_shoulder_pan_link_geom0 :transform localcds :world) - ) + ;; link: r_shoulder_pan_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_shoulder_pan_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) (setq r_shoulder_pan_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_r_shoulder_pan_link_geom0) + :bodies geom-lst :name "r_shoulder_pan_link")) - (send r_shoulder_pan_link_lk :weight 25799.322) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -5.1201000000000001e+01 -1.6348699999999999e+02 6.9244400000000007e+02) :rot (matrix-exponent (scale 7.6635123664586935e-01 (float-vector 2.3445760813806441e-01 -1.9808997642959120e-01 9.5172999911965683e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; inertial parameter for r_shoulder_pan_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -1.2010000000000007e+00 2.4513000000000005e+01 -9.8230999999999952e+01) + :rot (quaternion2matrix (float-vector 9.2748205313791365e-01 8.7656121686357058e-02 -7.4059439643071295e-02 3.5582108543162694e-01))) + )) + (send r_shoulder_pan_link_lk :weight 25799.322) (setq (r_shoulder_pan_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 9.3420134354104972e+08 8.3770052521175265e+08 2.4203263939719772e+08))) (transpose (send tmp-c :worldrot)))) - (setq (r_shoulder_pan_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_shoulder_pan_link_lk,domNode=r_shoulder_pan_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send r_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -1.8800000000000000e+02 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=r_shoulder_lift_link_lk,domNode=r_shoulder_pan_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 -1.8800000000000000e+02 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_shoulder_lift_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=r_shoulder_lift_link_lk,domNode=r_shoulder_pan_link,targetCount=1,parent=r_shoulder_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send r_shoulder_lift_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) r_shoulder_pan_link_lk) - - ;; writeTransform(name=r_shoulder_lift_link_lk,domNode=r_shoulder_pan_link,targetCount=2,parent=r_shoulder_pan_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send r_shoulder_pan_link_lk :assoc r_shoulder_lift_link_lk) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 9.3420134354104972e+08 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 8.3770052521175265e+08 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.4203263939719772e+08)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_shoulder_pan_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_shoulder_pan_link_lk + (let ((world-cds (make-coords :pos (float-vector -5.0000000000000000e+01 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_shoulder_pan_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node83, name=r_torso_lift_side_plate_link, sid=node83 - (let () - ;; define cascaded-coords for r_torso_lift_side_plate_link - (setq r_torso_lift_side_plate_link_lk (instance bodyset-link :init (make-cascoords) :name "r_torso_lift_side_plate_link")) - (send r_torso_lift_side_plate_link_lk :weight 100.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -5.9000000000000000e+01 -2.0928500000000000e+02 1.0173000000000001e+03) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; link: r_torso_lift_side_plate_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_torso_lift_side_plate_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_torso_lift_side_plate_link")) + ;; inertial parameter for r_torso_lift_side_plate_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -6.2499999999999993e+01 0.0000000000000000e+00 5.0000000000000043e+01)) + )) + (send r_torso_lift_side_plate_link_lk :weight 100.000) (setq (r_torso_lift_side_plate_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (r_torso_lift_side_plate_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=r_torso_lift_side_plate_link_lk,domNode=r_torso_lift_side_plate_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 5.3500000000000000e+01 -2.0928500000000000e+02 1.7662500000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_torso_lift_side_plate_link_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_torso_lift_side_plate_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_torso_lift_side_plate_link_lk + (let ((world-cds (make-coords :pos (float-vector 3.4999999999999960e+00 -2.0928500000000000e+02 9.6730000000000007e+02)) + )) + (send r_torso_lift_side_plate_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node90, name=torso_lift_link, sid=node90 - (let ( b_gkmodel0_torso_lift_link_geom0) - ;; define bodyset-link for torso_lift_link : vkmodel0_node90 - (setq b_gkmodel0_torso_lift_link_geom0 (instance pr2_gkmodel0_torso_lift_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_torso_lift_link_geom0,domNode=torso_lift_link,targetCount=1,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_torso_lift_link_geom0 :transform localcds :world) - ) - (setq torso_lift_link_lk + ;; link: r_upper_arm_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_upper_arm_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_upper_arm_link_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_torso_lift_link_geom0) - :name "torso_lift_link")) - (send torso_lift_link_lk :weight 36248.046) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.5000000000000000e+02 0.0000000000000000e+00 7.0217499999999995e+02) :rot (matrix-exponent (scale 1.5568240654901644e+00 (float-vector 9.9871048154980702e-01 -3.1965195938106129e-02 -3.9441099010943392e-02)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (torso_lift_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 2.7830748220493426e+09 5.1458072243189913e+08 2.5104500693077579e+09))) (transpose (send tmp-c :worldrot)))) - (setq (torso_lift_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=torso_lift_link_lk,domNode=torso_lift_link,targetCount=0,parent=:local), translateCount=4, rotateCount=3, matrixCount=0 - (send torso_lift_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send torso_lift_link_lk :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=head_pan_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send head_pan_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=head_pan_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send head_pan_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=head_pan_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=head_pan_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc head_pan_link_lk) - - ;; writeTransform(name=imu_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send imu_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=imu_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send imu_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=imu_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=imu_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc imu_link_lk) - - ;; writeTransform(name=l_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_shoulder_pan_link_lk :transform localcds :world) + :bodies geom-lst + :name "r_upper_arm_link")) + ;; inertial parameter for r_upper_arm_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 2.1397999999999999e+02 -1.6210000000000001e+01 -1.9999999999997797e-01) + :rot (quaternion2matrix (float-vector 9.9501733410487181e-01 -9.4438775088367580e-02 8.6566840214665347e-03 3.0771487003312628e-02))) + )) + (send r_upper_arm_link_lk :weight 6017.690) + (setq (r_upper_arm_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.5132686535267271e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 7.4930655272408575e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 7.6138485232324168e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_upper_arm_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_upper_arm_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_upper_arm_link_lk :transform world-cds)) ) - ;; writeTransform(name=l_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send l_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=l_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=l_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc l_shoulder_pan_link_lk) - - ;; writeTransform(name=l_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send l_torso_lift_side_plate_link_lk :transform localcds :world) + ;; link: r_upper_arm_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_upper_arm_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_upper_arm_roll_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_upper_arm_roll_link")) + ;; inertial parameter for r_upper_arm_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_upper_arm_roll_link_lk :weight 100.000) + (setq (r_upper_arm_roll_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_upper_arm_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_upper_arm_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.0000000000000000e+01 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_upper_arm_roll_link_lk :transform world-cds)) ) - ;; writeTransform(name=l_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send l_torso_lift_side_plate_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=l_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=l_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc l_torso_lift_side_plate_link_lk) - - ;; writeTransform(name=laser_tilt_mount_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send laser_tilt_mount_link_lk :transform localcds :world) + ;; link: r_wrist_flex_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_wrist_flex_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_wrist_flex_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_wrist_flex_link")) + ;; inertial parameter for r_wrist_flex_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -1.5699999999999603e+00 0.0000000000000000e+00 -7.5000000000002842e-01) + :rot (quaternion2matrix (float-vector 6.9597592710835521e-01 -6.9641143568018082e-01 1.2355973330960543e-01 -1.2394197611783576e-01))) + )) + (send r_wrist_flex_link_lk :weight 614.020) + (setq (r_wrist_flex_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 6.5277143381554517e+05 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 6.4339106681473507e+05 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.9824412936971989e+05)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_wrist_flex_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_wrist_flex_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_wrist_flex_link_lk :transform world-cds)) ) - ;; writeTransform(name=laser_tilt_mount_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send laser_tilt_mount_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=laser_tilt_mount_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=laser_tilt_mount_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc laser_tilt_mount_link_lk) - - ;; writeTransform(name=r_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_shoulder_pan_link_lk :transform localcds :world) + ;; link: r_wrist_roll_link_lk + (let ((geom-lst (list + (send self :_make_instance_r_wrist_roll_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq r_wrist_roll_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "r_wrist_roll_link")) + ;; inertial parameter for r_wrist_roll_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send r_wrist_roll_link_lk :weight 100.000) + (setq (r_wrist_roll_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (r_wrist_roll_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for r_wrist_roll_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send r_wrist_roll_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send r_shoulder_pan_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=r_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=r_shoulder_pan_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc r_shoulder_pan_link_lk) - - ;; writeTransform(name=r_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=0,parent=:world), translateCount=4, rotateCount=3, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send r_torso_lift_side_plate_link_lk :transform localcds :world) + ;; link: right_arm_chain_cb_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq right_arm_chain_cb_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "right_arm_chain_cb_link")) + (progn (send right_arm_chain_cb_link_lk :weight 0.0) (setq (right_arm_chain_cb_link_lk . acentroid) (float-vector 0 0 0)) (send right_arm_chain_cb_link_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for right_arm_chain_cb_link_lk + (let ((world-cds (make-coords :pos (float-vector 7.7100000000000000e+02 -1.8800000000000000e+02 7.9067500000000007e+02)) + )) + (send right_arm_chain_cb_link_lk :transform world-cds)) + ) + + ;; link: sensor_mount_link_lk + (let ((geom-lst (list + (send self :_make_instance_sensor_mount_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq sensor_mount_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "sensor_mount_link")) + ;; inertial parameter for sensor_mount_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send sensor_mount_link_lk :weight 50.000) + (setq (sensor_mount_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (sensor_mount_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for sensor_mount_link_lk + (let ((world-cds (make-coords :pos (float-vector 2.4129999999999999e+01 0.0000000000000000e+00 1.2366250000000000e+03)) + )) + (send sensor_mount_link_lk :transform world-cds)) ) - ;; writeTransform(name=r_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=1,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - (send r_torso_lift_side_plate_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) torso_lift_link_lk) - - ;; writeTransform(name=r_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=2,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - - ;; writeTransform(name=r_torso_lift_side_plate_link_lk,domNode=torso_lift_link,targetCount=3,parent=torso_lift_link_lk), translateCount=4, rotateCount=3, matrixCount=0 - ;;2; - (send torso_lift_link_lk :assoc r_torso_lift_side_plate_link_lk) + ;; link: torso_lift_link_lk + (let ((geom-lst (list + (send self :_make_instance_torso_lift_link_geom0)))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq torso_lift_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "torso_lift_link")) + ;; inertial parameter for torso_lift_link_lk + (let ((tmp-cds (make-coords :pos (float-vector -9.9999999999999986e+01 0.0000000000000000e+00 -8.8500000000000028e+01) + :rot (quaternion2matrix (float-vector 7.1202942589785090e-01 7.0124419064990795e-01 -2.2444350358472802e-02 -2.7693552901690011e-02))) + )) + (send torso_lift_link_lk :weight 36248.046) + (setq (torso_lift_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 2.7830748220493431e+09 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 5.1458072243189907e+08 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 2.5104500693077579e+09)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (torso_lift_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for torso_lift_link_lk + (let ((world-cds (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.9067500000000007e+02)) + )) + (send torso_lift_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node91, name=torso_lift_motor_screw_link, sid=node91 - (let () - ;; define cascaded-coords for torso_lift_motor_screw_link - (setq torso_lift_motor_screw_link_lk (instance bodyset-link :init (make-cascoords) :name "torso_lift_motor_screw_link")) - (send torso_lift_motor_screw_link_lk :weight 1000.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -1.5000000000000000e+02 0.0000000000000000e+00 7.5100000000000000e+02) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) + ;; link: torso_lift_motor_screw_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq torso_lift_motor_screw_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "torso_lift_motor_screw_link")) + ;; inertial parameter for torso_lift_motor_screw_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) + )) + (send torso_lift_motor_screw_link_lk :weight 1000.000) (setq (torso_lift_motor_screw_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+06 1.0000000000000000e+06 1.0000000000000000e+06))) (transpose (send tmp-c :worldrot)))) - (setq (torso_lift_motor_screw_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=torso_lift_motor_screw_link_lk,domNode=torso_lift_motor_screw_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector -1.5000000000000000e+02 0.0000000000000000e+00 7.0000000000000000e+02) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send torso_lift_motor_screw_link_lk :transform localcds :world) - ) - ;;1; + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (torso_lift_motor_screw_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for torso_lift_motor_screw_link_lk + (let ((world-cds (make-coords :pos (float-vector -1.5000000000000000e+02 0.0000000000000000e+00 7.5100000000000000e+02)) + )) + (send torso_lift_motor_screw_link_lk :transform world-cds)) ) - ;; node id=vkmodel0_node3, name=base_link, sid=node3 - (let ( b_gkmodel0_base_link_geom0) - ;; define bodyset-link for base_link : vkmodel0_node3 - (setq b_gkmodel0_base_link_geom0 (instance pr2_gkmodel0_base_link_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_base_link_geom0,domNode=base_link,targetCount=1,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send b_gkmodel0_base_link_geom0 :transform localcds :world) - ) - (setq base_link_lk + ;; link: wide_stereo_l_stereo_camera_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_l_stereo_camera_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_base_link_geom0) - :name "base_link")) - (send base_link_lk :weight 116000.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector -6.1000000000000000e+01 0.0000000000000000e+00 1.9750000000000000e+02) :rot (matrix-exponent (scale 1.6263618787863550e+00 (float-vector -9.4935602358248927e-01 2.3117598361086950e-01 -2.1279286898106139e-01)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (base_link_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 6.2938848215018797e+09 3.0417723116333189e+09 5.6692450764547997e+09))) (transpose (send tmp-c :worldrot)))) - (setq (base_link_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=base_link_lk,domNode=base_link,targetCount=0,parent=:local), translateCount=3, rotateCount=4, matrixCount=0 - (send base_link_lk :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=base_bellow_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_bellow_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=base_bellow_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send base_bellow_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=base_bellow_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc base_bellow_link_lk) - - ;; writeTransform(name=base_laser_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_laser_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=base_laser_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send base_laser_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=base_laser_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc base_laser_link_lk) - - ;; writeTransform(name=bl_caster_rotation_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send bl_caster_rotation_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=bl_caster_rotation_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send bl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=bl_caster_rotation_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc bl_caster_rotation_link_lk) - - ;; writeTransform(name=br_caster_rotation_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send br_caster_rotation_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=br_caster_rotation_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send br_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=br_caster_rotation_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc br_caster_rotation_link_lk) - - ;; writeTransform(name=fl_caster_rotation_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fl_caster_rotation_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fl_caster_rotation_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fl_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=fl_caster_rotation_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc fl_caster_rotation_link_lk) - - ;; writeTransform(name=fr_caster_rotation_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send fr_caster_rotation_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=fr_caster_rotation_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send fr_caster_rotation_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=fr_caster_rotation_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc fr_caster_rotation_link_lk) - - ;; writeTransform(name=torso_lift_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send torso_lift_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=torso_lift_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send torso_lift_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=torso_lift_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc torso_lift_link_lk) - - ;; writeTransform(name=torso_lift_motor_screw_link_lk,domNode=base_link,targetCount=0,parent=:world), translateCount=3, rotateCount=4, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector -0.0000000000000000e+00 -0.0000000000000000e+00 -0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send torso_lift_motor_screw_link_lk :transform localcds :world) - ) - - ;; writeTransform(name=torso_lift_motor_screw_link_lk,domNode=base_link,targetCount=1,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - (send torso_lift_motor_screw_link_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) base_link_lk) - - ;; writeTransform(name=torso_lift_motor_screw_link_lk,domNode=base_link,targetCount=2,parent=base_link_lk), translateCount=3, rotateCount=4, matrixCount=0 - ;;2; - (send base_link_lk :assoc torso_lift_motor_screw_link_lk) - ) - - ;; node id=vkmodel0_node1, name=base_footprint, sid=node1 - (let ( b_gkmodel0_base_footprint_geom0) - ;; define bodyset-link for base_footprint : vkmodel0_node1 - (setq b_gkmodel0_base_footprint_geom0 (instance pr2_gkmodel0_base_footprint_geom0 :init)) - - ;; writeTransform(name=b_gkmodel0_base_footprint_geom0,domNode=base_footprint,targetCount=1,parent=:world), translateCount=1, rotateCount=1, matrixCount=0 - (let ((localcds (make-coords))) - (send b_gkmodel0_base_footprint_geom0 :transform localcds :world) - ) - (setq base_footprint_lk + :bodies geom-lst + :name "wide_stereo_l_stereo_camera_frame")) + ;; inertial parameter for wide_stereo_l_stereo_camera_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 3.4694469519536142e-15 -2.2204460492503131e-13) + :rot (quaternion2matrix (float-vector 1.0000000000000000e+00 3.3881317890172014e-21 8.6736173798840355e-19 0.0000000000000000e+00))) + )) + (send wide_stereo_l_stereo_camera_frame_lk :weight 10.000) + (setq (wide_stereo_l_stereo_camera_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (wide_stereo_l_stereo_camera_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for wide_stereo_l_stereo_camera_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111347002e+03) + :rot (quaternion2matrix (float-vector 9.9996564324259862e-01 -3.7075010798754715e-03 -6.2133588949438764e-03 -4.0448660548236034e-03))) + )) + (send wide_stereo_l_stereo_camera_frame_lk :transform world-cds)) + ) + + ;; link: wide_stereo_l_stereo_camera_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_l_stereo_camera_optical_frame_lk (instance bodyset-link :init (make-cascoords) - :bodies (list b_gkmodel0_base_footprint_geom0) - :name "base_footprint")) - (send base_footprint_lk :weight 1000.000) - (let ((tmp-c-list (list - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :rot (matrix-exponent (scale 0.0000000000000000e+00 (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) - )) - (tmp-c (make-coords))) - (dolist (cc tmp-c-list) - (setq tmp-c (send tmp-c :transform cc))) - (setq (base_footprint_lk . inertia-tensor) - (m* (m* (send tmp-c :worldrot) (diagonal (float-vector 1.0000000000000000e+07 1.0000000000000000e+07 1.0000000000000000e+07))) (transpose (send tmp-c :worldrot)))) - (setq (base_footprint_lk . acentroid) (send tmp-c :worldpos)) - ) - - ;; writeTransform(name=base_footprint_lk,domNode=base_footprint,targetCount=0,parent=:local), translateCount=1, rotateCount=1, matrixCount=0 - (send base_footprint_lk :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - ;;1; - - ;; writeTransform(name=base_link_lk,domNode=base_footprint,targetCount=0,parent=:world), translateCount=1, rotateCount=1, matrixCount=0 - (let ((localcds (make-coords))) - (send localcds :transform - (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) - :angle 0.0000000000000000e+00 :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)) :local) - (send base_link_lk :transform localcds :world) - ) - ;;2; - (send base_footprint_lk :assoc base_link_lk) - ) - + :bodies geom-lst + :name "wide_stereo_l_stereo_camera_optical_frame")) + (progn (send wide_stereo_l_stereo_camera_optical_frame_lk :weight 0.0) (setq (wide_stereo_l_stereo_camera_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send wide_stereo_l_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for wide_stereo_l_stereo_camera_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111347002e+03) + :rot (quaternion2matrix (float-vector 4.9921331750385456e-01 -4.9670745968637237e-01 4.9704482465883804e-01 -5.0696568463612168e-01))) + )) + (send wide_stereo_l_stereo_camera_optical_frame_lk :transform world-cds)) + ) + + ;; link: wide_stereo_link_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_link_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "wide_stereo_link")) + ;; inertial parameter for wide_stereo_link_lk + (let ((tmp-cds (make-coords :pos (float-vector 0.0000000000000000e+00 3.4694469519536142e-15 -2.2204460492503131e-13) + :rot (quaternion2matrix (float-vector 1.0000000000000000e+00 3.3881317890172014e-21 8.6736173798840355e-19 0.0000000000000000e+00))) + )) + (send wide_stereo_link_lk :weight 100.000) + (setq (wide_stereo_link_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+07 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+07 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+07)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (wide_stereo_link_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for wide_stereo_link_lk + (let ((world-cds (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111347002e+03) + :rot (quaternion2matrix (float-vector 9.9996564324259862e-01 -3.7075010798754715e-03 -6.2133588949438764e-03 -4.0448660548236034e-03))) + )) + (send wide_stereo_link_lk :transform world-cds)) + ) + + ;; link: wide_stereo_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "wide_stereo_optical_frame")) + (progn (send wide_stereo_optical_frame_lk :weight 0.0) (setq (wide_stereo_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send wide_stereo_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for wide_stereo_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.9219675205800002e+01 3.0581954459599999e+01 1.2807163111347002e+03) + :rot (quaternion2matrix (float-vector 4.9921331750385456e-01 -4.9670745968637237e-01 4.9704482465883804e-01 -5.0696568463612168e-01))) + )) + (send wide_stereo_optical_frame_lk :transform world-cds)) + ) + + ;; link: wide_stereo_r_stereo_camera_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_r_stereo_camera_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "wide_stereo_r_stereo_camera_frame")) + ;; inertial parameter for wide_stereo_r_stereo_camera_frame_lk + (let ((tmp-cds (make-coords :pos (float-vector -2.7755575615628914e-14 0.0000000000000000e+00 -4.4408920985006262e-13) + :rot (quaternion2matrix (float-vector 1.0000000000000000e+00 3.3881317890172014e-21 8.6736173798840355e-19 0.0000000000000000e+00))) + )) + (send wide_stereo_r_stereo_camera_frame_lk :weight 10.000) + (setq (wide_stereo_r_stereo_camera_frame_lk . inertia-tensor) + (m* (m* (send tmp-cds :worldrot) (matrix + (float-vector 1.0000000000000000e+06 0.0000000000000000e+00 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 1.0000000000000000e+06 0.0000000000000000e+00) + (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+06)) + ) (transpose (send tmp-cds :worldrot)))) + (setq (wide_stereo_r_stereo_camera_frame_lk . acentroid) (copy-seq (send tmp-cds :worldpos))) + ) + ;; global coordinates for wide_stereo_r_stereo_camera_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.8487477843992188e+01 -5.9412626369381421e+01 1.2813791146042824e+03) + :rot (quaternion2matrix (float-vector 9.9996564324259862e-01 -3.7075010798754715e-03 -6.2133588949438764e-03 -4.0448660548236034e-03))) + )) + (send wide_stereo_r_stereo_camera_frame_lk :transform world-cds)) + ) + + ;; link: wide_stereo_r_stereo_camera_optical_frame_lk + (let ((geom-lst (list +))) + (dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g)) + (setq wide_stereo_r_stereo_camera_optical_frame_lk + (instance bodyset-link + :init (make-cascoords) + :bodies geom-lst + :name "wide_stereo_r_stereo_camera_optical_frame")) + (progn (send wide_stereo_r_stereo_camera_optical_frame_lk :weight 0.0) (setq (wide_stereo_r_stereo_camera_optical_frame_lk . acentroid) (float-vector 0 0 0)) (send wide_stereo_r_stereo_camera_optical_frame_lk :inertia-tensor #2f((0 0 0)(0 0 0)(0 0 0)))) + ;; global coordinates for wide_stereo_r_stereo_camera_optical_frame_lk + (let ((world-cds (make-coords :pos (float-vector 5.8487477843992188e+01 -5.9412626369381421e+01 1.2813791146042824e+03) + :rot (quaternion2matrix (float-vector 4.9921331750385456e-01 -4.9670745968637237e-01 4.9704482465883804e-01 -5.0696568463612168e-01))) + )) + (send wide_stereo_r_stereo_camera_optical_frame_lk :transform world-cds)) + ) + + (send base_link_lk :assoc base_bellow_link_lk) + (send base_footprint_lk :assoc base_link_lk) + (send base_link_lk :assoc base_laser_link_lk) + (send bl_caster_rotation_link_lk :assoc bl_caster_l_wheel_link_lk) + (send bl_caster_rotation_link_lk :assoc bl_caster_r_wheel_link_lk) + (send base_link_lk :assoc bl_caster_rotation_link_lk) + (send br_caster_rotation_link_lk :assoc br_caster_l_wheel_link_lk) + (send br_caster_rotation_link_lk :assoc br_caster_r_wheel_link_lk) + (send base_link_lk :assoc br_caster_rotation_link_lk) + (send sensor_mount_link_lk :assoc double_stereo_link_lk) + (send fl_caster_rotation_link_lk :assoc fl_caster_l_wheel_link_lk) + (send fl_caster_rotation_link_lk :assoc fl_caster_r_wheel_link_lk) + (send base_link_lk :assoc fl_caster_rotation_link_lk) + (send fr_caster_rotation_link_lk :assoc fr_caster_l_wheel_link_lk) + (send fr_caster_rotation_link_lk :assoc fr_caster_r_wheel_link_lk) + (send base_link_lk :assoc fr_caster_rotation_link_lk) + (send head_tilt_link_lk :assoc head_chain_cb_link_lk) + (send head_plate_frame_lk :assoc head_mount_link_lk) + (send head_mount_link_lk :assoc head_mount_kinect_ir_link_lk) + (send head_mount_kinect_ir_link_lk :assoc head_mount_kinect_ir_optical_frame_lk) + (send head_mount_kinect_ir_link_lk :assoc head_mount_kinect_rgb_link_lk) + (send head_mount_kinect_rgb_link_lk :assoc head_mount_kinect_rgb_optical_frame_lk) + (send head_mount_link_lk :assoc head_mount_prosilica_link_lk) + (send head_mount_prosilica_link_lk :assoc head_mount_prosilica_optical_frame_lk) + (send torso_lift_link_lk :assoc head_pan_link_lk) + (send head_tilt_link_lk :assoc head_plate_frame_lk) + (send head_pan_link_lk :assoc head_tilt_link_lk) + (send sensor_mount_link_lk :assoc high_def_frame_lk) + (send high_def_frame_lk :assoc high_def_optical_frame_lk) + (send torso_lift_link_lk :assoc imu_link_lk) + (send l_upper_arm_link_lk :assoc l_elbow_flex_link_lk) + (send l_forearm_roll_link_lk :assoc l_forearm_cam_frame_lk) + (send l_forearm_cam_frame_lk :assoc l_forearm_cam_optical_frame_lk) + (send l_forearm_roll_link_lk :assoc l_forearm_link_lk) + (send l_elbow_flex_link_lk :assoc l_forearm_roll_link_lk) + (send l_gripper_r_finger_tip_link_lk :assoc l_gripper_l_finger_tip_frame_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_l_finger_link_lk) + (send l_gripper_l_finger_link_lk :assoc l_gripper_l_finger_tip_link_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_led_frame_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_motor_accelerometer_link_lk) + (send l_gripper_motor_slider_link_lk :assoc l_gripper_motor_screw_link_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_motor_slider_link_lk) + (send l_wrist_roll_link_lk :assoc l_gripper_palm_link_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_r_finger_link_lk) + (send l_gripper_r_finger_link_lk :assoc l_gripper_r_finger_tip_link_lk) + (send l_gripper_palm_link_lk :assoc l_gripper_tool_frame_lk) + (send l_shoulder_pan_link_lk :assoc l_shoulder_lift_link_lk) + (send torso_lift_link_lk :assoc l_shoulder_pan_link_lk) + (send torso_lift_link_lk :assoc l_torso_lift_side_plate_link_lk) + (send l_upper_arm_roll_link_lk :assoc l_upper_arm_link_lk) + (send l_shoulder_lift_link_lk :assoc l_upper_arm_roll_link_lk) + (send l_forearm_link_lk :assoc l_wrist_flex_link_lk) + (send l_wrist_flex_link_lk :assoc l_wrist_roll_link_lk) + (send laser_tilt_mount_link_lk :assoc laser_tilt_link_lk) + (send torso_lift_link_lk :assoc laser_tilt_mount_link_lk) + (send l_wrist_roll_link_lk :assoc left_arm_chain_cb_link_lk) + (send double_stereo_link_lk :assoc narrow_stereo_link_lk) + (send narrow_stereo_link_lk :assoc narrow_stereo_l_stereo_camera_frame_lk) + (send narrow_stereo_l_stereo_camera_frame_lk :assoc narrow_stereo_l_stereo_camera_optical_frame_lk) + (send narrow_stereo_link_lk :assoc narrow_stereo_optical_frame_lk) + (send narrow_stereo_l_stereo_camera_frame_lk :assoc narrow_stereo_r_stereo_camera_frame_lk) + (send narrow_stereo_r_stereo_camera_frame_lk :assoc narrow_stereo_r_stereo_camera_optical_frame_lk) + (send projector_wg6802418_frame_lk :assoc projector_wg6802418_child_frame_lk) + (send head_plate_frame_lk :assoc projector_wg6802418_frame_lk) + (send r_upper_arm_link_lk :assoc r_elbow_flex_link_lk) + (send r_forearm_roll_link_lk :assoc r_forearm_cam_frame_lk) + (send r_forearm_cam_frame_lk :assoc r_forearm_cam_optical_frame_lk) + (send r_forearm_roll_link_lk :assoc r_forearm_link_lk) + (send r_elbow_flex_link_lk :assoc r_forearm_roll_link_lk) + (send r_gripper_r_finger_tip_link_lk :assoc r_gripper_l_finger_tip_frame_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_l_finger_link_lk) + (send r_gripper_l_finger_link_lk :assoc r_gripper_l_finger_tip_link_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_led_frame_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_motor_accelerometer_link_lk) + (send r_gripper_motor_slider_link_lk :assoc r_gripper_motor_screw_link_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_motor_slider_link_lk) + (send r_wrist_roll_link_lk :assoc r_gripper_palm_link_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_r_finger_link_lk) + (send r_gripper_r_finger_link_lk :assoc r_gripper_r_finger_tip_link_lk) + (send r_gripper_palm_link_lk :assoc r_gripper_tool_frame_lk) + (send r_shoulder_pan_link_lk :assoc r_shoulder_lift_link_lk) + (send torso_lift_link_lk :assoc r_shoulder_pan_link_lk) + (send torso_lift_link_lk :assoc r_torso_lift_side_plate_link_lk) + (send r_upper_arm_roll_link_lk :assoc r_upper_arm_link_lk) + (send r_shoulder_lift_link_lk :assoc r_upper_arm_roll_link_lk) + (send r_forearm_link_lk :assoc r_wrist_flex_link_lk) + (send r_wrist_flex_link_lk :assoc r_wrist_roll_link_lk) + (send r_wrist_roll_link_lk :assoc right_arm_chain_cb_link_lk) + (send head_plate_frame_lk :assoc sensor_mount_link_lk) + (send base_link_lk :assoc torso_lift_link_lk) + (send base_link_lk :assoc torso_lift_motor_screw_link_lk) + (send double_stereo_link_lk :assoc wide_stereo_link_lk) + (send wide_stereo_link_lk :assoc wide_stereo_l_stereo_camera_frame_lk) + (send wide_stereo_l_stereo_camera_frame_lk :assoc wide_stereo_l_stereo_camera_optical_frame_lk) + (send wide_stereo_link_lk :assoc wide_stereo_optical_frame_lk) + (send wide_stereo_l_stereo_camera_frame_lk :assoc wide_stereo_r_stereo_camera_frame_lk) + (send wide_stereo_r_stereo_camera_frame_lk :assoc wide_stereo_r_stereo_camera_optical_frame_lk) (send self :assoc base_footprint_lk) + + ;; joint models + ;; joint: base_bellow_joint_fixed_jt + (setq base_bellow_joint_fixed_jt + (instance rotational-joint :init + :name "base_bellow_joint" + :parent-link base_link_lk :child-link base_bellow_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: base_footprint_joint_fixed_jt + (setq base_footprint_joint_fixed_jt + (instance rotational-joint :init + :name "base_footprint_joint" + :parent-link base_footprint_lk :child-link base_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: base_laser_joint_fixed_jt + (setq base_laser_joint_fixed_jt + (instance rotational-joint :init + :name "base_laser_joint" + :parent-link base_link_lk :child-link base_laser_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: bl_caster_l_wheel_joint_jt (setq bl_caster_l_wheel_joint_jt (instance rotational-joint :init :name "bl_caster_l_wheel_joint" :parent-link bl_caster_rotation_link_lk :child-link bl_caster_l_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) + ;; joint: bl_caster_r_wheel_joint_jt (setq bl_caster_r_wheel_joint_jt (instance rotational-joint :init :name "bl_caster_r_wheel_joint" :parent-link bl_caster_rotation_link_lk :child-link bl_caster_r_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) + ;; joint: bl_caster_rotation_joint_jt + (setq bl_caster_rotation_joint_jt + (instance rotational-joint :init + :name "bl_caster_rotation_joint" + :parent-link base_link_lk :child-link bl_caster_rotation_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 10.000000 + :max-joint-torque 6.500000 + )) + ;; joint: br_caster_l_wheel_joint_jt (setq br_caster_l_wheel_joint_jt (instance rotational-joint :init :name "br_caster_l_wheel_joint" :parent-link br_caster_rotation_link_lk :child-link br_caster_l_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) + ;; joint: br_caster_r_wheel_joint_jt (setq br_caster_r_wheel_joint_jt (instance rotational-joint :init :name "br_caster_r_wheel_joint" :parent-link br_caster_rotation_link_lk :child-link br_caster_r_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) + ;; joint: br_caster_rotation_joint_jt + (setq br_caster_rotation_joint_jt + (instance rotational-joint :init + :name "br_caster_rotation_joint" + :parent-link base_link_lk :child-link br_caster_rotation_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 10.000000 + :max-joint-torque 6.500000 + )) + ;; joint: double_stereo_frame_joint_fixed_jt + (setq double_stereo_frame_joint_fixed_jt + (instance rotational-joint :init + :name "double_stereo_frame_joint" + :parent-link sensor_mount_link_lk :child-link double_stereo_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: fl_caster_l_wheel_joint_jt (setq fl_caster_l_wheel_joint_jt (instance rotational-joint :init :name "fl_caster_l_wheel_joint" :parent-link fl_caster_rotation_link_lk :child-link fl_caster_l_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) + ;; joint: fl_caster_r_wheel_joint_jt (setq fl_caster_r_wheel_joint_jt (instance rotational-joint :init :name "fl_caster_r_wheel_joint" :parent-link fl_caster_rotation_link_lk :child-link fl_caster_r_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* :max-joint-velocity 15.000000 :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq fr_caster_l_wheel_joint_jt - (instance rotational-joint :init - :name "fr_caster_l_wheel_joint" - :parent-link fr_caster_rotation_link_lk :child-link fr_caster_l_wheel_link_lk - :max-joint-velocity 15.000000 - :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq fr_caster_r_wheel_joint_jt - (instance rotational-joint :init - :name "fr_caster_r_wheel_joint" - :parent-link fr_caster_rotation_link_lk :child-link fr_caster_r_wheel_link_lk - :max-joint-velocity 15.000000 - :max-joint-torque 7.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq head_mount_kinect_rgb_optical_frame_joint_jt - (instance rotational-joint :init - :name "head_mount_kinect_rgb_optical_frame_joint" - :parent-link head_mount_kinect_rgb_link_lk :child-link head_mount_kinect_rgb_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 )) - (setq head_mount_kinect_ir_optical_frame_joint_jt - (instance rotational-joint :init - :name "head_mount_kinect_ir_optical_frame_joint" - :parent-link head_mount_kinect_ir_link_lk :child-link head_mount_kinect_ir_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq head_mount_kinect_rgb_joint_jt - (instance rotational-joint :init - :name "head_mount_kinect_rgb_joint" - :parent-link head_mount_kinect_ir_link_lk :child-link head_mount_kinect_rgb_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq head_mount_prosilica_optical_frame_joint_jt - (instance rotational-joint :init - :name "head_mount_prosilica_optical_frame_joint" - :parent-link head_mount_prosilica_link_lk :child-link head_mount_prosilica_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq head_mount_kinect_ir_joint_jt - (instance rotational-joint :init - :name "head_mount_kinect_ir_joint" - :parent-link head_mount_link_lk :child-link head_mount_kinect_ir_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq head_mount_prosilica_joint_jt - (instance rotational-joint :init - :name "head_mount_prosilica_joint" - :parent-link head_mount_link_lk :child-link head_mount_prosilica_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq projector_wg6802418_child_frame_joint_jt + ;; joint: fl_caster_rotation_joint_jt + (setq fl_caster_rotation_joint_jt (instance rotational-joint :init - :name "projector_wg6802418_child_frame_joint" - :parent-link projector_wg6802418_frame_lk :child-link projector_wg6802418_child_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "fl_caster_rotation_joint" + :parent-link base_link_lk :child-link fl_caster_rotation_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 10.000000 + :max-joint-torque 6.500000 )) - (setq narrow_stereo_r_stereo_camera_optical_frame_joint_jt + ;; joint: fr_caster_l_wheel_joint_jt + (setq fr_caster_l_wheel_joint_jt (instance rotational-joint :init - :name "narrow_stereo_r_stereo_camera_optical_frame_joint" - :parent-link narrow_stereo_r_stereo_camera_frame_lk :child-link narrow_stereo_r_stereo_camera_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "fr_caster_l_wheel_joint" + :parent-link fr_caster_rotation_link_lk :child-link fr_caster_l_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 15.000000 + :max-joint-torque 7.000000 )) - (setq narrow_stereo_l_stereo_camera_optical_frame_joint_jt + ;; joint: fr_caster_r_wheel_joint_jt + (setq fr_caster_r_wheel_joint_jt (instance rotational-joint :init - :name "narrow_stereo_l_stereo_camera_optical_frame_joint" - :parent-link narrow_stereo_l_stereo_camera_frame_lk :child-link narrow_stereo_l_stereo_camera_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "fr_caster_r_wheel_joint" + :parent-link fr_caster_rotation_link_lk :child-link fr_caster_r_wheel_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 15.000000 + :max-joint-torque 7.000000 )) - (setq narrow_stereo_r_stereo_camera_frame_joint_jt + ;; joint: fr_caster_rotation_joint_jt + (setq fr_caster_rotation_joint_jt (instance rotational-joint :init - :name "narrow_stereo_r_stereo_camera_frame_joint" - :parent-link narrow_stereo_l_stereo_camera_frame_lk :child-link narrow_stereo_r_stereo_camera_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "fr_caster_rotation_joint" + :parent-link base_link_lk :child-link fr_caster_rotation_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 10.000000 + :max-joint-torque 6.500000 )) - (setq narrow_stereo_l_stereo_camera_frame_joint_jt + ;; joint: head_chain_cb_fixed_jt + (setq head_chain_cb_fixed_jt (instance rotational-joint :init - :name "narrow_stereo_l_stereo_camera_frame_joint" - :parent-link narrow_stereo_link_lk :child-link narrow_stereo_l_stereo_camera_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_chain_cb" + :parent-link head_tilt_link_lk :child-link head_chain_cb_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq narrow_stereo_optical_frame_joint_jt + ;; joint: head_mount_joint_fixed_jt + (setq head_mount_joint_fixed_jt (instance rotational-joint :init - :name "narrow_stereo_optical_frame_joint" - :parent-link narrow_stereo_link_lk :child-link narrow_stereo_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_joint" + :parent-link head_plate_frame_lk :child-link head_mount_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_r_stereo_camera_optical_frame_joint_jt + ;; joint: head_mount_kinect_ir_joint_fixed_jt + (setq head_mount_kinect_ir_joint_fixed_jt (instance rotational-joint :init - :name "wide_stereo_r_stereo_camera_optical_frame_joint" - :parent-link wide_stereo_r_stereo_camera_frame_lk :child-link wide_stereo_r_stereo_camera_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_kinect_ir_joint" + :parent-link head_mount_link_lk :child-link head_mount_kinect_ir_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_l_stereo_camera_optical_frame_joint_jt + ;; joint: head_mount_kinect_ir_optical_frame_joint_fixed_jt + (setq head_mount_kinect_ir_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "wide_stereo_l_stereo_camera_optical_frame_joint" - :parent-link wide_stereo_l_stereo_camera_frame_lk :child-link wide_stereo_l_stereo_camera_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_kinect_ir_optical_frame_joint" + :parent-link head_mount_kinect_ir_link_lk :child-link head_mount_kinect_ir_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_r_stereo_camera_frame_joint_jt + ;; joint: head_mount_kinect_rgb_joint_fixed_jt + (setq head_mount_kinect_rgb_joint_fixed_jt (instance rotational-joint :init - :name "wide_stereo_r_stereo_camera_frame_joint" - :parent-link wide_stereo_l_stereo_camera_frame_lk :child-link wide_stereo_r_stereo_camera_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_kinect_rgb_joint" + :parent-link head_mount_kinect_ir_link_lk :child-link head_mount_kinect_rgb_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_l_stereo_camera_frame_joint_jt + ;; joint: head_mount_kinect_rgb_optical_frame_joint_fixed_jt + (setq head_mount_kinect_rgb_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "wide_stereo_l_stereo_camera_frame_joint" - :parent-link wide_stereo_link_lk :child-link wide_stereo_l_stereo_camera_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_kinect_rgb_optical_frame_joint" + :parent-link head_mount_kinect_rgb_link_lk :child-link head_mount_kinect_rgb_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_optical_frame_joint_jt + ;; joint: head_mount_prosilica_joint_fixed_jt + (setq head_mount_prosilica_joint_fixed_jt (instance rotational-joint :init - :name "wide_stereo_optical_frame_joint" - :parent-link wide_stereo_link_lk :child-link wide_stereo_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_prosilica_joint" + :parent-link head_mount_link_lk :child-link head_mount_prosilica_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq narrow_stereo_frame_joint_jt + ;; joint: head_mount_prosilica_optical_frame_joint_fixed_jt + (setq head_mount_prosilica_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "narrow_stereo_frame_joint" - :parent-link double_stereo_link_lk :child-link narrow_stereo_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_mount_prosilica_optical_frame_joint" + :parent-link head_mount_prosilica_link_lk :child-link head_mount_prosilica_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq wide_stereo_frame_joint_jt + ;; joint: head_pan_joint_jt + (setq head_pan_joint_jt (instance rotational-joint :init - :name "wide_stereo_frame_joint" - :parent-link double_stereo_link_lk :child-link wide_stereo_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "head_pan_joint" + :parent-link torso_lift_link_lk :child-link head_pan_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min -163.694049 :max 163.694049 + :max-joint-velocity 6.000000 + :max-joint-torque 2.645000 )) - (setq high_def_optical_frame_joint_jt + ;; joint: head_plate_frame_joint_fixed_jt + (setq head_plate_frame_joint_fixed_jt (instance rotational-joint :init - :name "high_def_optical_frame_joint" - :parent-link high_def_frame_lk :child-link high_def_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "head_plate_frame_joint" + :parent-link head_tilt_link_lk :child-link head_plate_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq double_stereo_frame_joint_jt + ;; joint: head_tilt_joint_jt + (setq head_tilt_joint_jt (instance rotational-joint :init - :name "double_stereo_frame_joint" - :parent-link sensor_mount_link_lk :child-link double_stereo_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "head_tilt_joint" + :parent-link head_pan_link_lk :child-link head_tilt_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -21.268193 :max 74.270227 + :max-joint-velocity 5.000000 + :max-joint-torque 18.000000 )) - (setq high_def_frame_joint_jt + ;; joint: high_def_frame_joint_fixed_jt + (setq high_def_frame_joint_fixed_jt (instance rotational-joint :init :name "high_def_frame_joint" :parent-link sensor_mount_link_lk :child-link high_def_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq head_mount_joint_jt - (instance rotational-joint :init - :name "head_mount_joint" - :parent-link head_plate_frame_lk :child-link head_mount_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq projector_wg6802418_frame_joint_jt + ;; joint: high_def_optical_frame_joint_fixed_jt + (setq high_def_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "projector_wg6802418_frame_joint" - :parent-link head_plate_frame_lk :child-link projector_wg6802418_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "high_def_optical_frame_joint" + :parent-link high_def_frame_lk :child-link high_def_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq sensor_mount_frame_joint_jt + ;; joint: imu_joint_fixed_jt + (setq imu_joint_fixed_jt (instance rotational-joint :init - :name "sensor_mount_frame_joint" - :parent-link head_plate_frame_lk :child-link sensor_mount_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "imu_joint" + :parent-link torso_lift_link_lk :child-link imu_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq head_chain_cb_jt + ;; joint: l_elbow_flex_joint_jt + (setq l_elbow_flex_joint_jt (instance rotational-joint :init - :name "head_chain_cb" - :parent-link head_tilt_link_lk :child-link head_chain_cb_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "l_elbow_flex_joint" + :parent-link l_upper_arm_link_lk :child-link l_elbow_flex_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -121.541536 :max -8.594367 + :max-joint-velocity 3.300000 + :max-joint-torque 30.000000 )) - (setq head_plate_frame_joint_jt + ;; joint: l_forearm_cam_frame_joint_fixed_jt + (setq l_forearm_cam_frame_joint_fixed_jt (instance rotational-joint :init - :name "head_plate_frame_joint" - :parent-link head_tilt_link_lk :child-link head_plate_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "l_forearm_cam_frame_joint" + :parent-link l_forearm_roll_link_lk :child-link l_forearm_cam_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq head_tilt_joint_jt - (instance rotational-joint :init - :name "head_tilt_joint" - :parent-link head_pan_link_lk :child-link head_tilt_link_lk - :max-joint-velocity 5.000000 - :max-joint-torque 18.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -21.268194 :max 74.270226 - )) - (setq l_forearm_cam_optical_frame_joint_jt + ;; joint: l_forearm_cam_optical_frame_joint_fixed_jt + (setq l_forearm_cam_optical_frame_joint_fixed_jt (instance rotational-joint :init :name "l_forearm_cam_optical_frame_joint" :parent-link l_forearm_cam_frame_lk :child-link l_forearm_cam_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_gripper_l_finger_tip_joint_jt + ;; joint: l_forearm_joint_fixed_jt + (setq l_forearm_joint_fixed_jt (instance rotational-joint :init - :name "l_gripper_l_finger_tip_joint" - :parent-link l_gripper_l_finger_link_lk :child-link l_gripper_l_finger_tip_link_lk + :name "l_forearm_joint" + :parent-link l_forearm_roll_link_lk :child-link l_forearm_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 :max-joint-velocity 0.500000 - :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 + :max-joint-torque 0.000000 )) - (setq l_gripper_motor_screw_joint_jt + ;; joint: l_forearm_roll_joint_jt + (setq l_forearm_roll_joint_jt (instance rotational-joint :init - :name "l_gripper_motor_screw_joint" - :parent-link l_gripper_motor_slider_link_lk :child-link l_gripper_motor_screw_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "l_forearm_roll_joint" + :parent-link l_elbow_flex_link_lk :child-link l_forearm_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 3.600000 + :max-joint-torque 30.000000 )) + ;; joint: l_gripper_joint_jt (setq l_gripper_joint_jt (instance linear-joint :init :name "l_gripper_joint" :parent-link l_gripper_r_finger_tip_link_lk :child-link l_gripper_l_finger_tip_frame_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -10.000000 :max 88.000000 :max-joint-velocity 0.200000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -10.000000 :max 88.000000 )) - (setq l_gripper_r_finger_tip_joint_jt + ;; joint: l_gripper_l_finger_joint_jt + (setq l_gripper_l_finger_joint_jt (instance rotational-joint :init - :name "l_gripper_r_finger_tip_joint" - :parent-link l_gripper_r_finger_link_lk :child-link l_gripper_r_finger_tip_link_lk + :name "l_gripper_l_finger_joint" + :parent-link l_gripper_palm_link_lk :child-link l_gripper_l_finger_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min 0.000000 :max 31.398086 :max-joint-velocity 0.500000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 )) - (setq l_gripper_l_finger_joint_jt + ;; joint: l_gripper_l_finger_tip_joint_jt + (setq l_gripper_l_finger_tip_joint_jt (instance rotational-joint :init - :name "l_gripper_l_finger_joint" - :parent-link l_gripper_palm_link_lk :child-link l_gripper_l_finger_link_lk + :name "l_gripper_l_finger_tip_joint" + :parent-link l_gripper_l_finger_link_lk :child-link l_gripper_l_finger_tip_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00) + :min 0.000000 :max 31.398086 :max-joint-velocity 0.500000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 )) - (setq l_gripper_led_joint_jt + ;; joint: l_gripper_led_joint_fixed_jt + (setq l_gripper_led_joint_fixed_jt (instance rotational-joint :init :name "l_gripper_led_joint" :parent-link l_gripper_palm_link_lk :child-link l_gripper_led_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_gripper_motor_accelerometer_joint_jt + ;; joint: l_gripper_motor_accelerometer_joint_fixed_jt + (setq l_gripper_motor_accelerometer_joint_fixed_jt (instance rotational-joint :init :name "l_gripper_motor_accelerometer_joint" :parent-link l_gripper_palm_link_lk :child-link l_gripper_motor_accelerometer_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: l_gripper_motor_screw_joint_jt + (setq l_gripper_motor_screw_joint_jt + (instance rotational-joint :init + :name "l_gripper_motor_screw_joint" + :parent-link l_gripper_motor_slider_link_lk :child-link l_gripper_motor_screw_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) + ;; joint: l_gripper_motor_slider_joint_jt (setq l_gripper_motor_slider_joint_jt (instance linear-joint :init :name "l_gripper_motor_slider_joint" :parent-link l_gripper_palm_link_lk :child-link l_gripper_motor_slider_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min -100.000000 :max 100.000000 :max-joint-velocity 0.200000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -100.000000 :max 100.000000 )) + ;; joint: l_gripper_palm_joint_fixed_jt + (setq l_gripper_palm_joint_fixed_jt + (instance rotational-joint :init + :name "l_gripper_palm_joint" + :parent-link l_wrist_roll_link_lk :child-link l_gripper_palm_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: l_gripper_r_finger_joint_jt (setq l_gripper_r_finger_joint_jt (instance rotational-joint :init :name "l_gripper_r_finger_joint" :parent-link l_gripper_palm_link_lk :child-link l_gripper_r_finger_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00) + :min 0.000000 :max 31.398086 :max-joint-velocity 0.500000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 )) - (setq l_gripper_tool_joint_jt + ;; joint: l_gripper_r_finger_tip_joint_jt + (setq l_gripper_r_finger_tip_joint_jt + (instance rotational-joint :init + :name "l_gripper_r_finger_tip_joint" + :parent-link l_gripper_r_finger_link_lk :child-link l_gripper_r_finger_tip_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min 0.000000 :max 31.398086 + :max-joint-velocity 0.500000 + :max-joint-torque 1000.000000 + )) + ;; joint: l_gripper_tool_joint_fixed_jt + (setq l_gripper_tool_joint_fixed_jt (instance rotational-joint :init :name "l_gripper_tool_joint" :parent-link l_gripper_palm_link_lk :child-link l_gripper_tool_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_gripper_palm_joint_jt + ;; joint: l_shoulder_lift_joint_jt + (setq l_shoulder_lift_joint_jt (instance rotational-joint :init - :name "l_gripper_palm_joint" - :parent-link l_wrist_roll_link_lk :child-link l_gripper_palm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "l_shoulder_lift_joint" + :parent-link l_shoulder_pan_link_lk :child-link l_shoulder_lift_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -20.259787 :max 74.272522 + :max-joint-velocity 2.082000 + :max-joint-torque 30.000000 + )) + ;; joint: l_shoulder_pan_joint_jt + (setq l_shoulder_pan_joint_jt + (instance rotational-joint :init + :name "l_shoulder_pan_joint" + :parent-link torso_lift_link_lk :child-link l_shoulder_pan_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min -32.349302 :max 122.349302 + :max-joint-velocity 2.088000 + :max-joint-torque 30.000000 + )) + ;; joint: l_torso_lift_side_plate_joint_fixed_jt + (setq l_torso_lift_side_plate_joint_fixed_jt + (instance rotational-joint :init + :name "l_torso_lift_side_plate_joint" + :parent-link torso_lift_link_lk :child-link l_torso_lift_side_plate_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq left_arm_chain_cb_jt + ;; joint: l_upper_arm_joint_fixed_jt + (setq l_upper_arm_joint_fixed_jt (instance rotational-joint :init - :name "left_arm_chain_cb" - :parent-link l_wrist_roll_link_lk :child-link left_arm_chain_cb_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "l_upper_arm_joint" + :parent-link l_upper_arm_roll_link_lk :child-link l_upper_arm_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_wrist_roll_joint_jt + ;; joint: l_upper_arm_roll_joint_jt + (setq l_upper_arm_roll_joint_jt (instance rotational-joint :init - :name "l_wrist_roll_joint" - :parent-link l_wrist_flex_link_lk :child-link l_wrist_roll_link_lk - :max-joint-velocity 3.600000 - :max-joint-torque 10.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "l_upper_arm_roll_joint" + :parent-link l_shoulder_lift_link_lk :child-link l_upper_arm_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min -37.242255 :max 214.859173 + :max-joint-velocity 3.270000 + :max-joint-torque 30.000000 )) + ;; joint: l_wrist_flex_joint_jt (setq l_wrist_flex_joint_jt (instance rotational-joint :init :name "l_wrist_flex_joint" :parent-link l_forearm_link_lk :child-link l_wrist_flex_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -114.591559 :max -5.729578 :max-joint-velocity 3.078000 :max-joint-torque 10.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -114.591560 :max -5.729578 )) - (setq l_forearm_cam_frame_joint_jt + ;; joint: l_wrist_roll_joint_jt + (setq l_wrist_roll_joint_jt (instance rotational-joint :init - :name "l_forearm_cam_frame_joint" - :parent-link l_forearm_roll_link_lk :child-link l_forearm_cam_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "l_wrist_roll_joint" + :parent-link l_wrist_flex_link_lk :child-link l_wrist_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 3.600000 + :max-joint-torque 10.000000 + )) + ;; joint: laser_tilt_joint_fixed_jt + (setq laser_tilt_joint_fixed_jt + (instance rotational-joint :init + :name "laser_tilt_joint" + :parent-link laser_tilt_mount_link_lk :child-link laser_tilt_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_forearm_joint_jt + ;; joint: laser_tilt_mount_joint_jt + (setq laser_tilt_mount_joint_jt (instance rotational-joint :init - :name "l_forearm_joint" - :parent-link l_forearm_roll_link_lk :child-link l_forearm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "laser_tilt_mount_joint" + :parent-link torso_lift_link_lk :child-link laser_tilt_mount_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -42.135317 :max 82.135217 + :max-joint-velocity 10.000000 + :max-joint-torque 0.650000 + )) + ;; joint: left_arm_chain_cb_fixed_jt + (setq left_arm_chain_cb_fixed_jt + (instance rotational-joint :init + :name "left_arm_chain_cb" + :parent-link l_wrist_roll_link_lk :child-link left_arm_chain_cb_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: narrow_stereo_frame_joint_fixed_jt + (setq narrow_stereo_frame_joint_fixed_jt + (instance rotational-joint :init + :name "narrow_stereo_frame_joint" + :parent-link double_stereo_link_lk :child-link narrow_stereo_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: narrow_stereo_l_stereo_camera_frame_joint_fixed_jt + (setq narrow_stereo_l_stereo_camera_frame_joint_fixed_jt + (instance rotational-joint :init + :name "narrow_stereo_l_stereo_camera_frame_joint" + :parent-link narrow_stereo_link_lk :child-link narrow_stereo_l_stereo_camera_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: narrow_stereo_l_stereo_camera_optical_frame_joint_fixed_jt + (setq narrow_stereo_l_stereo_camera_optical_frame_joint_fixed_jt + (instance rotational-joint :init + :name "narrow_stereo_l_stereo_camera_optical_frame_joint" + :parent-link narrow_stereo_l_stereo_camera_frame_lk :child-link narrow_stereo_l_stereo_camera_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: narrow_stereo_optical_frame_joint_fixed_jt + (setq narrow_stereo_optical_frame_joint_fixed_jt + (instance rotational-joint :init + :name "narrow_stereo_optical_frame_joint" + :parent-link narrow_stereo_link_lk :child-link narrow_stereo_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_forearm_roll_joint_jt + ;; joint: narrow_stereo_r_stereo_camera_frame_joint_fixed_jt + (setq narrow_stereo_r_stereo_camera_frame_joint_fixed_jt (instance rotational-joint :init - :name "l_forearm_roll_joint" - :parent-link l_elbow_flex_link_lk :child-link l_forearm_roll_link_lk - :max-joint-velocity 3.600000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "narrow_stereo_r_stereo_camera_frame_joint" + :parent-link narrow_stereo_l_stereo_camera_frame_lk :child-link narrow_stereo_r_stereo_camera_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_elbow_flex_joint_jt + ;; joint: narrow_stereo_r_stereo_camera_optical_frame_joint_fixed_jt + (setq narrow_stereo_r_stereo_camera_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "l_elbow_flex_joint" - :parent-link l_upper_arm_link_lk :child-link l_elbow_flex_link_lk - :max-joint-velocity 3.300000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -121.541534 :max -8.594367 + :name "narrow_stereo_r_stereo_camera_optical_frame_joint" + :parent-link narrow_stereo_r_stereo_camera_frame_lk :child-link narrow_stereo_r_stereo_camera_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_upper_arm_joint_jt + ;; joint: projector_wg6802418_child_frame_joint_fixed_jt + (setq projector_wg6802418_child_frame_joint_fixed_jt (instance rotational-joint :init - :name "l_upper_arm_joint" - :parent-link l_upper_arm_roll_link_lk :child-link l_upper_arm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "projector_wg6802418_child_frame_joint" + :parent-link projector_wg6802418_frame_lk :child-link projector_wg6802418_child_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_upper_arm_roll_joint_jt + ;; joint: projector_wg6802418_frame_joint_fixed_jt + (setq projector_wg6802418_frame_joint_fixed_jt (instance rotational-joint :init - :name "l_upper_arm_roll_joint" - :parent-link l_shoulder_lift_link_lk :child-link l_upper_arm_roll_link_lk - :max-joint-velocity 3.270000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -37.242256 :max 214.859177 + :name "projector_wg6802418_frame_joint" + :parent-link head_plate_frame_lk :child-link projector_wg6802418_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_shoulder_lift_joint_jt + ;; joint: r_elbow_flex_joint_jt + (setq r_elbow_flex_joint_jt (instance rotational-joint :init - :name "l_shoulder_lift_joint" - :parent-link l_shoulder_pan_link_lk :child-link l_shoulder_lift_link_lk - :max-joint-velocity 2.082000 + :name "r_elbow_flex_joint" + :parent-link r_upper_arm_link_lk :child-link r_elbow_flex_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -121.541536 :max -8.594367 + :max-joint-velocity 3.300000 :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -20.259789 :max 74.272522 )) - (setq laser_tilt_joint_jt + ;; joint: r_forearm_cam_frame_joint_fixed_jt + (setq r_forearm_cam_frame_joint_fixed_jt (instance rotational-joint :init - :name "laser_tilt_joint" - :parent-link laser_tilt_mount_link_lk :child-link laser_tilt_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "r_forearm_cam_frame_joint" + :parent-link r_forearm_roll_link_lk :child-link r_forearm_cam_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_forearm_cam_optical_frame_joint_jt + ;; joint: r_forearm_cam_optical_frame_joint_fixed_jt + (setq r_forearm_cam_optical_frame_joint_fixed_jt (instance rotational-joint :init :name "r_forearm_cam_optical_frame_joint" :parent-link r_forearm_cam_frame_lk :child-link r_forearm_cam_optical_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_gripper_l_finger_tip_joint_jt + ;; joint: r_forearm_joint_fixed_jt + (setq r_forearm_joint_fixed_jt (instance rotational-joint :init - :name "r_gripper_l_finger_tip_joint" - :parent-link r_gripper_l_finger_link_lk :child-link r_gripper_l_finger_tip_link_lk + :name "r_forearm_joint" + :parent-link r_forearm_roll_link_lk :child-link r_forearm_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 :max-joint-velocity 0.500000 - :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 + :max-joint-torque 0.000000 )) - (setq r_gripper_motor_screw_joint_jt + ;; joint: r_forearm_roll_joint_jt + (setq r_forearm_roll_joint_jt (instance rotational-joint :init - :name "r_gripper_motor_screw_joint" - :parent-link r_gripper_motor_slider_link_lk :child-link r_gripper_motor_screw_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "r_forearm_roll_joint" + :parent-link r_elbow_flex_link_lk :child-link r_forearm_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 3.600000 + :max-joint-torque 30.000000 )) + ;; joint: r_gripper_joint_jt (setq r_gripper_joint_jt (instance linear-joint :init :name "r_gripper_joint" :parent-link r_gripper_r_finger_tip_link_lk :child-link r_gripper_l_finger_tip_frame_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -10.000000 :max 88.000000 :max-joint-velocity 0.200000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -10.000000 :max 88.000000 )) - (setq r_gripper_r_finger_tip_joint_jt + ;; joint: r_gripper_l_finger_joint_jt + (setq r_gripper_l_finger_joint_jt (instance rotational-joint :init - :name "r_gripper_r_finger_tip_joint" - :parent-link r_gripper_r_finger_link_lk :child-link r_gripper_r_finger_tip_link_lk + :name "r_gripper_l_finger_joint" + :parent-link r_gripper_palm_link_lk :child-link r_gripper_l_finger_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min 0.000000 :max 31.398086 :max-joint-velocity 0.500000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 )) - (setq r_gripper_l_finger_joint_jt + ;; joint: r_gripper_l_finger_tip_joint_jt + (setq r_gripper_l_finger_tip_joint_jt (instance rotational-joint :init - :name "r_gripper_l_finger_joint" - :parent-link r_gripper_palm_link_lk :child-link r_gripper_l_finger_link_lk + :name "r_gripper_l_finger_tip_joint" + :parent-link r_gripper_l_finger_link_lk :child-link r_gripper_l_finger_tip_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00) + :min 0.000000 :max 31.398086 :max-joint-velocity 0.500000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 )) - (setq r_gripper_led_joint_jt + ;; joint: r_gripper_led_joint_fixed_jt + (setq r_gripper_led_joint_fixed_jt (instance rotational-joint :init :name "r_gripper_led_joint" :parent-link r_gripper_palm_link_lk :child-link r_gripper_led_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_gripper_motor_accelerometer_joint_jt + ;; joint: r_gripper_motor_accelerometer_joint_fixed_jt + (setq r_gripper_motor_accelerometer_joint_fixed_jt (instance rotational-joint :init :name "r_gripper_motor_accelerometer_joint" :parent-link r_gripper_palm_link_lk :child-link r_gripper_motor_accelerometer_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 + )) + ;; joint: r_gripper_motor_screw_joint_jt + (setq r_gripper_motor_screw_joint_jt + (instance rotational-joint :init + :name "r_gripper_motor_screw_joint" + :parent-link r_gripper_motor_slider_link_lk :child-link r_gripper_motor_screw_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) + ;; joint: r_gripper_motor_slider_joint_jt (setq r_gripper_motor_slider_joint_jt (instance linear-joint :init :name "r_gripper_motor_slider_joint" :parent-link r_gripper_palm_link_lk :child-link r_gripper_motor_slider_link_lk - :max-joint-velocity 0.200000 - :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) :min -100.000000 :max 100.000000 - )) - (setq r_gripper_r_finger_joint_jt - (instance rotational-joint :init - :name "r_gripper_r_finger_joint" - :parent-link r_gripper_palm_link_lk :child-link r_gripper_r_finger_link_lk - :max-joint-velocity 0.500000 + :max-joint-velocity 0.200000 :max-joint-torque 1000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 31.398087 - )) - (setq r_gripper_tool_joint_jt - (instance rotational-joint :init - :name "r_gripper_tool_joint" - :parent-link r_gripper_palm_link_lk :child-link r_gripper_tool_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 )) - (setq r_gripper_palm_joint_jt + ;; joint: r_gripper_palm_joint_fixed_jt + (setq r_gripper_palm_joint_fixed_jt (instance rotational-joint :init :name "r_gripper_palm_joint" :parent-link r_wrist_roll_link_lk :child-link r_gripper_palm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 - )) - (setq right_arm_chain_cb_jt - (instance rotational-joint :init - :name "right_arm_chain_cb" - :parent-link r_wrist_roll_link_lk :child-link right_arm_chain_cb_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_wrist_roll_joint_jt + ;; joint: r_gripper_r_finger_joint_jt + (setq r_gripper_r_finger_joint_jt (instance rotational-joint :init - :name "r_wrist_roll_joint" - :parent-link r_wrist_flex_link_lk :child-link r_wrist_roll_link_lk - :max-joint-velocity 3.600000 - :max-joint-torque 10.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "r_gripper_r_finger_joint" + :parent-link r_gripper_palm_link_lk :child-link r_gripper_r_finger_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00) + :min 0.000000 :max 31.398086 + :max-joint-velocity 0.500000 + :max-joint-torque 1000.000000 )) - (setq r_wrist_flex_joint_jt + ;; joint: r_gripper_r_finger_tip_joint_jt + (setq r_gripper_r_finger_tip_joint_jt (instance rotational-joint :init - :name "r_wrist_flex_joint" - :parent-link r_forearm_link_lk :child-link r_wrist_flex_link_lk - :max-joint-velocity 3.078000 - :max-joint-torque 10.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -114.591560 :max -5.729578 + :name "r_gripper_r_finger_tip_joint" + :parent-link r_gripper_r_finger_link_lk :child-link r_gripper_r_finger_tip_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min 0.000000 :max 31.398086 + :max-joint-velocity 0.500000 + :max-joint-torque 1000.000000 )) - (setq r_forearm_cam_frame_joint_jt + ;; joint: r_gripper_tool_joint_fixed_jt + (setq r_gripper_tool_joint_fixed_jt (instance rotational-joint :init - :name "r_forearm_cam_frame_joint" - :parent-link r_forearm_roll_link_lk :child-link r_forearm_cam_frame_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "r_gripper_tool_joint" + :parent-link r_gripper_palm_link_lk :child-link r_gripper_tool_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_forearm_joint_jt + ;; joint: r_shoulder_lift_joint_jt + (setq r_shoulder_lift_joint_jt (instance rotational-joint :init - :name "r_forearm_joint" - :parent-link r_forearm_roll_link_lk :child-link r_forearm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "r_shoulder_lift_joint" + :parent-link r_shoulder_pan_link_lk :child-link r_shoulder_lift_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -20.259787 :max 74.272522 + :max-joint-velocity 2.082000 + :max-joint-torque 30.000000 )) - (setq r_forearm_roll_joint_jt + ;; joint: r_shoulder_pan_joint_jt + (setq r_shoulder_pan_joint_jt (instance rotational-joint :init - :name "r_forearm_roll_joint" - :parent-link r_elbow_flex_link_lk :child-link r_forearm_roll_link_lk - :max-joint-velocity 3.600000 + :name "r_shoulder_pan_joint" + :parent-link torso_lift_link_lk :child-link r_shoulder_pan_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min -122.349302 :max 32.349302 + :max-joint-velocity 2.088000 :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* )) - (setq r_elbow_flex_joint_jt + ;; joint: r_torso_lift_side_plate_joint_fixed_jt + (setq r_torso_lift_side_plate_joint_fixed_jt (instance rotational-joint :init - :name "r_elbow_flex_joint" - :parent-link r_upper_arm_link_lk :child-link r_elbow_flex_link_lk - :max-joint-velocity 3.300000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -121.541534 :max -8.594367 + :name "r_torso_lift_side_plate_joint" + :parent-link torso_lift_link_lk :child-link r_torso_lift_side_plate_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq r_upper_arm_joint_jt + ;; joint: r_upper_arm_joint_fixed_jt + (setq r_upper_arm_joint_fixed_jt (instance rotational-joint :init :name "r_upper_arm_joint" :parent-link r_upper_arm_roll_link_lk :child-link r_upper_arm_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) + ;; joint: r_upper_arm_roll_joint_jt (setq r_upper_arm_roll_joint_jt (instance rotational-joint :init :name "r_upper_arm_roll_joint" :parent-link r_shoulder_lift_link_lk :child-link r_upper_arm_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min -214.859173 :max 37.242255 :max-joint-velocity 3.270000 :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -214.859177 :max 37.242256 )) - (setq r_shoulder_lift_joint_jt + ;; joint: r_wrist_flex_joint_jt + (setq r_wrist_flex_joint_jt (instance rotational-joint :init - :name "r_shoulder_lift_joint" - :parent-link r_shoulder_pan_link_lk :child-link r_shoulder_lift_link_lk - :max-joint-velocity 2.082000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -20.259789 :max 74.272522 + :name "r_wrist_flex_joint" + :parent-link r_forearm_link_lk :child-link r_wrist_flex_link_lk + :axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00) + :min -114.591559 :max -5.729578 + :max-joint-velocity 3.078000 + :max-joint-torque 10.000000 )) - (setq head_pan_joint_jt + ;; joint: r_wrist_roll_joint_jt + (setq r_wrist_roll_joint_jt (instance rotational-joint :init - :name "head_pan_joint" - :parent-link torso_lift_link_lk :child-link head_pan_link_lk - :max-joint-velocity 6.000000 - :max-joint-torque 2.645000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -163.694046 :max 163.694046 + :name "r_wrist_roll_joint" + :parent-link r_wrist_flex_link_lk :child-link r_wrist_roll_link_lk + :axis (float-vector 1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 3.600000 + :max-joint-torque 10.000000 )) - (setq imu_joint_jt + ;; joint: right_arm_chain_cb_fixed_jt + (setq right_arm_chain_cb_fixed_jt (instance rotational-joint :init - :name "imu_joint" - :parent-link torso_lift_link_lk :child-link imu_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "right_arm_chain_cb" + :parent-link r_wrist_roll_link_lk :child-link right_arm_chain_cb_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq l_shoulder_pan_joint_jt - (instance rotational-joint :init - :name "l_shoulder_pan_joint" - :parent-link torso_lift_link_lk :child-link l_shoulder_pan_link_lk - :max-joint-velocity 2.088000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -32.349304 :max 122.349304 - )) - (setq l_torso_lift_side_plate_joint_jt + ;; joint: sensor_mount_frame_joint_fixed_jt + (setq sensor_mount_frame_joint_fixed_jt (instance rotational-joint :init - :name "l_torso_lift_side_plate_joint" - :parent-link torso_lift_link_lk :child-link l_torso_lift_side_plate_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "sensor_mount_frame_joint" + :parent-link head_plate_frame_lk :child-link sensor_mount_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq laser_tilt_mount_joint_jt - (instance rotational-joint :init - :name "laser_tilt_mount_joint" - :parent-link torso_lift_link_lk :child-link laser_tilt_mount_link_lk - :max-joint-velocity 10.000000 - :max-joint-torque 0.650000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -42.135315 :max 82.135216 - )) - (setq r_shoulder_pan_joint_jt - (instance rotational-joint :init - :name "r_shoulder_pan_joint" - :parent-link torso_lift_link_lk :child-link r_shoulder_pan_link_lk - :max-joint-velocity 2.088000 - :max-joint-torque 30.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -122.349304 :max 32.349304 + ;; joint: torso_lift_joint_jt + (setq torso_lift_joint_jt + (instance linear-joint :init + :name "torso_lift_joint" + :parent-link base_link_lk :child-link torso_lift_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min 11.500000 :max 325.000000 + :max-joint-velocity 0.013000 + :max-joint-torque 10000.000000 )) - (setq r_torso_lift_side_plate_joint_jt + ;; joint: torso_lift_motor_screw_joint_jt + (setq torso_lift_motor_screw_joint_jt (instance rotational-joint :init - :name "r_torso_lift_side_plate_joint" - :parent-link torso_lift_link_lk :child-link r_torso_lift_side_plate_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 0.000000 :max 0.000000 + :name "torso_lift_motor_screw_joint" + :parent-link base_link_lk :child-link torso_lift_motor_screw_link_lk + :axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00) + :min *-inf* :max *inf* + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq base_bellow_joint_jt + ;; joint: wide_stereo_frame_joint_fixed_jt + (setq wide_stereo_frame_joint_fixed_jt (instance rotational-joint :init - :name "base_bellow_joint" - :parent-link base_link_lk :child-link base_bellow_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "wide_stereo_frame_joint" + :parent-link double_stereo_link_lk :child-link wide_stereo_link_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq base_laser_joint_jt + ;; joint: wide_stereo_l_stereo_camera_frame_joint_fixed_jt + (setq wide_stereo_l_stereo_camera_frame_joint_fixed_jt (instance rotational-joint :init - :name "base_laser_joint" - :parent-link base_link_lk :child-link base_laser_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "wide_stereo_l_stereo_camera_frame_joint" + :parent-link wide_stereo_link_lk :child-link wide_stereo_l_stereo_camera_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq bl_caster_rotation_joint_jt - (instance rotational-joint :init - :name "bl_caster_rotation_joint" - :parent-link base_link_lk :child-link bl_caster_rotation_link_lk - :max-joint-velocity 10.000000 - :max-joint-torque 6.500000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq br_caster_rotation_joint_jt - (instance rotational-joint :init - :name "br_caster_rotation_joint" - :parent-link base_link_lk :child-link br_caster_rotation_link_lk - :max-joint-velocity 10.000000 - :max-joint-torque 6.500000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq fl_caster_rotation_joint_jt - (instance rotational-joint :init - :name "fl_caster_rotation_joint" - :parent-link base_link_lk :child-link fl_caster_rotation_link_lk - :max-joint-velocity 10.000000 - :max-joint-torque 6.500000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* - )) - (setq fr_caster_rotation_joint_jt + ;; joint: wide_stereo_l_stereo_camera_optical_frame_joint_fixed_jt + (setq wide_stereo_l_stereo_camera_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "fr_caster_rotation_joint" - :parent-link base_link_lk :child-link fr_caster_rotation_link_lk - :max-joint-velocity 10.000000 - :max-joint-torque 6.500000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "wide_stereo_l_stereo_camera_optical_frame_joint" + :parent-link wide_stereo_l_stereo_camera_frame_lk :child-link wide_stereo_l_stereo_camera_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq torso_lift_joint_jt - (instance linear-joint :init - :name "torso_lift_joint" - :parent-link base_link_lk :child-link torso_lift_link_lk - :max-joint-velocity 0.013000 - :max-joint-torque 10000.000000 - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min 11.500000 :max 325.000000 + ;; joint: wide_stereo_optical_frame_joint_fixed_jt + (setq wide_stereo_optical_frame_joint_fixed_jt + (instance rotational-joint :init + :name "wide_stereo_optical_frame_joint" + :parent-link wide_stereo_link_lk :child-link wide_stereo_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq torso_lift_motor_screw_joint_jt + ;; joint: wide_stereo_r_stereo_camera_frame_joint_fixed_jt + (setq wide_stereo_r_stereo_camera_frame_joint_fixed_jt (instance rotational-joint :init - :name "torso_lift_motor_screw_joint" - :parent-link base_link_lk :child-link torso_lift_motor_screw_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min *-inf* :max *inf* + :name "wide_stereo_r_stereo_camera_frame_joint" + :parent-link wide_stereo_l_stereo_camera_frame_lk :child-link wide_stereo_r_stereo_camera_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? + :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - (setq base_footprint_joint_jt + ;; joint: wide_stereo_r_stereo_camera_optical_frame_joint_fixed_jt + (setq wide_stereo_r_stereo_camera_optical_frame_joint_fixed_jt (instance rotational-joint :init - :name "base_footprint_joint" - :parent-link base_footprint_lk :child-link base_link_lk - :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) + :name "wide_stereo_r_stereo_camera_optical_frame_joint" + :parent-link wide_stereo_r_stereo_camera_frame_lk :child-link wide_stereo_r_stereo_camera_optical_frame_lk + :axis (float-vector 1 1 1) ;; fixed joint?? :min 0.000000 :max 0.000000 + :max-joint-velocity 0.500000 + :max-joint-torque 0.000000 )) - - ;; end coords from openrave manipulater tag ;; end coords from yaml file (setq torso-end-coords (make-cascoords :coords (send torso_lift_link_lk :copy-worldcoords) :name :torso-end-coords)) (send torso_lift_link_lk :assoc torso-end-coords) @@ -6031,4510 +3748,8682 @@ ;; limbs (setq torso (list torso_lift_link_lk)) - (setq torso-root-link (labels ((find-parent (l) (if (find (send l :parent) torso) (find-parent (send l :parent)) l))) (find-parent (car torso)))) + (setq torso-root-link + (labels ((find-parent (l) (if (find (send l :parent) torso) (find-parent (send l :parent)) l))) + (find-parent (car torso)))) (setq larm (list l_shoulder_pan_link_lk l_shoulder_lift_link_lk l_upper_arm_roll_link_lk l_elbow_flex_link_lk l_forearm_roll_link_lk l_wrist_flex_link_lk l_wrist_roll_link_lk)) - (setq larm-root-link (labels ((find-parent (l) (if (find (send l :parent) larm) (find-parent (send l :parent)) l))) (find-parent (car larm)))) + (setq larm-root-link + (labels ((find-parent (l) (if (find (send l :parent) larm) (find-parent (send l :parent)) l))) + (find-parent (car larm)))) (setq rarm (list r_shoulder_pan_link_lk r_shoulder_lift_link_lk r_upper_arm_roll_link_lk r_elbow_flex_link_lk r_forearm_roll_link_lk r_wrist_flex_link_lk r_wrist_roll_link_lk)) - (setq rarm-root-link (labels ((find-parent (l) (if (find (send l :parent) rarm) (find-parent (send l :parent)) l))) (find-parent (car rarm)))) + (setq rarm-root-link + (labels ((find-parent (l) (if (find (send l :parent) rarm) (find-parent (send l :parent)) l))) + (find-parent (car rarm)))) (setq head (list head_pan_link_lk head_tilt_link_lk)) - (setq head-root-link (labels ((find-parent (l) (if (find (send l :parent) head) (find-parent (send l :parent)) l))) (find-parent (car head)))) + (setq head-root-link + (labels ((find-parent (l) (if (find (send l :parent) head) (find-parent (send l :parent)) l))) + (find-parent (car head)))) ;; links (setq links (list base_footprint_lk torso_lift_link_lk l_shoulder_pan_link_lk l_shoulder_lift_link_lk l_upper_arm_roll_link_lk l_elbow_flex_link_lk l_forearm_roll_link_lk l_wrist_flex_link_lk l_wrist_roll_link_lk r_shoulder_pan_link_lk r_shoulder_lift_link_lk r_upper_arm_roll_link_lk r_elbow_flex_link_lk r_forearm_roll_link_lk r_wrist_flex_link_lk r_wrist_roll_link_lk head_pan_link_lk head_tilt_link_lk)) + ;; joint-list (setq joint-list (list torso_lift_joint_jt l_shoulder_pan_joint_jt l_shoulder_lift_joint_jt l_upper_arm_roll_joint_jt l_elbow_flex_joint_jt l_forearm_roll_joint_jt l_wrist_flex_joint_jt l_wrist_roll_joint_jt r_shoulder_pan_joint_jt r_shoulder_lift_joint_jt r_upper_arm_roll_joint_jt r_elbow_flex_joint_jt r_forearm_roll_joint_jt r_wrist_flex_joint_jt r_wrist_roll_joint_jt head_pan_joint_jt head_tilt_joint_jt)) - ;; attach_sensor - (setq force-sensors (sort (list ) #'< #'(lambda (x) (send x :get :sensor-id)))) - (setq imu-sensors (sort (list ) #'< #'(lambda (x) (send x :get :sensor-id)))) - (setq cameras (sort (list ) #'< #'(lambda (x) (send x :get :sensor-id)))) + ;; sensor-coords + + ;; attach_sensor lists + (setq force-sensors (list )) + (setq imu-sensors (list )) + (setq cameras (list )) + ;; init-ending - (send self :init-ending) + (send self :init-ending) ;; :urdf ;; overwrite bodies to return draw-things links not (send link :bodies) - (setq bodies (flatten (mapcar #'(lambda (b) (if (find-method b :bodies) (send b :bodies))) (list base_bellow_link_lk base_laser_link_lk bl_caster_l_wheel_link_lk bl_caster_r_wheel_link_lk bl_caster_rotation_link_lk br_caster_l_wheel_link_lk br_caster_r_wheel_link_lk br_caster_rotation_link_lk fl_caster_l_wheel_link_lk fl_caster_r_wheel_link_lk fl_caster_rotation_link_lk fr_caster_l_wheel_link_lk fr_caster_r_wheel_link_lk fr_caster_rotation_link_lk head_chain_cb_link_lk head_mount_kinect_ir_optical_frame_lk head_mount_kinect_rgb_optical_frame_lk head_mount_kinect_rgb_link_lk head_mount_kinect_ir_link_lk head_mount_prosilica_optical_frame_lk head_mount_prosilica_link_lk head_mount_link_lk projector_wg6802418_child_frame_lk projector_wg6802418_frame_lk narrow_stereo_l_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_frame_lk narrow_stereo_l_stereo_camera_frame_lk narrow_stereo_optical_frame_lk narrow_stereo_link_lk wide_stereo_l_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_frame_lk wide_stereo_l_stereo_camera_frame_lk wide_stereo_optical_frame_lk wide_stereo_link_lk double_stereo_link_lk high_def_optical_frame_lk high_def_frame_lk sensor_mount_link_lk head_plate_frame_lk head_tilt_link_lk head_pan_link_lk imu_link_lk l_forearm_cam_optical_frame_lk l_forearm_cam_frame_lk l_gripper_l_finger_tip_link_lk l_gripper_l_finger_link_lk l_gripper_led_frame_lk l_gripper_motor_accelerometer_link_lk l_gripper_motor_screw_link_lk l_gripper_motor_slider_link_lk l_gripper_l_finger_tip_frame_lk l_gripper_r_finger_tip_link_lk l_gripper_r_finger_link_lk l_gripper_tool_frame_lk l_gripper_palm_link_lk left_arm_chain_cb_link_lk l_wrist_roll_link_lk l_wrist_flex_link_lk l_forearm_link_lk l_forearm_roll_link_lk l_elbow_flex_link_lk l_upper_arm_link_lk l_upper_arm_roll_link_lk l_shoulder_lift_link_lk l_shoulder_pan_link_lk l_torso_lift_side_plate_link_lk laser_tilt_link_lk laser_tilt_mount_link_lk r_forearm_cam_optical_frame_lk r_forearm_cam_frame_lk r_gripper_l_finger_tip_link_lk r_gripper_l_finger_link_lk r_gripper_led_frame_lk r_gripper_motor_accelerometer_link_lk r_gripper_motor_screw_link_lk r_gripper_motor_slider_link_lk r_gripper_l_finger_tip_frame_lk r_gripper_r_finger_tip_link_lk r_gripper_r_finger_link_lk r_gripper_tool_frame_lk r_gripper_palm_link_lk right_arm_chain_cb_link_lk r_wrist_roll_link_lk r_wrist_flex_link_lk r_forearm_link_lk r_forearm_roll_link_lk r_elbow_flex_link_lk r_upper_arm_link_lk r_upper_arm_roll_link_lk r_shoulder_lift_link_lk r_shoulder_pan_link_lk r_torso_lift_side_plate_link_lk torso_lift_link_lk torso_lift_motor_screw_link_lk base_link_lk base_footprint_lk)))) - - (send self :reset-pose) ;; :set reset-pose - - self)) ;; :init - - ;; pre-defined pose methods - (:reset-manip-pose () (send self :angle-vector (float-vector 300.000000 75.000000 50.000000 110.000000 -110.000000 -20.000000 -10.000000 -10.000000 -75.000000 50.000000 -110.000000 -110.000000 20.000000 -10.000000 -10.000000 0.000000 50.000000))) - (:reset-pose () (send self :angle-vector (float-vector 50.000000 60.000000 74.000000 70.000000 -120.000000 20.000000 -30.000000 180.000000 -60.000000 74.000000 -70.000000 -120.000000 -20.000000 -30.000000 180.000000 0.000000 0.000000))) - - ;; all joints - (:base_bellow_joint (&rest args) (forward-message-to base_bellow_joint_jt args)) - (:base_footprint_joint (&rest args) (forward-message-to base_footprint_joint_jt args)) - (:base_laser_joint (&rest args) (forward-message-to base_laser_joint_jt args)) - (:bl_caster_l_wheel_joint (&rest args) (forward-message-to bl_caster_l_wheel_joint_jt args)) - (:bl_caster_r_wheel_joint (&rest args) (forward-message-to bl_caster_r_wheel_joint_jt args)) - (:bl_caster_rotation_joint (&rest args) (forward-message-to bl_caster_rotation_joint_jt args)) - (:br_caster_l_wheel_joint (&rest args) (forward-message-to br_caster_l_wheel_joint_jt args)) - (:br_caster_r_wheel_joint (&rest args) (forward-message-to br_caster_r_wheel_joint_jt args)) - (:br_caster_rotation_joint (&rest args) (forward-message-to br_caster_rotation_joint_jt args)) - (:double_stereo_frame_joint (&rest args) (forward-message-to double_stereo_frame_joint_jt args)) - (:fl_caster_l_wheel_joint (&rest args) (forward-message-to fl_caster_l_wheel_joint_jt args)) - (:fl_caster_r_wheel_joint (&rest args) (forward-message-to fl_caster_r_wheel_joint_jt args)) - (:fl_caster_rotation_joint (&rest args) (forward-message-to fl_caster_rotation_joint_jt args)) - (:fr_caster_l_wheel_joint (&rest args) (forward-message-to fr_caster_l_wheel_joint_jt args)) - (:fr_caster_r_wheel_joint (&rest args) (forward-message-to fr_caster_r_wheel_joint_jt args)) - (:fr_caster_rotation_joint (&rest args) (forward-message-to fr_caster_rotation_joint_jt args)) - (:head_chain_cb (&rest args) (forward-message-to head_chain_cb_jt args)) - (:head_mount_joint (&rest args) (forward-message-to head_mount_joint_jt args)) - (:head_mount_kinect_ir_joint (&rest args) (forward-message-to head_mount_kinect_ir_joint_jt args)) - (:head_mount_kinect_ir_optical_frame_joint (&rest args) (forward-message-to head_mount_kinect_ir_optical_frame_joint_jt args)) - (:head_mount_kinect_rgb_joint (&rest args) (forward-message-to head_mount_kinect_rgb_joint_jt args)) - (:head_mount_kinect_rgb_optical_frame_joint (&rest args) (forward-message-to head_mount_kinect_rgb_optical_frame_joint_jt args)) - (:head_mount_prosilica_joint (&rest args) (forward-message-to head_mount_prosilica_joint_jt args)) - (:head_mount_prosilica_optical_frame_joint (&rest args) (forward-message-to head_mount_prosilica_optical_frame_joint_jt args)) - (:head_pan_joint (&rest args) (forward-message-to head_pan_joint_jt args)) - (:head_plate_frame_joint (&rest args) (forward-message-to head_plate_frame_joint_jt args)) - (:head_tilt_joint (&rest args) (forward-message-to head_tilt_joint_jt args)) - (:high_def_frame_joint (&rest args) (forward-message-to high_def_frame_joint_jt args)) - (:high_def_optical_frame_joint (&rest args) (forward-message-to high_def_optical_frame_joint_jt args)) - (:imu_joint (&rest args) (forward-message-to imu_joint_jt args)) - (:l_elbow_flex_joint (&rest args) (forward-message-to l_elbow_flex_joint_jt args)) - (:l_forearm_cam_frame_joint (&rest args) (forward-message-to l_forearm_cam_frame_joint_jt args)) - (:l_forearm_cam_optical_frame_joint (&rest args) (forward-message-to l_forearm_cam_optical_frame_joint_jt args)) - (:l_forearm_joint (&rest args) (forward-message-to l_forearm_joint_jt args)) - (:l_forearm_roll_joint (&rest args) (forward-message-to l_forearm_roll_joint_jt args)) - (:l_gripper_joint (&rest args) (forward-message-to l_gripper_joint_jt args)) - (:l_gripper_l_finger_joint (&rest args) (forward-message-to l_gripper_l_finger_joint_jt args)) - (:l_gripper_l_finger_tip_joint (&rest args) (forward-message-to l_gripper_l_finger_tip_joint_jt args)) - (:l_gripper_led_joint (&rest args) (forward-message-to l_gripper_led_joint_jt args)) - (:l_gripper_motor_accelerometer_joint (&rest args) (forward-message-to l_gripper_motor_accelerometer_joint_jt args)) - (:l_gripper_motor_screw_joint (&rest args) (forward-message-to l_gripper_motor_screw_joint_jt args)) - (:l_gripper_motor_slider_joint (&rest args) (forward-message-to l_gripper_motor_slider_joint_jt args)) - (:l_gripper_palm_joint (&rest args) (forward-message-to l_gripper_palm_joint_jt args)) - (:l_gripper_r_finger_joint (&rest args) (forward-message-to l_gripper_r_finger_joint_jt args)) - (:l_gripper_r_finger_tip_joint (&rest args) (forward-message-to l_gripper_r_finger_tip_joint_jt args)) - (:l_gripper_tool_joint (&rest args) (forward-message-to l_gripper_tool_joint_jt args)) - (:l_shoulder_lift_joint (&rest args) (forward-message-to l_shoulder_lift_joint_jt args)) - (:l_shoulder_pan_joint (&rest args) (forward-message-to l_shoulder_pan_joint_jt args)) - (:l_torso_lift_side_plate_joint (&rest args) (forward-message-to l_torso_lift_side_plate_joint_jt args)) - (:l_upper_arm_joint (&rest args) (forward-message-to l_upper_arm_joint_jt args)) - (:l_upper_arm_roll_joint (&rest args) (forward-message-to l_upper_arm_roll_joint_jt args)) - (:l_wrist_flex_joint (&rest args) (forward-message-to l_wrist_flex_joint_jt args)) - (:l_wrist_roll_joint (&rest args) (forward-message-to l_wrist_roll_joint_jt args)) - (:laser_tilt_joint (&rest args) (forward-message-to laser_tilt_joint_jt args)) - (:laser_tilt_mount_joint (&rest args) (forward-message-to laser_tilt_mount_joint_jt args)) - (:left_arm_chain_cb (&rest args) (forward-message-to left_arm_chain_cb_jt args)) - (:narrow_stereo_frame_joint (&rest args) (forward-message-to narrow_stereo_frame_joint_jt args)) - (:narrow_stereo_l_stereo_camera_frame_joint (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_frame_joint_jt args)) - (:narrow_stereo_l_stereo_camera_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_joint_jt args)) - (:narrow_stereo_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_optical_frame_joint_jt args)) - (:narrow_stereo_r_stereo_camera_frame_joint (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_frame_joint_jt args)) - (:narrow_stereo_r_stereo_camera_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_joint_jt args)) - (:projector_wg6802418_child_frame_joint (&rest args) (forward-message-to projector_wg6802418_child_frame_joint_jt args)) - (:projector_wg6802418_frame_joint (&rest args) (forward-message-to projector_wg6802418_frame_joint_jt args)) - (:r_elbow_flex_joint (&rest args) (forward-message-to r_elbow_flex_joint_jt args)) - (:r_forearm_cam_frame_joint (&rest args) (forward-message-to r_forearm_cam_frame_joint_jt args)) - (:r_forearm_cam_optical_frame_joint (&rest args) (forward-message-to r_forearm_cam_optical_frame_joint_jt args)) - (:r_forearm_joint (&rest args) (forward-message-to r_forearm_joint_jt args)) - (:r_forearm_roll_joint (&rest args) (forward-message-to r_forearm_roll_joint_jt args)) - (:r_gripper_joint (&rest args) (forward-message-to r_gripper_joint_jt args)) - (:r_gripper_l_finger_joint (&rest args) (forward-message-to r_gripper_l_finger_joint_jt args)) - (:r_gripper_l_finger_tip_joint (&rest args) (forward-message-to r_gripper_l_finger_tip_joint_jt args)) - (:r_gripper_led_joint (&rest args) (forward-message-to r_gripper_led_joint_jt args)) - (:r_gripper_motor_accelerometer_joint (&rest args) (forward-message-to r_gripper_motor_accelerometer_joint_jt args)) - (:r_gripper_motor_screw_joint (&rest args) (forward-message-to r_gripper_motor_screw_joint_jt args)) - (:r_gripper_motor_slider_joint (&rest args) (forward-message-to r_gripper_motor_slider_joint_jt args)) - (:r_gripper_palm_joint (&rest args) (forward-message-to r_gripper_palm_joint_jt args)) - (:r_gripper_r_finger_joint (&rest args) (forward-message-to r_gripper_r_finger_joint_jt args)) - (:r_gripper_r_finger_tip_joint (&rest args) (forward-message-to r_gripper_r_finger_tip_joint_jt args)) - (:r_gripper_tool_joint (&rest args) (forward-message-to r_gripper_tool_joint_jt args)) - (:r_shoulder_lift_joint (&rest args) (forward-message-to r_shoulder_lift_joint_jt args)) - (:r_shoulder_pan_joint (&rest args) (forward-message-to r_shoulder_pan_joint_jt args)) - (:r_torso_lift_side_plate_joint (&rest args) (forward-message-to r_torso_lift_side_plate_joint_jt args)) - (:r_upper_arm_joint (&rest args) (forward-message-to r_upper_arm_joint_jt args)) - (:r_upper_arm_roll_joint (&rest args) (forward-message-to r_upper_arm_roll_joint_jt args)) - (:r_wrist_flex_joint (&rest args) (forward-message-to r_wrist_flex_joint_jt args)) - (:r_wrist_roll_joint (&rest args) (forward-message-to r_wrist_roll_joint_jt args)) - (:right_arm_chain_cb (&rest args) (forward-message-to right_arm_chain_cb_jt args)) - (:sensor_mount_frame_joint (&rest args) (forward-message-to sensor_mount_frame_joint_jt args)) - (:torso_lift_joint (&rest args) (forward-message-to torso_lift_joint_jt args)) - (:torso_lift_motor_screw_joint (&rest args) (forward-message-to torso_lift_motor_screw_joint_jt args)) - (:wide_stereo_frame_joint (&rest args) (forward-message-to wide_stereo_frame_joint_jt args)) - (:wide_stereo_l_stereo_camera_frame_joint (&rest args) (forward-message-to wide_stereo_l_stereo_camera_frame_joint_jt args)) - (:wide_stereo_l_stereo_camera_optical_frame_joint (&rest args) (forward-message-to wide_stereo_l_stereo_camera_optical_frame_joint_jt args)) - (:wide_stereo_optical_frame_joint (&rest args) (forward-message-to wide_stereo_optical_frame_joint_jt args)) - (:wide_stereo_r_stereo_camera_frame_joint (&rest args) (forward-message-to wide_stereo_r_stereo_camera_frame_joint_jt args)) - (:wide_stereo_r_stereo_camera_optical_frame_joint (&rest args) (forward-message-to wide_stereo_r_stereo_camera_optical_frame_joint_jt args)) - - ;; all links forwarding - (:links (&rest args) - (if (null args) (return-from :links (send-super :links))) - (let ((key (car args)) + (setq bodies (flatten (mapcar #'(lambda (b) (if (find-method b :bodies) (send b :bodies))) (list base_bellow_link_lk base_footprint_lk base_laser_link_lk base_link_lk bl_caster_l_wheel_link_lk bl_caster_r_wheel_link_lk bl_caster_rotation_link_lk br_caster_l_wheel_link_lk br_caster_r_wheel_link_lk br_caster_rotation_link_lk double_stereo_link_lk fl_caster_l_wheel_link_lk fl_caster_r_wheel_link_lk fl_caster_rotation_link_lk fr_caster_l_wheel_link_lk fr_caster_r_wheel_link_lk fr_caster_rotation_link_lk head_chain_cb_link_lk head_mount_kinect_ir_link_lk head_mount_kinect_ir_optical_frame_lk head_mount_kinect_rgb_link_lk head_mount_kinect_rgb_optical_frame_lk head_mount_link_lk head_mount_prosilica_link_lk head_mount_prosilica_optical_frame_lk head_pan_link_lk head_plate_frame_lk head_tilt_link_lk high_def_frame_lk high_def_optical_frame_lk imu_link_lk l_elbow_flex_link_lk l_forearm_cam_frame_lk l_forearm_cam_optical_frame_lk l_forearm_link_lk l_forearm_roll_link_lk l_gripper_l_finger_link_lk l_gripper_l_finger_tip_frame_lk l_gripper_l_finger_tip_link_lk l_gripper_led_frame_lk l_gripper_motor_accelerometer_link_lk l_gripper_motor_screw_link_lk l_gripper_motor_slider_link_lk l_gripper_palm_link_lk l_gripper_r_finger_link_lk l_gripper_r_finger_tip_link_lk l_gripper_tool_frame_lk l_shoulder_lift_link_lk l_shoulder_pan_link_lk l_torso_lift_side_plate_link_lk l_upper_arm_link_lk l_upper_arm_roll_link_lk l_wrist_flex_link_lk l_wrist_roll_link_lk laser_tilt_link_lk laser_tilt_mount_link_lk left_arm_chain_cb_link_lk narrow_stereo_l_stereo_camera_frame_lk narrow_stereo_l_stereo_camera_optical_frame_lk narrow_stereo_link_lk narrow_stereo_optical_frame_lk narrow_stereo_r_stereo_camera_frame_lk narrow_stereo_r_stereo_camera_optical_frame_lk projector_wg6802418_child_frame_lk projector_wg6802418_frame_lk r_elbow_flex_link_lk r_forearm_cam_frame_lk r_forearm_cam_optical_frame_lk r_forearm_link_lk r_forearm_roll_link_lk r_gripper_l_finger_link_lk r_gripper_l_finger_tip_frame_lk r_gripper_l_finger_tip_link_lk r_gripper_led_frame_lk r_gripper_motor_accelerometer_link_lk r_gripper_motor_screw_link_lk r_gripper_motor_slider_link_lk r_gripper_palm_link_lk r_gripper_r_finger_link_lk r_gripper_r_finger_tip_link_lk r_gripper_tool_frame_lk r_shoulder_lift_link_lk r_shoulder_pan_link_lk r_torso_lift_side_plate_link_lk r_upper_arm_link_lk r_upper_arm_roll_link_lk r_wrist_flex_link_lk r_wrist_roll_link_lk right_arm_chain_cb_link_lk sensor_mount_link_lk torso_lift_link_lk torso_lift_motor_screw_link_lk wide_stereo_l_stereo_camera_frame_lk wide_stereo_l_stereo_camera_optical_frame_lk wide_stereo_link_lk wide_stereo_optical_frame_lk wide_stereo_r_stereo_camera_frame_lk wide_stereo_r_stereo_camera_optical_frame_lk)))) + + (when (member :reset-pose (send self :methods)) (send self :reset-pose)) ;; :set reset-pose + + self)) ;; end of :init + + ;; pre-defined pose methods + + (:reset-manip-pose (&optional (limbs '(:torso :larm :rarm :head))) + "Predefined pose named reset-manip-pose." + (unless (listp limbs) (setq limbs (list limbs))) + (dolist (limb limbs) + (case limb + (:torso (send self limb :angle-vector (float-vector 300.000000))) + (:larm (send self limb :angle-vector (float-vector 75.000000 50.000000 110.000000 -110.000000 -20.000000 -10.000000 -10.000000))) + (:rarm (send self limb :angle-vector (float-vector -75.000000 50.000000 -110.000000 -110.000000 20.000000 -10.000000 -10.000000))) + (:head (send self limb :angle-vector (float-vector 0.000000 50.000000))) + (t (format t "Unknown limb is passed: ~a~%" limb)))) + (send self :angle-vector)) + (:reset-pose (&optional (limbs '(:torso :larm :rarm :head))) + "Predefined pose named reset-pose." + (unless (listp limbs) (setq limbs (list limbs))) + (dolist (limb limbs) + (case limb + (:torso (send self limb :angle-vector (float-vector 50.000000))) + (:larm (send self limb :angle-vector (float-vector 60.000000 74.000000 70.000000 -120.000000 20.000000 -30.000000 180.000000))) + (:rarm (send self limb :angle-vector (float-vector -60.000000 74.000000 -70.000000 -120.000000 -20.000000 -30.000000 180.000000))) + (:head (send self limb :angle-vector (float-vector 0.000000 0.000000))) + (t (format t "Unknown limb is passed: ~a~%" limb)))) + (send self :angle-vector)) + ;; all joints + (:base_bellow_joint (&rest args) (forward-message-to base_bellow_joint_fixed_jt args)) + (:base_footprint_joint (&rest args) (forward-message-to base_footprint_joint_fixed_jt args)) + (:base_laser_joint (&rest args) (forward-message-to base_laser_joint_fixed_jt args)) + (:bl_caster_l_wheel_joint (&rest args) (forward-message-to bl_caster_l_wheel_joint_jt args)) + (:bl_caster_r_wheel_joint (&rest args) (forward-message-to bl_caster_r_wheel_joint_jt args)) + (:bl_caster_rotation_joint (&rest args) (forward-message-to bl_caster_rotation_joint_jt args)) + (:br_caster_l_wheel_joint (&rest args) (forward-message-to br_caster_l_wheel_joint_jt args)) + (:br_caster_r_wheel_joint (&rest args) (forward-message-to br_caster_r_wheel_joint_jt args)) + (:br_caster_rotation_joint (&rest args) (forward-message-to br_caster_rotation_joint_jt args)) + (:double_stereo_frame_joint (&rest args) (forward-message-to double_stereo_frame_joint_fixed_jt args)) + (:fl_caster_l_wheel_joint (&rest args) (forward-message-to fl_caster_l_wheel_joint_jt args)) + (:fl_caster_r_wheel_joint (&rest args) (forward-message-to fl_caster_r_wheel_joint_jt args)) + (:fl_caster_rotation_joint (&rest args) (forward-message-to fl_caster_rotation_joint_jt args)) + (:fr_caster_l_wheel_joint (&rest args) (forward-message-to fr_caster_l_wheel_joint_jt args)) + (:fr_caster_r_wheel_joint (&rest args) (forward-message-to fr_caster_r_wheel_joint_jt args)) + (:fr_caster_rotation_joint (&rest args) (forward-message-to fr_caster_rotation_joint_jt args)) + (:head_chain_cb (&rest args) (forward-message-to head_chain_cb_fixed_jt args)) + (:head_mount_joint (&rest args) (forward-message-to head_mount_joint_fixed_jt args)) + (:head_mount_kinect_ir_joint (&rest args) (forward-message-to head_mount_kinect_ir_joint_fixed_jt args)) + (:head_mount_kinect_ir_optical_frame_joint (&rest args) (forward-message-to head_mount_kinect_ir_optical_frame_joint_fixed_jt args)) + (:head_mount_kinect_rgb_joint (&rest args) (forward-message-to head_mount_kinect_rgb_joint_fixed_jt args)) + (:head_mount_kinect_rgb_optical_frame_joint (&rest args) (forward-message-to head_mount_kinect_rgb_optical_frame_joint_fixed_jt args)) + (:head_mount_prosilica_joint (&rest args) (forward-message-to head_mount_prosilica_joint_fixed_jt args)) + (:head_mount_prosilica_optical_frame_joint (&rest args) (forward-message-to head_mount_prosilica_optical_frame_joint_fixed_jt args)) + (:head_pan_joint (&rest args) (forward-message-to head_pan_joint_jt args)) + (:head_plate_frame_joint (&rest args) (forward-message-to head_plate_frame_joint_fixed_jt args)) + (:head_tilt_joint (&rest args) (forward-message-to head_tilt_joint_jt args)) + (:high_def_frame_joint (&rest args) (forward-message-to high_def_frame_joint_fixed_jt args)) + (:high_def_optical_frame_joint (&rest args) (forward-message-to high_def_optical_frame_joint_fixed_jt args)) + (:imu_joint (&rest args) (forward-message-to imu_joint_fixed_jt args)) + (:l_elbow_flex_joint (&rest args) (forward-message-to l_elbow_flex_joint_jt args)) + (:l_forearm_cam_frame_joint (&rest args) (forward-message-to l_forearm_cam_frame_joint_fixed_jt args)) + (:l_forearm_cam_optical_frame_joint (&rest args) (forward-message-to l_forearm_cam_optical_frame_joint_fixed_jt args)) + (:l_forearm_joint (&rest args) (forward-message-to l_forearm_joint_fixed_jt args)) + (:l_forearm_roll_joint (&rest args) (forward-message-to l_forearm_roll_joint_jt args)) + (:l_gripper_joint (&rest args) (forward-message-to l_gripper_joint_jt args)) + (:l_gripper_l_finger_joint (&rest args) (forward-message-to l_gripper_l_finger_joint_jt args)) + (:l_gripper_l_finger_tip_joint (&rest args) (forward-message-to l_gripper_l_finger_tip_joint_jt args)) + (:l_gripper_led_joint (&rest args) (forward-message-to l_gripper_led_joint_fixed_jt args)) + (:l_gripper_motor_accelerometer_joint (&rest args) (forward-message-to l_gripper_motor_accelerometer_joint_fixed_jt args)) + (:l_gripper_motor_screw_joint (&rest args) (forward-message-to l_gripper_motor_screw_joint_jt args)) + (:l_gripper_motor_slider_joint (&rest args) (forward-message-to l_gripper_motor_slider_joint_jt args)) + (:l_gripper_palm_joint (&rest args) (forward-message-to l_gripper_palm_joint_fixed_jt args)) + (:l_gripper_r_finger_joint (&rest args) (forward-message-to l_gripper_r_finger_joint_jt args)) + (:l_gripper_r_finger_tip_joint (&rest args) (forward-message-to l_gripper_r_finger_tip_joint_jt args)) + (:l_gripper_tool_joint (&rest args) (forward-message-to l_gripper_tool_joint_fixed_jt args)) + (:l_shoulder_lift_joint (&rest args) (forward-message-to l_shoulder_lift_joint_jt args)) + (:l_shoulder_pan_joint (&rest args) (forward-message-to l_shoulder_pan_joint_jt args)) + (:l_torso_lift_side_plate_joint (&rest args) (forward-message-to l_torso_lift_side_plate_joint_fixed_jt args)) + (:l_upper_arm_joint (&rest args) (forward-message-to l_upper_arm_joint_fixed_jt args)) + (:l_upper_arm_roll_joint (&rest args) (forward-message-to l_upper_arm_roll_joint_jt args)) + (:l_wrist_flex_joint (&rest args) (forward-message-to l_wrist_flex_joint_jt args)) + (:l_wrist_roll_joint (&rest args) (forward-message-to l_wrist_roll_joint_jt args)) + (:laser_tilt_joint (&rest args) (forward-message-to laser_tilt_joint_fixed_jt args)) + (:laser_tilt_mount_joint (&rest args) (forward-message-to laser_tilt_mount_joint_jt args)) + (:left_arm_chain_cb (&rest args) (forward-message-to left_arm_chain_cb_fixed_jt args)) + (:narrow_stereo_frame_joint (&rest args) (forward-message-to narrow_stereo_frame_joint_fixed_jt args)) + (:narrow_stereo_l_stereo_camera_frame_joint (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_frame_joint_fixed_jt args)) + (:narrow_stereo_l_stereo_camera_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_joint_fixed_jt args)) + (:narrow_stereo_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_optical_frame_joint_fixed_jt args)) + (:narrow_stereo_r_stereo_camera_frame_joint (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_frame_joint_fixed_jt args)) + (:narrow_stereo_r_stereo_camera_optical_frame_joint (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_joint_fixed_jt args)) + (:projector_wg6802418_child_frame_joint (&rest args) (forward-message-to projector_wg6802418_child_frame_joint_fixed_jt args)) + (:projector_wg6802418_frame_joint (&rest args) (forward-message-to projector_wg6802418_frame_joint_fixed_jt args)) + (:r_elbow_flex_joint (&rest args) (forward-message-to r_elbow_flex_joint_jt args)) + (:r_forearm_cam_frame_joint (&rest args) (forward-message-to r_forearm_cam_frame_joint_fixed_jt args)) + (:r_forearm_cam_optical_frame_joint (&rest args) (forward-message-to r_forearm_cam_optical_frame_joint_fixed_jt args)) + (:r_forearm_joint (&rest args) (forward-message-to r_forearm_joint_fixed_jt args)) + (:r_forearm_roll_joint (&rest args) (forward-message-to r_forearm_roll_joint_jt args)) + (:r_gripper_joint (&rest args) (forward-message-to r_gripper_joint_jt args)) + (:r_gripper_l_finger_joint (&rest args) (forward-message-to r_gripper_l_finger_joint_jt args)) + (:r_gripper_l_finger_tip_joint (&rest args) (forward-message-to r_gripper_l_finger_tip_joint_jt args)) + (:r_gripper_led_joint (&rest args) (forward-message-to r_gripper_led_joint_fixed_jt args)) + (:r_gripper_motor_accelerometer_joint (&rest args) (forward-message-to r_gripper_motor_accelerometer_joint_fixed_jt args)) + (:r_gripper_motor_screw_joint (&rest args) (forward-message-to r_gripper_motor_screw_joint_jt args)) + (:r_gripper_motor_slider_joint (&rest args) (forward-message-to r_gripper_motor_slider_joint_jt args)) + (:r_gripper_palm_joint (&rest args) (forward-message-to r_gripper_palm_joint_fixed_jt args)) + (:r_gripper_r_finger_joint (&rest args) (forward-message-to r_gripper_r_finger_joint_jt args)) + (:r_gripper_r_finger_tip_joint (&rest args) (forward-message-to r_gripper_r_finger_tip_joint_jt args)) + (:r_gripper_tool_joint (&rest args) (forward-message-to r_gripper_tool_joint_fixed_jt args)) + (:r_shoulder_lift_joint (&rest args) (forward-message-to r_shoulder_lift_joint_jt args)) + (:r_shoulder_pan_joint (&rest args) (forward-message-to r_shoulder_pan_joint_jt args)) + (:r_torso_lift_side_plate_joint (&rest args) (forward-message-to r_torso_lift_side_plate_joint_fixed_jt args)) + (:r_upper_arm_joint (&rest args) (forward-message-to r_upper_arm_joint_fixed_jt args)) + (:r_upper_arm_roll_joint (&rest args) (forward-message-to r_upper_arm_roll_joint_jt args)) + (:r_wrist_flex_joint (&rest args) (forward-message-to r_wrist_flex_joint_jt args)) + (:r_wrist_roll_joint (&rest args) (forward-message-to r_wrist_roll_joint_jt args)) + (:right_arm_chain_cb (&rest args) (forward-message-to right_arm_chain_cb_fixed_jt args)) + (:sensor_mount_frame_joint (&rest args) (forward-message-to sensor_mount_frame_joint_fixed_jt args)) + (:torso_lift_joint (&rest args) (forward-message-to torso_lift_joint_jt args)) + (:torso_lift_motor_screw_joint (&rest args) (forward-message-to torso_lift_motor_screw_joint_jt args)) + (:wide_stereo_frame_joint (&rest args) (forward-message-to wide_stereo_frame_joint_fixed_jt args)) + (:wide_stereo_l_stereo_camera_frame_joint (&rest args) (forward-message-to wide_stereo_l_stereo_camera_frame_joint_fixed_jt args)) + (:wide_stereo_l_stereo_camera_optical_frame_joint (&rest args) (forward-message-to wide_stereo_l_stereo_camera_optical_frame_joint_fixed_jt args)) + (:wide_stereo_optical_frame_joint (&rest args) (forward-message-to wide_stereo_optical_frame_joint_fixed_jt args)) + (:wide_stereo_r_stereo_camera_frame_joint (&rest args) (forward-message-to wide_stereo_r_stereo_camera_frame_joint_fixed_jt args)) + (:wide_stereo_r_stereo_camera_optical_frame_joint (&rest args) (forward-message-to wide_stereo_r_stereo_camera_optical_frame_joint_fixed_jt args)) + + ;; all links forwarding + (:links (&rest args) + (if (null args) (return-from :links (send-super :links))) + (let ((key (car args)) (nargs (cdr args))) - (unless (keywordp key) + (unless (keywordp key) (return-from :links (send-super* :links args))) (case key - (:base_bellow_link (forward-message-to base_bellow_link_lk nargs)) - (:base_laser_link (forward-message-to base_laser_link_lk nargs)) - (:bl_caster_l_wheel_link (forward-message-to bl_caster_l_wheel_link_lk nargs)) - (:bl_caster_r_wheel_link (forward-message-to bl_caster_r_wheel_link_lk nargs)) - (:bl_caster_rotation_link (forward-message-to bl_caster_rotation_link_lk nargs)) - (:br_caster_l_wheel_link (forward-message-to br_caster_l_wheel_link_lk nargs)) - (:br_caster_r_wheel_link (forward-message-to br_caster_r_wheel_link_lk nargs)) - (:br_caster_rotation_link (forward-message-to br_caster_rotation_link_lk nargs)) - (:fl_caster_l_wheel_link (forward-message-to fl_caster_l_wheel_link_lk nargs)) - (:fl_caster_r_wheel_link (forward-message-to fl_caster_r_wheel_link_lk nargs)) - (:fl_caster_rotation_link (forward-message-to fl_caster_rotation_link_lk nargs)) - (:fr_caster_l_wheel_link (forward-message-to fr_caster_l_wheel_link_lk nargs)) - (:fr_caster_r_wheel_link (forward-message-to fr_caster_r_wheel_link_lk nargs)) - (:fr_caster_rotation_link (forward-message-to fr_caster_rotation_link_lk nargs)) - (:head_chain_cb_link (forward-message-to head_chain_cb_link_lk nargs)) - (:head_mount_kinect_ir_optical_frame (forward-message-to head_mount_kinect_ir_optical_frame_lk nargs)) - (:head_mount_kinect_rgb_optical_frame (forward-message-to head_mount_kinect_rgb_optical_frame_lk nargs)) - (:head_mount_kinect_rgb_link (forward-message-to head_mount_kinect_rgb_link_lk nargs)) - (:head_mount_kinect_ir_link (forward-message-to head_mount_kinect_ir_link_lk nargs)) - (:head_mount_prosilica_optical_frame (forward-message-to head_mount_prosilica_optical_frame_lk nargs)) - (:head_mount_prosilica_link (forward-message-to head_mount_prosilica_link_lk nargs)) - (:head_mount_link (forward-message-to head_mount_link_lk nargs)) - (:projector_wg6802418_child_frame (forward-message-to projector_wg6802418_child_frame_lk nargs)) - (:projector_wg6802418_frame (forward-message-to projector_wg6802418_frame_lk nargs)) - (:narrow_stereo_l_stereo_camera_optical_frame (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_lk nargs)) - (:narrow_stereo_r_stereo_camera_optical_frame (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_lk nargs)) - (:narrow_stereo_r_stereo_camera_frame (forward-message-to narrow_stereo_r_stereo_camera_frame_lk nargs)) - (:narrow_stereo_l_stereo_camera_frame (forward-message-to narrow_stereo_l_stereo_camera_frame_lk nargs)) - (:narrow_stereo_optical_frame (forward-message-to narrow_stereo_optical_frame_lk nargs)) - (:narrow_stereo_link (forward-message-to narrow_stereo_link_lk nargs)) - (:wide_stereo_l_stereo_camera_optical_frame (forward-message-to wide_stereo_l_stereo_camera_optical_frame_lk nargs)) - (:wide_stereo_r_stereo_camera_optical_frame (forward-message-to wide_stereo_r_stereo_camera_optical_frame_lk nargs)) - (:wide_stereo_r_stereo_camera_frame (forward-message-to wide_stereo_r_stereo_camera_frame_lk nargs)) - (:wide_stereo_l_stereo_camera_frame (forward-message-to wide_stereo_l_stereo_camera_frame_lk nargs)) - (:wide_stereo_optical_frame (forward-message-to wide_stereo_optical_frame_lk nargs)) - (:wide_stereo_link (forward-message-to wide_stereo_link_lk nargs)) - (:double_stereo_link (forward-message-to double_stereo_link_lk nargs)) - (:high_def_optical_frame (forward-message-to high_def_optical_frame_lk nargs)) - (:high_def_frame (forward-message-to high_def_frame_lk nargs)) - (:sensor_mount_link (forward-message-to sensor_mount_link_lk nargs)) - (:head_plate_frame (forward-message-to head_plate_frame_lk nargs)) - (:head_tilt_link (forward-message-to head_tilt_link_lk nargs)) - (:head_pan_link (forward-message-to head_pan_link_lk nargs)) - (:imu_link (forward-message-to imu_link_lk nargs)) - (:l_forearm_cam_optical_frame (forward-message-to l_forearm_cam_optical_frame_lk nargs)) - (:l_forearm_cam_frame (forward-message-to l_forearm_cam_frame_lk nargs)) - (:l_gripper_l_finger_tip_link (forward-message-to l_gripper_l_finger_tip_link_lk nargs)) - (:l_gripper_l_finger_link (forward-message-to l_gripper_l_finger_link_lk nargs)) - (:l_gripper_led_frame (forward-message-to l_gripper_led_frame_lk nargs)) - (:l_gripper_motor_accelerometer_link (forward-message-to l_gripper_motor_accelerometer_link_lk nargs)) - (:l_gripper_motor_screw_link (forward-message-to l_gripper_motor_screw_link_lk nargs)) - (:l_gripper_motor_slider_link (forward-message-to l_gripper_motor_slider_link_lk nargs)) - (:l_gripper_l_finger_tip_frame (forward-message-to l_gripper_l_finger_tip_frame_lk nargs)) - (:l_gripper_r_finger_tip_link (forward-message-to l_gripper_r_finger_tip_link_lk nargs)) - (:l_gripper_r_finger_link (forward-message-to l_gripper_r_finger_link_lk nargs)) - (:l_gripper_tool_frame (forward-message-to l_gripper_tool_frame_lk nargs)) - (:l_gripper_palm_link (forward-message-to l_gripper_palm_link_lk nargs)) - (:left_arm_chain_cb_link (forward-message-to left_arm_chain_cb_link_lk nargs)) - (:l_wrist_roll_link (forward-message-to l_wrist_roll_link_lk nargs)) - (:l_wrist_flex_link (forward-message-to l_wrist_flex_link_lk nargs)) - (:l_forearm_link (forward-message-to l_forearm_link_lk nargs)) - (:l_forearm_roll_link (forward-message-to l_forearm_roll_link_lk nargs)) - (:l_elbow_flex_link (forward-message-to l_elbow_flex_link_lk nargs)) - (:l_upper_arm_link (forward-message-to l_upper_arm_link_lk nargs)) - (:l_upper_arm_roll_link (forward-message-to l_upper_arm_roll_link_lk nargs)) - (:l_shoulder_lift_link (forward-message-to l_shoulder_lift_link_lk nargs)) - (:l_shoulder_pan_link (forward-message-to l_shoulder_pan_link_lk nargs)) - (:l_torso_lift_side_plate_link (forward-message-to l_torso_lift_side_plate_link_lk nargs)) - (:laser_tilt_link (forward-message-to laser_tilt_link_lk nargs)) - (:laser_tilt_mount_link (forward-message-to laser_tilt_mount_link_lk nargs)) - (:r_forearm_cam_optical_frame (forward-message-to r_forearm_cam_optical_frame_lk nargs)) - (:r_forearm_cam_frame (forward-message-to r_forearm_cam_frame_lk nargs)) - (:r_gripper_l_finger_tip_link (forward-message-to r_gripper_l_finger_tip_link_lk nargs)) - (:r_gripper_l_finger_link (forward-message-to r_gripper_l_finger_link_lk nargs)) - (:r_gripper_led_frame (forward-message-to r_gripper_led_frame_lk nargs)) - (:r_gripper_motor_accelerometer_link (forward-message-to r_gripper_motor_accelerometer_link_lk nargs)) - (:r_gripper_motor_screw_link (forward-message-to r_gripper_motor_screw_link_lk nargs)) - (:r_gripper_motor_slider_link (forward-message-to r_gripper_motor_slider_link_lk nargs)) - (:r_gripper_l_finger_tip_frame (forward-message-to r_gripper_l_finger_tip_frame_lk nargs)) - (:r_gripper_r_finger_tip_link (forward-message-to r_gripper_r_finger_tip_link_lk nargs)) - (:r_gripper_r_finger_link (forward-message-to r_gripper_r_finger_link_lk nargs)) - (:r_gripper_tool_frame (forward-message-to r_gripper_tool_frame_lk nargs)) - (:r_gripper_palm_link (forward-message-to r_gripper_palm_link_lk nargs)) - (:right_arm_chain_cb_link (forward-message-to right_arm_chain_cb_link_lk nargs)) - (:r_wrist_roll_link (forward-message-to r_wrist_roll_link_lk nargs)) - (:r_wrist_flex_link (forward-message-to r_wrist_flex_link_lk nargs)) - (:r_forearm_link (forward-message-to r_forearm_link_lk nargs)) - (:r_forearm_roll_link (forward-message-to r_forearm_roll_link_lk nargs)) - (:r_elbow_flex_link (forward-message-to r_elbow_flex_link_lk nargs)) - (:r_upper_arm_link (forward-message-to r_upper_arm_link_lk nargs)) - (:r_upper_arm_roll_link (forward-message-to r_upper_arm_roll_link_lk nargs)) - (:r_shoulder_lift_link (forward-message-to r_shoulder_lift_link_lk nargs)) - (:r_shoulder_pan_link (forward-message-to r_shoulder_pan_link_lk nargs)) - (:r_torso_lift_side_plate_link (forward-message-to r_torso_lift_side_plate_link_lk nargs)) - (:torso_lift_link (forward-message-to torso_lift_link_lk nargs)) - (:torso_lift_motor_screw_link (forward-message-to torso_lift_motor_screw_link_lk nargs)) - (:base_link (forward-message-to base_link_lk nargs)) - (:base_footprint (forward-message-to base_footprint_lk nargs)) - (t (send-super* :links args))))) - - ;; all links - (:base_bellow_link_lk (&rest args) (forward-message-to base_bellow_link_lk args)) - (:base_laser_link_lk (&rest args) (forward-message-to base_laser_link_lk args)) - (:bl_caster_l_wheel_link_lk (&rest args) (forward-message-to bl_caster_l_wheel_link_lk args)) - (:bl_caster_r_wheel_link_lk (&rest args) (forward-message-to bl_caster_r_wheel_link_lk args)) - (:bl_caster_rotation_link_lk (&rest args) (forward-message-to bl_caster_rotation_link_lk args)) - (:br_caster_l_wheel_link_lk (&rest args) (forward-message-to br_caster_l_wheel_link_lk args)) - (:br_caster_r_wheel_link_lk (&rest args) (forward-message-to br_caster_r_wheel_link_lk args)) - (:br_caster_rotation_link_lk (&rest args) (forward-message-to br_caster_rotation_link_lk args)) - (:fl_caster_l_wheel_link_lk (&rest args) (forward-message-to fl_caster_l_wheel_link_lk args)) - (:fl_caster_r_wheel_link_lk (&rest args) (forward-message-to fl_caster_r_wheel_link_lk args)) - (:fl_caster_rotation_link_lk (&rest args) (forward-message-to fl_caster_rotation_link_lk args)) - (:fr_caster_l_wheel_link_lk (&rest args) (forward-message-to fr_caster_l_wheel_link_lk args)) - (:fr_caster_r_wheel_link_lk (&rest args) (forward-message-to fr_caster_r_wheel_link_lk args)) - (:fr_caster_rotation_link_lk (&rest args) (forward-message-to fr_caster_rotation_link_lk args)) - (:head_chain_cb_link_lk (&rest args) (forward-message-to head_chain_cb_link_lk args)) - (:head_mount_kinect_ir_optical_frame_lk (&rest args) (forward-message-to head_mount_kinect_ir_optical_frame_lk args)) - (:head_mount_kinect_rgb_optical_frame_lk (&rest args) (forward-message-to head_mount_kinect_rgb_optical_frame_lk args)) - (:head_mount_kinect_rgb_link_lk (&rest args) (forward-message-to head_mount_kinect_rgb_link_lk args)) - (:head_mount_kinect_ir_link_lk (&rest args) (forward-message-to head_mount_kinect_ir_link_lk args)) - (:head_mount_prosilica_optical_frame_lk (&rest args) (forward-message-to head_mount_prosilica_optical_frame_lk args)) - (:head_mount_prosilica_link_lk (&rest args) (forward-message-to head_mount_prosilica_link_lk args)) - (:head_mount_link_lk (&rest args) (forward-message-to head_mount_link_lk args)) - (:projector_wg6802418_child_frame_lk (&rest args) (forward-message-to projector_wg6802418_child_frame_lk args)) - (:projector_wg6802418_frame_lk (&rest args) (forward-message-to projector_wg6802418_frame_lk args)) - (:narrow_stereo_l_stereo_camera_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_lk args)) - (:narrow_stereo_r_stereo_camera_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_lk args)) - (:narrow_stereo_r_stereo_camera_frame_lk (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_frame_lk args)) - (:narrow_stereo_l_stereo_camera_frame_lk (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_frame_lk args)) - (:narrow_stereo_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_optical_frame_lk args)) - (:narrow_stereo_link_lk (&rest args) (forward-message-to narrow_stereo_link_lk args)) - (:wide_stereo_l_stereo_camera_optical_frame_lk (&rest args) (forward-message-to wide_stereo_l_stereo_camera_optical_frame_lk args)) - (:wide_stereo_r_stereo_camera_optical_frame_lk (&rest args) (forward-message-to wide_stereo_r_stereo_camera_optical_frame_lk args)) - (:wide_stereo_r_stereo_camera_frame_lk (&rest args) (forward-message-to wide_stereo_r_stereo_camera_frame_lk args)) - (:wide_stereo_l_stereo_camera_frame_lk (&rest args) (forward-message-to wide_stereo_l_stereo_camera_frame_lk args)) - (:wide_stereo_optical_frame_lk (&rest args) (forward-message-to wide_stereo_optical_frame_lk args)) - (:wide_stereo_link_lk (&rest args) (forward-message-to wide_stereo_link_lk args)) - (:double_stereo_link_lk (&rest args) (forward-message-to double_stereo_link_lk args)) - (:high_def_optical_frame_lk (&rest args) (forward-message-to high_def_optical_frame_lk args)) - (:high_def_frame_lk (&rest args) (forward-message-to high_def_frame_lk args)) - (:sensor_mount_link_lk (&rest args) (forward-message-to sensor_mount_link_lk args)) - (:head_plate_frame_lk (&rest args) (forward-message-to head_plate_frame_lk args)) - (:head_tilt_link_lk (&rest args) (forward-message-to head_tilt_link_lk args)) - (:head_pan_link_lk (&rest args) (forward-message-to head_pan_link_lk args)) - (:imu_link_lk (&rest args) (forward-message-to imu_link_lk args)) - (:l_forearm_cam_optical_frame_lk (&rest args) (forward-message-to l_forearm_cam_optical_frame_lk args)) - (:l_forearm_cam_frame_lk (&rest args) (forward-message-to l_forearm_cam_frame_lk args)) - (:l_gripper_l_finger_tip_link_lk (&rest args) (forward-message-to l_gripper_l_finger_tip_link_lk args)) - (:l_gripper_l_finger_link_lk (&rest args) (forward-message-to l_gripper_l_finger_link_lk args)) - (:l_gripper_led_frame_lk (&rest args) (forward-message-to l_gripper_led_frame_lk args)) - (:l_gripper_motor_accelerometer_link_lk (&rest args) (forward-message-to l_gripper_motor_accelerometer_link_lk args)) - (:l_gripper_motor_screw_link_lk (&rest args) (forward-message-to l_gripper_motor_screw_link_lk args)) - (:l_gripper_motor_slider_link_lk (&rest args) (forward-message-to l_gripper_motor_slider_link_lk args)) - (:l_gripper_l_finger_tip_frame_lk (&rest args) (forward-message-to l_gripper_l_finger_tip_frame_lk args)) - (:l_gripper_r_finger_tip_link_lk (&rest args) (forward-message-to l_gripper_r_finger_tip_link_lk args)) - (:l_gripper_r_finger_link_lk (&rest args) (forward-message-to l_gripper_r_finger_link_lk args)) - (:l_gripper_tool_frame_lk (&rest args) (forward-message-to l_gripper_tool_frame_lk args)) - (:l_gripper_palm_link_lk (&rest args) (forward-message-to l_gripper_palm_link_lk args)) - (:left_arm_chain_cb_link_lk (&rest args) (forward-message-to left_arm_chain_cb_link_lk args)) - (:l_wrist_roll_link_lk (&rest args) (forward-message-to l_wrist_roll_link_lk args)) - (:l_wrist_flex_link_lk (&rest args) (forward-message-to l_wrist_flex_link_lk args)) - (:l_forearm_link_lk (&rest args) (forward-message-to l_forearm_link_lk args)) - (:l_forearm_roll_link_lk (&rest args) (forward-message-to l_forearm_roll_link_lk args)) - (:l_elbow_flex_link_lk (&rest args) (forward-message-to l_elbow_flex_link_lk args)) - (:l_upper_arm_link_lk (&rest args) (forward-message-to l_upper_arm_link_lk args)) - (:l_upper_arm_roll_link_lk (&rest args) (forward-message-to l_upper_arm_roll_link_lk args)) - (:l_shoulder_lift_link_lk (&rest args) (forward-message-to l_shoulder_lift_link_lk args)) - (:l_shoulder_pan_link_lk (&rest args) (forward-message-to l_shoulder_pan_link_lk args)) - (:l_torso_lift_side_plate_link_lk (&rest args) (forward-message-to l_torso_lift_side_plate_link_lk args)) - (:laser_tilt_link_lk (&rest args) (forward-message-to laser_tilt_link_lk args)) - (:laser_tilt_mount_link_lk (&rest args) (forward-message-to laser_tilt_mount_link_lk args)) - (:r_forearm_cam_optical_frame_lk (&rest args) (forward-message-to r_forearm_cam_optical_frame_lk args)) - (:r_forearm_cam_frame_lk (&rest args) (forward-message-to r_forearm_cam_frame_lk args)) - (:r_gripper_l_finger_tip_link_lk (&rest args) (forward-message-to r_gripper_l_finger_tip_link_lk args)) - (:r_gripper_l_finger_link_lk (&rest args) (forward-message-to r_gripper_l_finger_link_lk args)) - (:r_gripper_led_frame_lk (&rest args) (forward-message-to r_gripper_led_frame_lk args)) - (:r_gripper_motor_accelerometer_link_lk (&rest args) (forward-message-to r_gripper_motor_accelerometer_link_lk args)) - (:r_gripper_motor_screw_link_lk (&rest args) (forward-message-to r_gripper_motor_screw_link_lk args)) - (:r_gripper_motor_slider_link_lk (&rest args) (forward-message-to r_gripper_motor_slider_link_lk args)) - (:r_gripper_l_finger_tip_frame_lk (&rest args) (forward-message-to r_gripper_l_finger_tip_frame_lk args)) - (:r_gripper_r_finger_tip_link_lk (&rest args) (forward-message-to r_gripper_r_finger_tip_link_lk args)) - (:r_gripper_r_finger_link_lk (&rest args) (forward-message-to r_gripper_r_finger_link_lk args)) - (:r_gripper_tool_frame_lk (&rest args) (forward-message-to r_gripper_tool_frame_lk args)) - (:r_gripper_palm_link_lk (&rest args) (forward-message-to r_gripper_palm_link_lk args)) - (:right_arm_chain_cb_link_lk (&rest args) (forward-message-to right_arm_chain_cb_link_lk args)) - (:r_wrist_roll_link_lk (&rest args) (forward-message-to r_wrist_roll_link_lk args)) - (:r_wrist_flex_link_lk (&rest args) (forward-message-to r_wrist_flex_link_lk args)) - (:r_forearm_link_lk (&rest args) (forward-message-to r_forearm_link_lk args)) - (:r_forearm_roll_link_lk (&rest args) (forward-message-to r_forearm_roll_link_lk args)) - (:r_elbow_flex_link_lk (&rest args) (forward-message-to r_elbow_flex_link_lk args)) - (:r_upper_arm_link_lk (&rest args) (forward-message-to r_upper_arm_link_lk args)) - (:r_upper_arm_roll_link_lk (&rest args) (forward-message-to r_upper_arm_roll_link_lk args)) - (:r_shoulder_lift_link_lk (&rest args) (forward-message-to r_shoulder_lift_link_lk args)) - (:r_shoulder_pan_link_lk (&rest args) (forward-message-to r_shoulder_pan_link_lk args)) - (:r_torso_lift_side_plate_link_lk (&rest args) (forward-message-to r_torso_lift_side_plate_link_lk args)) - (:torso_lift_link_lk (&rest args) (forward-message-to torso_lift_link_lk args)) - (:torso_lift_motor_screw_link_lk (&rest args) (forward-message-to torso_lift_motor_screw_link_lk args)) - (:base_link_lk (&rest args) (forward-message-to base_link_lk args)) - (:base_footprint_lk (&rest args) (forward-message-to base_footprint_lk args)) - - ;; all manipulator - - ;; user-defined joint - (:torso-waist-z (&rest args) (forward-message-to torso_lift_joint_jt args)) - (:larm-collar-y (&rest args) (forward-message-to l_shoulder_pan_joint_jt args)) - (:larm-shoulder-p (&rest args) (forward-message-to l_shoulder_lift_joint_jt args)) - (:larm-shoulder-r (&rest args) (forward-message-to l_upper_arm_roll_joint_jt args)) - (:larm-elbow-p (&rest args) (forward-message-to l_elbow_flex_joint_jt args)) - (:larm-elbow-r (&rest args) (forward-message-to l_forearm_roll_joint_jt args)) - (:larm-wrist-p (&rest args) (forward-message-to l_wrist_flex_joint_jt args)) - (:larm-wrist-r (&rest args) (forward-message-to l_wrist_roll_joint_jt args)) - (:rarm-collar-y (&rest args) (forward-message-to r_shoulder_pan_joint_jt args)) - (:rarm-shoulder-p (&rest args) (forward-message-to r_shoulder_lift_joint_jt args)) - (:rarm-shoulder-r (&rest args) (forward-message-to r_upper_arm_roll_joint_jt args)) - (:rarm-elbow-p (&rest args) (forward-message-to r_elbow_flex_joint_jt args)) - (:rarm-elbow-r (&rest args) (forward-message-to r_forearm_roll_joint_jt args)) - (:rarm-wrist-p (&rest args) (forward-message-to r_wrist_flex_joint_jt args)) - (:rarm-wrist-r (&rest args) (forward-message-to r_wrist_roll_joint_jt args)) - (:head-neck-y (&rest args) (forward-message-to head_pan_joint_jt args)) - (:head-neck-p (&rest args) (forward-message-to head_tilt_joint_jt args)) - - ;; attach_sensor - ) - -(defclass pr2_gkmodel0_base_footprint_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_base_footprint_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (:base_bellow_link (forward-message-to base_bellow_link_lk nargs)) + (:base_footprint (forward-message-to base_footprint_lk nargs)) + (:base_laser_link (forward-message-to base_laser_link_lk nargs)) + (:base_link (forward-message-to base_link_lk nargs)) + (:bl_caster_l_wheel_link (forward-message-to bl_caster_l_wheel_link_lk nargs)) + (:bl_caster_r_wheel_link (forward-message-to bl_caster_r_wheel_link_lk nargs)) + (:bl_caster_rotation_link (forward-message-to bl_caster_rotation_link_lk nargs)) + (:br_caster_l_wheel_link (forward-message-to br_caster_l_wheel_link_lk nargs)) + (:br_caster_r_wheel_link (forward-message-to br_caster_r_wheel_link_lk nargs)) + (:br_caster_rotation_link (forward-message-to br_caster_rotation_link_lk nargs)) + (:double_stereo_link (forward-message-to double_stereo_link_lk nargs)) + (:fl_caster_l_wheel_link (forward-message-to fl_caster_l_wheel_link_lk nargs)) + (:fl_caster_r_wheel_link (forward-message-to fl_caster_r_wheel_link_lk nargs)) + (:fl_caster_rotation_link (forward-message-to fl_caster_rotation_link_lk nargs)) + (:fr_caster_l_wheel_link (forward-message-to fr_caster_l_wheel_link_lk nargs)) + (:fr_caster_r_wheel_link (forward-message-to fr_caster_r_wheel_link_lk nargs)) + (:fr_caster_rotation_link (forward-message-to fr_caster_rotation_link_lk nargs)) + (:head_chain_cb_link (forward-message-to head_chain_cb_link_lk nargs)) + (:head_mount_kinect_ir_link (forward-message-to head_mount_kinect_ir_link_lk nargs)) + (:head_mount_kinect_ir_optical_frame (forward-message-to head_mount_kinect_ir_optical_frame_lk nargs)) + (:head_mount_kinect_rgb_link (forward-message-to head_mount_kinect_rgb_link_lk nargs)) + (:head_mount_kinect_rgb_optical_frame (forward-message-to head_mount_kinect_rgb_optical_frame_lk nargs)) + (:head_mount_link (forward-message-to head_mount_link_lk nargs)) + (:head_mount_prosilica_link (forward-message-to head_mount_prosilica_link_lk nargs)) + (:head_mount_prosilica_optical_frame (forward-message-to head_mount_prosilica_optical_frame_lk nargs)) + (:head_pan_link (forward-message-to head_pan_link_lk nargs)) + (:head_plate_frame (forward-message-to head_plate_frame_lk nargs)) + (:head_tilt_link (forward-message-to head_tilt_link_lk nargs)) + (:high_def_frame (forward-message-to high_def_frame_lk nargs)) + (:high_def_optical_frame (forward-message-to high_def_optical_frame_lk nargs)) + (:imu_link (forward-message-to imu_link_lk nargs)) + (:l_elbow_flex_link (forward-message-to l_elbow_flex_link_lk nargs)) + (:l_forearm_cam_frame (forward-message-to l_forearm_cam_frame_lk nargs)) + (:l_forearm_cam_optical_frame (forward-message-to l_forearm_cam_optical_frame_lk nargs)) + (:l_forearm_link (forward-message-to l_forearm_link_lk nargs)) + (:l_forearm_roll_link (forward-message-to l_forearm_roll_link_lk nargs)) + (:l_gripper_l_finger_link (forward-message-to l_gripper_l_finger_link_lk nargs)) + (:l_gripper_l_finger_tip_frame (forward-message-to l_gripper_l_finger_tip_frame_lk nargs)) + (:l_gripper_l_finger_tip_link (forward-message-to l_gripper_l_finger_tip_link_lk nargs)) + (:l_gripper_led_frame (forward-message-to l_gripper_led_frame_lk nargs)) + (:l_gripper_motor_accelerometer_link (forward-message-to l_gripper_motor_accelerometer_link_lk nargs)) + (:l_gripper_motor_screw_link (forward-message-to l_gripper_motor_screw_link_lk nargs)) + (:l_gripper_motor_slider_link (forward-message-to l_gripper_motor_slider_link_lk nargs)) + (:l_gripper_palm_link (forward-message-to l_gripper_palm_link_lk nargs)) + (:l_gripper_r_finger_link (forward-message-to l_gripper_r_finger_link_lk nargs)) + (:l_gripper_r_finger_tip_link (forward-message-to l_gripper_r_finger_tip_link_lk nargs)) + (:l_gripper_tool_frame (forward-message-to l_gripper_tool_frame_lk nargs)) + (:l_shoulder_lift_link (forward-message-to l_shoulder_lift_link_lk nargs)) + (:l_shoulder_pan_link (forward-message-to l_shoulder_pan_link_lk nargs)) + (:l_torso_lift_side_plate_link (forward-message-to l_torso_lift_side_plate_link_lk nargs)) + (:l_upper_arm_link (forward-message-to l_upper_arm_link_lk nargs)) + (:l_upper_arm_roll_link (forward-message-to l_upper_arm_roll_link_lk nargs)) + (:l_wrist_flex_link (forward-message-to l_wrist_flex_link_lk nargs)) + (:l_wrist_roll_link (forward-message-to l_wrist_roll_link_lk nargs)) + (:laser_tilt_link (forward-message-to laser_tilt_link_lk nargs)) + (:laser_tilt_mount_link (forward-message-to laser_tilt_mount_link_lk nargs)) + (:left_arm_chain_cb_link (forward-message-to left_arm_chain_cb_link_lk nargs)) + (:narrow_stereo_l_stereo_camera_frame (forward-message-to narrow_stereo_l_stereo_camera_frame_lk nargs)) + (:narrow_stereo_l_stereo_camera_optical_frame (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_lk nargs)) + (:narrow_stereo_link (forward-message-to narrow_stereo_link_lk nargs)) + (:narrow_stereo_optical_frame (forward-message-to narrow_stereo_optical_frame_lk nargs)) + (:narrow_stereo_r_stereo_camera_frame (forward-message-to narrow_stereo_r_stereo_camera_frame_lk nargs)) + (:narrow_stereo_r_stereo_camera_optical_frame (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_lk nargs)) + (:projector_wg6802418_child_frame (forward-message-to projector_wg6802418_child_frame_lk nargs)) + (:projector_wg6802418_frame (forward-message-to projector_wg6802418_frame_lk nargs)) + (:r_elbow_flex_link (forward-message-to r_elbow_flex_link_lk nargs)) + (:r_forearm_cam_frame (forward-message-to r_forearm_cam_frame_lk nargs)) + (:r_forearm_cam_optical_frame (forward-message-to r_forearm_cam_optical_frame_lk nargs)) + (:r_forearm_link (forward-message-to r_forearm_link_lk nargs)) + (:r_forearm_roll_link (forward-message-to r_forearm_roll_link_lk nargs)) + (:r_gripper_l_finger_link (forward-message-to r_gripper_l_finger_link_lk nargs)) + (:r_gripper_l_finger_tip_frame (forward-message-to r_gripper_l_finger_tip_frame_lk nargs)) + (:r_gripper_l_finger_tip_link (forward-message-to r_gripper_l_finger_tip_link_lk nargs)) + (:r_gripper_led_frame (forward-message-to r_gripper_led_frame_lk nargs)) + (:r_gripper_motor_accelerometer_link (forward-message-to r_gripper_motor_accelerometer_link_lk nargs)) + (:r_gripper_motor_screw_link (forward-message-to r_gripper_motor_screw_link_lk nargs)) + (:r_gripper_motor_slider_link (forward-message-to r_gripper_motor_slider_link_lk nargs)) + (:r_gripper_palm_link (forward-message-to r_gripper_palm_link_lk nargs)) + (:r_gripper_r_finger_link (forward-message-to r_gripper_r_finger_link_lk nargs)) + (:r_gripper_r_finger_tip_link (forward-message-to r_gripper_r_finger_tip_link_lk nargs)) + (:r_gripper_tool_frame (forward-message-to r_gripper_tool_frame_lk nargs)) + (:r_shoulder_lift_link (forward-message-to r_shoulder_lift_link_lk nargs)) + (:r_shoulder_pan_link (forward-message-to r_shoulder_pan_link_lk nargs)) + (:r_torso_lift_side_plate_link (forward-message-to r_torso_lift_side_plate_link_lk nargs)) + (:r_upper_arm_link (forward-message-to r_upper_arm_link_lk nargs)) + (:r_upper_arm_roll_link (forward-message-to r_upper_arm_roll_link_lk nargs)) + (:r_wrist_flex_link (forward-message-to r_wrist_flex_link_lk nargs)) + (:r_wrist_roll_link (forward-message-to r_wrist_roll_link_lk nargs)) + (:right_arm_chain_cb_link (forward-message-to right_arm_chain_cb_link_lk nargs)) + (:sensor_mount_link (forward-message-to sensor_mount_link_lk nargs)) + (:torso_lift_link (forward-message-to torso_lift_link_lk nargs)) + (:torso_lift_motor_screw_link (forward-message-to torso_lift_motor_screw_link_lk nargs)) + (:wide_stereo_l_stereo_camera_frame (forward-message-to wide_stereo_l_stereo_camera_frame_lk nargs)) + (:wide_stereo_l_stereo_camera_optical_frame (forward-message-to wide_stereo_l_stereo_camera_optical_frame_lk nargs)) + (:wide_stereo_link (forward-message-to wide_stereo_link_lk nargs)) + (:wide_stereo_optical_frame (forward-message-to wide_stereo_optical_frame_lk nargs)) + (:wide_stereo_r_stereo_camera_frame (forward-message-to wide_stereo_r_stereo_camera_frame_lk nargs)) + (:wide_stereo_r_stereo_camera_optical_frame (forward-message-to wide_stereo_r_stereo_camera_optical_frame_lk nargs)) + (t (send-super* :links args))))) + + ;; all links + (:base_bellow_link_lk (&rest args) (forward-message-to base_bellow_link_lk args)) + (:base_footprint_lk (&rest args) (forward-message-to base_footprint_lk args)) + (:base_laser_link_lk (&rest args) (forward-message-to base_laser_link_lk args)) + (:base_link_lk (&rest args) (forward-message-to base_link_lk args)) + (:bl_caster_l_wheel_link_lk (&rest args) (forward-message-to bl_caster_l_wheel_link_lk args)) + (:bl_caster_r_wheel_link_lk (&rest args) (forward-message-to bl_caster_r_wheel_link_lk args)) + (:bl_caster_rotation_link_lk (&rest args) (forward-message-to bl_caster_rotation_link_lk args)) + (:br_caster_l_wheel_link_lk (&rest args) (forward-message-to br_caster_l_wheel_link_lk args)) + (:br_caster_r_wheel_link_lk (&rest args) (forward-message-to br_caster_r_wheel_link_lk args)) + (:br_caster_rotation_link_lk (&rest args) (forward-message-to br_caster_rotation_link_lk args)) + (:double_stereo_link_lk (&rest args) (forward-message-to double_stereo_link_lk args)) + (:fl_caster_l_wheel_link_lk (&rest args) (forward-message-to fl_caster_l_wheel_link_lk args)) + (:fl_caster_r_wheel_link_lk (&rest args) (forward-message-to fl_caster_r_wheel_link_lk args)) + (:fl_caster_rotation_link_lk (&rest args) (forward-message-to fl_caster_rotation_link_lk args)) + (:fr_caster_l_wheel_link_lk (&rest args) (forward-message-to fr_caster_l_wheel_link_lk args)) + (:fr_caster_r_wheel_link_lk (&rest args) (forward-message-to fr_caster_r_wheel_link_lk args)) + (:fr_caster_rotation_link_lk (&rest args) (forward-message-to fr_caster_rotation_link_lk args)) + (:head_chain_cb_link_lk (&rest args) (forward-message-to head_chain_cb_link_lk args)) + (:head_mount_kinect_ir_link_lk (&rest args) (forward-message-to head_mount_kinect_ir_link_lk args)) + (:head_mount_kinect_ir_optical_frame_lk (&rest args) (forward-message-to head_mount_kinect_ir_optical_frame_lk args)) + (:head_mount_kinect_rgb_link_lk (&rest args) (forward-message-to head_mount_kinect_rgb_link_lk args)) + (:head_mount_kinect_rgb_optical_frame_lk (&rest args) (forward-message-to head_mount_kinect_rgb_optical_frame_lk args)) + (:head_mount_link_lk (&rest args) (forward-message-to head_mount_link_lk args)) + (:head_mount_prosilica_link_lk (&rest args) (forward-message-to head_mount_prosilica_link_lk args)) + (:head_mount_prosilica_optical_frame_lk (&rest args) (forward-message-to head_mount_prosilica_optical_frame_lk args)) + (:head_pan_link_lk (&rest args) (forward-message-to head_pan_link_lk args)) + (:head_plate_frame_lk (&rest args) (forward-message-to head_plate_frame_lk args)) + (:head_tilt_link_lk (&rest args) (forward-message-to head_tilt_link_lk args)) + (:high_def_frame_lk (&rest args) (forward-message-to high_def_frame_lk args)) + (:high_def_optical_frame_lk (&rest args) (forward-message-to high_def_optical_frame_lk args)) + (:imu_link_lk (&rest args) (forward-message-to imu_link_lk args)) + (:l_elbow_flex_link_lk (&rest args) (forward-message-to l_elbow_flex_link_lk args)) + (:l_forearm_cam_frame_lk (&rest args) (forward-message-to l_forearm_cam_frame_lk args)) + (:l_forearm_cam_optical_frame_lk (&rest args) (forward-message-to l_forearm_cam_optical_frame_lk args)) + (:l_forearm_link_lk (&rest args) (forward-message-to l_forearm_link_lk args)) + (:l_forearm_roll_link_lk (&rest args) (forward-message-to l_forearm_roll_link_lk args)) + (:l_gripper_l_finger_link_lk (&rest args) (forward-message-to l_gripper_l_finger_link_lk args)) + (:l_gripper_l_finger_tip_frame_lk (&rest args) (forward-message-to l_gripper_l_finger_tip_frame_lk args)) + (:l_gripper_l_finger_tip_link_lk (&rest args) (forward-message-to l_gripper_l_finger_tip_link_lk args)) + (:l_gripper_led_frame_lk (&rest args) (forward-message-to l_gripper_led_frame_lk args)) + (:l_gripper_motor_accelerometer_link_lk (&rest args) (forward-message-to l_gripper_motor_accelerometer_link_lk args)) + (:l_gripper_motor_screw_link_lk (&rest args) (forward-message-to l_gripper_motor_screw_link_lk args)) + (:l_gripper_motor_slider_link_lk (&rest args) (forward-message-to l_gripper_motor_slider_link_lk args)) + (:l_gripper_palm_link_lk (&rest args) (forward-message-to l_gripper_palm_link_lk args)) + (:l_gripper_r_finger_link_lk (&rest args) (forward-message-to l_gripper_r_finger_link_lk args)) + (:l_gripper_r_finger_tip_link_lk (&rest args) (forward-message-to l_gripper_r_finger_tip_link_lk args)) + (:l_gripper_tool_frame_lk (&rest args) (forward-message-to l_gripper_tool_frame_lk args)) + (:l_shoulder_lift_link_lk (&rest args) (forward-message-to l_shoulder_lift_link_lk args)) + (:l_shoulder_pan_link_lk (&rest args) (forward-message-to l_shoulder_pan_link_lk args)) + (:l_torso_lift_side_plate_link_lk (&rest args) (forward-message-to l_torso_lift_side_plate_link_lk args)) + (:l_upper_arm_link_lk (&rest args) (forward-message-to l_upper_arm_link_lk args)) + (:l_upper_arm_roll_link_lk (&rest args) (forward-message-to l_upper_arm_roll_link_lk args)) + (:l_wrist_flex_link_lk (&rest args) (forward-message-to l_wrist_flex_link_lk args)) + (:l_wrist_roll_link_lk (&rest args) (forward-message-to l_wrist_roll_link_lk args)) + (:laser_tilt_link_lk (&rest args) (forward-message-to laser_tilt_link_lk args)) + (:laser_tilt_mount_link_lk (&rest args) (forward-message-to laser_tilt_mount_link_lk args)) + (:left_arm_chain_cb_link_lk (&rest args) (forward-message-to left_arm_chain_cb_link_lk args)) + (:narrow_stereo_l_stereo_camera_frame_lk (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_frame_lk args)) + (:narrow_stereo_l_stereo_camera_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_l_stereo_camera_optical_frame_lk args)) + (:narrow_stereo_link_lk (&rest args) (forward-message-to narrow_stereo_link_lk args)) + (:narrow_stereo_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_optical_frame_lk args)) + (:narrow_stereo_r_stereo_camera_frame_lk (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_frame_lk args)) + (:narrow_stereo_r_stereo_camera_optical_frame_lk (&rest args) (forward-message-to narrow_stereo_r_stereo_camera_optical_frame_lk args)) + (:projector_wg6802418_child_frame_lk (&rest args) (forward-message-to projector_wg6802418_child_frame_lk args)) + (:projector_wg6802418_frame_lk (&rest args) (forward-message-to projector_wg6802418_frame_lk args)) + (:r_elbow_flex_link_lk (&rest args) (forward-message-to r_elbow_flex_link_lk args)) + (:r_forearm_cam_frame_lk (&rest args) (forward-message-to r_forearm_cam_frame_lk args)) + (:r_forearm_cam_optical_frame_lk (&rest args) (forward-message-to r_forearm_cam_optical_frame_lk args)) + (:r_forearm_link_lk (&rest args) (forward-message-to r_forearm_link_lk args)) + (:r_forearm_roll_link_lk (&rest args) (forward-message-to r_forearm_roll_link_lk args)) + (:r_gripper_l_finger_link_lk (&rest args) (forward-message-to r_gripper_l_finger_link_lk args)) + (:r_gripper_l_finger_tip_frame_lk (&rest args) (forward-message-to r_gripper_l_finger_tip_frame_lk args)) + (:r_gripper_l_finger_tip_link_lk (&rest args) (forward-message-to r_gripper_l_finger_tip_link_lk args)) + (:r_gripper_led_frame_lk (&rest args) (forward-message-to r_gripper_led_frame_lk args)) + (:r_gripper_motor_accelerometer_link_lk (&rest args) (forward-message-to r_gripper_motor_accelerometer_link_lk args)) + (:r_gripper_motor_screw_link_lk (&rest args) (forward-message-to r_gripper_motor_screw_link_lk args)) + (:r_gripper_motor_slider_link_lk (&rest args) (forward-message-to r_gripper_motor_slider_link_lk args)) + (:r_gripper_palm_link_lk (&rest args) (forward-message-to r_gripper_palm_link_lk args)) + (:r_gripper_r_finger_link_lk (&rest args) (forward-message-to r_gripper_r_finger_link_lk args)) + (:r_gripper_r_finger_tip_link_lk (&rest args) (forward-message-to r_gripper_r_finger_tip_link_lk args)) + (:r_gripper_tool_frame_lk (&rest args) (forward-message-to r_gripper_tool_frame_lk args)) + (:r_shoulder_lift_link_lk (&rest args) (forward-message-to r_shoulder_lift_link_lk args)) + (:r_shoulder_pan_link_lk (&rest args) (forward-message-to r_shoulder_pan_link_lk args)) + (:r_torso_lift_side_plate_link_lk (&rest args) (forward-message-to r_torso_lift_side_plate_link_lk args)) + (:r_upper_arm_link_lk (&rest args) (forward-message-to r_upper_arm_link_lk args)) + (:r_upper_arm_roll_link_lk (&rest args) (forward-message-to r_upper_arm_roll_link_lk args)) + (:r_wrist_flex_link_lk (&rest args) (forward-message-to r_wrist_flex_link_lk args)) + (:r_wrist_roll_link_lk (&rest args) (forward-message-to r_wrist_roll_link_lk args)) + (:right_arm_chain_cb_link_lk (&rest args) (forward-message-to right_arm_chain_cb_link_lk args)) + (:sensor_mount_link_lk (&rest args) (forward-message-to sensor_mount_link_lk args)) + (:torso_lift_link_lk (&rest args) (forward-message-to torso_lift_link_lk args)) + (:torso_lift_motor_screw_link_lk (&rest args) (forward-message-to torso_lift_motor_screw_link_lk args)) + (:wide_stereo_l_stereo_camera_frame_lk (&rest args) (forward-message-to wide_stereo_l_stereo_camera_frame_lk args)) + (:wide_stereo_l_stereo_camera_optical_frame_lk (&rest args) (forward-message-to wide_stereo_l_stereo_camera_optical_frame_lk args)) + (:wide_stereo_link_lk (&rest args) (forward-message-to wide_stereo_link_lk args)) + (:wide_stereo_optical_frame_lk (&rest args) (forward-message-to wide_stereo_optical_frame_lk args)) + (:wide_stereo_r_stereo_camera_frame_lk (&rest args) (forward-message-to wide_stereo_r_stereo_camera_frame_lk args)) + (:wide_stereo_r_stereo_camera_optical_frame_lk (&rest args) (forward-message-to wide_stereo_r_stereo_camera_optical_frame_lk args)) + + ;; user-defined joint + (:torso-waist-z (&rest args) (forward-message-to torso_lift_joint_jt args)) + (:larm-collar-y (&rest args) (forward-message-to l_shoulder_pan_joint_jt args)) + (:larm-shoulder-p (&rest args) (forward-message-to l_shoulder_lift_joint_jt args)) + (:larm-shoulder-r (&rest args) (forward-message-to l_upper_arm_roll_joint_jt args)) + (:larm-elbow-p (&rest args) (forward-message-to l_elbow_flex_joint_jt args)) + (:larm-elbow-r (&rest args) (forward-message-to l_forearm_roll_joint_jt args)) + (:larm-wrist-p (&rest args) (forward-message-to l_wrist_flex_joint_jt args)) + (:larm-wrist-r (&rest args) (forward-message-to l_wrist_roll_joint_jt args)) + (:rarm-collar-y (&rest args) (forward-message-to r_shoulder_pan_joint_jt args)) + (:rarm-shoulder-p (&rest args) (forward-message-to r_shoulder_lift_joint_jt args)) + (:rarm-shoulder-r (&rest args) (forward-message-to r_upper_arm_roll_joint_jt args)) + (:rarm-elbow-p (&rest args) (forward-message-to r_elbow_flex_joint_jt args)) + (:rarm-elbow-r (&rest args) (forward-message-to r_forearm_roll_joint_jt args)) + (:rarm-wrist-p (&rest args) (forward-message-to r_wrist_flex_joint_jt args)) + (:rarm-wrist-r (&rest args) (forward-message-to r_wrist_roll_joint_jt args)) + (:head-neck-y (&rest args) (forward-message-to head_pan_joint_jt args)) + (:head-neck-p (&rest args) (forward-message-to head_tilt_joint_jt args)) + + ;; attach_sensor methods + + ;; geometries + (:_make_instance_base_bellow_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -2.9000000000000000e+02 0.0000000000000000e+00 8.0000000000000000e+02)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 1.000000 1.000000 1.000000 1.000000)) - (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00))) - )) - ) - ) - -(defclass pr2_gkmodel0_base_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_base_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/base.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 1.000000)) + (list :diffuse (float-vector 0.100000 0.100000 0.100000 1.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(2.6500000000000000e+02 -1.8500000000000000e+02 -9.5000000000000000e+02 3.1500000000000000e+02 -1.8500000000000000e+02 -9.5000000000000000e+02 3.1500000000000000e+02 -1.8500000000000000e+02 -6.5000000000000000e+02 2.6500000000000000e+02 -1.8500000000000000e+02 -6.5000000000000000e+02 2.6500000000000000e+02 1.8500000000000000e+02 -6.5000000000000000e+02 3.1500000000000000e+02 1.8500000000000000e+02 -6.5000000000000000e+02 3.1500000000000000e+02 1.8500000000000000e+02 -9.5000000000000000e+02 2.6500000000000000e+02 1.8500000000000000e+02 -9.5000000000000000e+02 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 6 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -9.4999998807907104e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -9.4999998807907104e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -9.4999998807907104e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 2.6499998569488525e+02 -1.8500000238418579e+02 -6.4999997615814209e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 2.6499998569488525e+02 1.8500000238418579e+02 -9.4999998807907104e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -6.4999997615814209e+02) (float-vector 3.1499999761581421e+02 1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -9.4999998807907104e+02) (float-vector 3.1499999761581421e+02 -1.8500000238418579e+02 -6.4999997615814209e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "base_bellow_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_base_footprint_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 1.000000 1.000000 1.000000 1.000000)) - (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 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6.5618073940277100e+02) (float-vector 2.9685312509536743e+02 -2.9019722342491150e+02 2.0282299816608429e+02)))) - )) - ) - ) - -(defclass pr2_gkmodel0_base_bellow_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_base_bellow_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.500000 0.500000 0.500000 1.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 6 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "base_footprint_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_base_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 5.1000000000000000e+01)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.100000 0.100000 0.100000 1.000000)) - (list :diffuse (float-vector 0.100000 0.100000 0.100000 1.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(-1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01)(-1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 -9.2500000000000000e+01 7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 -9.2500000000000000e+01 -7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 -7.5000000000000000e+01)(-1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01)(1.2500000000000000e+01 9.2500000000000000e+01 7.5000000000000000e+01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 24 -> 6 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector -1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 -7.5000002980232239e+01) (float-vector 1.2500000186264515e+01 -9.2500001192092896e+01 7.5000002980232239e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_bl_caster_rotation_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_bl_caster_rotation_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/caster.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.500000 0.500000 0.500000 1.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 1.000000)))) + (list :indices #i( 0 1 2 1 0 6 329 0 2 0 328 6 329 328 0 9 12 6 1 6 12 9 6 328 327 328 279 280 279 328 280 328 329 327 9 328 321 327 277 327 279 277 327 321 9 279 278 277 279 280 278 280 281 278 282 281 280 282 280 329 283 281 282 278 281 314 314 281 283 283 282 284 329 330 282 330 284 282 284 285 283 330 331 284 331 285 284 3 330 2 329 2 330 330 3 331 335 274 331 274 285 331 3 397 331 331 397 335 285 256 283 285 274 256 254 255 256 256 255 257 274 254 256 283 256 257 312 283 257 312 314 283 312 257 255 314 312 255 255 315 314 314 315 278 255 313 315 313 278 315 277 278 276 313 276 278 255 311 313 276 313 273 273 313 311 276 273 269 269 277 276 321 277 269 318 321 269 318 7 321 9 321 7 7 8 9 318 393 7 393 436 7 436 437 7 437 8 7 13 12 9 13 9 8 13 474 12 8 474 13 12 475 1 474 475 12 471 474 8 471 475 474 438 471 8 438 472 471 485 471 51 471 488 51 471 472 488 475 471 485 438 153 472 153 473 472 473 486 472 472 486 488 488 48 51 48 488 49 486 49 488 487 486 473 486 487 69 69 46 486 49 486 46 48 49 46 46 51 48 45 46 47 50 51 46 46 45 50 69 72 46 46 72 47 47 24 45 25 24 47 47 73 25 72 73 47 71 74 72 72 74 73 71 72 69 69 70 71 74 71 225 70 225 71 61 225 63 225 61 224 225 226 63 225 70 226 74 225 224 61 32 62 32 61 63 223 224 61 62 223 61 63 64 32 63 65 64 63 226 65 226 227 65 226 70 227 65 66 64 65 227 66 66 68 64 29 32 64 29 64 68 66 67 68 66 228 67 227 228 66 227 70 228 229 67 228 228 230 229 230 228 70 67 77 68 87 77 67 67 229 87 235 229 230 235 237 229 87 229 237 87 89 77 87 237 89 238 237 235 89 237 238 89 41 77 41 89 88 236 89 238 236 88 89 236 238 85 235 85 238 234 236 84 84 236 85 234 88 236 62 41 88 234 62 88 223 234 84 234 223 62 32 41 62 29 26 32 26 33 32 32 33 41 34 33 25 26 25 33 42 33 34 33 42 41 25 35 34 34 35 60 34 60 42 25 26 24 35 25 73 35 73 221 35 221 60 42 60 44 217 218 60 60 221 217 218 44 60 221 219 217 221 73 219 74 222 73 73 222 219 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112 107 168 107 112 112 104 118 118 121 109 104 121 118 104 105 106 109 105 104 121 104 106 109 121 105 111 121 106 110 121 111 105 121 110 105 110 106 110 111 106 598 559 242 569 568 242 598 242 568 559 598 589 589 598 568 559 589 594 559 594 250 592 594 589 594 592 556 597 594 556 250 594 597 250 556 252 556 250 597 556 555 553 252 556 553 592 555 556 553 555 554 555 551 554 555 596 551 593 555 592 593 596 555 553 554 182 554 551 183 182 554 183 181 182 183 183 551 181 551 552 181 593 551 596 593 552 551 185 181 186 181 185 187 552 595 181 181 595 186 593 595 552 595 549 186 549 595 593 186 549 548 549 593 548 548 547 186 548 588 547 588 548 591 548 593 591 547 545 186 585 545 547 547 587 585 547 588 587 590 587 588 588 591 590 591 593 590 590 593 592 590 592 587 585 587 589 587 592 589 585 572 545 585 586 572 585 589 586 186 545 546 545 572 546 546 572 526 526 572 525 572 586 525 525 586 567 586 589 568 586 568 567 526 525 527 527 570 526 527 513 570 563 570 520 526 570 571 520 570 513 570 563 571 507 520 513 509 520 507 509 519 520 484 509 507 508 509 484 508 519 509 510 519 508 510 521 519 484 510 508 544 526 571 571 584 544 571 581 584 581 571 563 526 544 546 546 544 186 189 185 186 186 544 189 185 188 187 185 537 188 537 185 538 185 189 579 538 185 579 188 537 187 187 539 536 187 537 539 536 539 535 537 535 539 537 540 535 535 577 534 535 540 577 580 540 537 599 577 540 540 580 599 577 575 534 599 575 577 575 532 534 575 531 532 575 576 531 599 576 575 578 576 599 580 578 599 580 537 578 578 579 543 537 538 578 579 578 538 578 543 542 542 576 578 583 576 542 576 583 531 532 531 202 582 583 541 581 583 582 583 542 541 563 583 581 541 542 189 542 543 189 189 543 579 550 541 189 544 550 189 550 582 541 581 582 550 550 584 581 550 544 584 567 568 569 59 179 57 482 446 57 481 482 57 179 481 57 441 59 457 441 490 59 179 59 490 457 398 441 398 439 441 440 439 5 441 439 442 440 443 439 439 443 442 440 444 445 440 5 444 440 452 443 445 452 440 5 447 444 444 447 449 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2.8380599617958069e+02 1.5234200656414032e+02) (float-vector 3.1447100639343262e+02 2.6122599840164185e+02 1.5284499526023865e+02) (float-vector 3.2175499200820923e+02 2.3548799753189087e+02 1.5270300209522247e+02) (float-vector 2.9490798711776733e+02 3.3810500055551529e+01 2.3929700255393982e+02) (float-vector -2.5499999523162842e+02 2.0825099945068359e+02 6.0518300533294678e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8578698635101318e+02 3.1374499201774597e+02 -5.1000099629163742e+01) (float-vector -3.0551499128341675e+02 2.9663398861885071e+02 -5.1000498235225677e+01) (float-vector -3.2179600000381470e+02 2.7240398526191711e+02 -5.1000598818063736e+01) (float-vector -3.3221200108528137e+02 2.4176600575447083e+02 -5.0998199731111526e+01) (float-vector -3.3225101232528687e+02 -2.4223999679088593e+02 -5.0993699580430984e+01) (float-vector -3.2203501462936401e+02 -2.7198499441146851e+02 -5.1000300794839859e+01) (float-vector -3.0359700322151184e+02 -2.9891699552536011e+02 -5.0996400415897369e+01) (float-vector -2.7797898650169373e+02 -3.1890401244163513e+02 -5.1000699400901794e+01) (float-vector -2.4389000236988068e+02 -3.3201599121093750e+02 -5.1000300794839859e+01) (float-vector 2.2956000268459320e+02 -3.3329001069068909e+02 -5.0999999046325684e+01) (float-vector 2.5389701128005981e+02 -3.2920598983764648e+02 -5.1000498235225677e+01) (float-vector 2.8328999876976013e+02 -3.1575199961662292e+02 -5.0999701023101807e+01) (float-vector 3.0749499797821045e+02 -2.9423800110816956e+02 -5.1000498235225677e+01) (float-vector 3.2534199953079224e+02 -2.6543501019477844e+02 -5.0973501056432724e+01) (float-vector 3.3300200104713440e+02 -2.3394499719142914e+02 -5.1002100110054016e+01) (float-vector 3.3315101265907288e+02 2.3254199326038361e+02 -5.1000200212001801e+01) (float-vector 3.2558101415634155e+02 2.6504299044609070e+02 -5.1001399755477905e+01) (float-vector 3.0837300419807434e+02 2.9295700788497925e+02 -5.1000200212001801e+01) (float-vector 2.8756600618362427e+02 3.1275299191474915e+02 -5.1000401377677917e+01) (float-vector 2.6423498988151550e+02 3.2544600963592529e+02 -5.0999600440263748e+01) (float-vector 2.3840799927711487e+02 3.3261001110076904e+02 -5.1001299172639847e+01) (float-vector -2.3388299345970154e+02 3.3305498957633972e+02 -5.1000200212001801e+01) (float-vector -2.6282399892807007e+02 3.2623699307441711e+02 -5.1001198589801788e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5181400775909424e+02 -3.2976898550987244e+02 8.8549703359603882e+01) (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -2.6593598723411560e+02 -3.1660100817680359e+02 1.5708699822425842e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -2.7797898650169373e+02 -3.1890401244163513e+02 -5.1000699400901794e+01) (float-vector -3.0359700322151184e+02 -2.9891699552536011e+02 -5.0996400415897369e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -3.0359700322151184e+02 -2.9891699552536011e+02 -5.0996400415897369e+01) (float-vector -3.1073099374771118e+02 -2.9012599587440491e+02 9.3821302056312561e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.6593598723411560e+02 -3.1660100817680359e+02 1.5708699822425842e+02) (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -3.0545601248741150e+02 -2.0641799271106720e+02 6.0515701770782471e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0545601248741150e+02 -2.0641799271106720e+02 6.0515701770782471e+02) (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -3.1073099374771118e+02 -2.9012599587440491e+02 9.3821302056312561e+01) (float-vector -3.1909900903701782e+02 -1.9309599697589874e+02 6.0515797138214111e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8527200222015381e+02 -3.1483799219131470e+02 9.1549098491668701e+01) (float-vector -2.5181400775909424e+02 -3.2976898550987244e+02 8.8549703359603882e+01) (float-vector -2.4389000236988068e+02 -3.3201599121093750e+02 -5.1000300794839859e+01) (float-vector -2.7797898650169373e+02 -3.1890401244163513e+02 -5.1000699400901794e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "base_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_bl_caster_l_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 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:transform-vector v)) + (nreverse (list (float-vector 5.9105001389980316e+01 -3.2233700156211853e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 -3.2240901142358780e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 -3.2246299088001251e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 -3.2350499182939529e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 -3.2257098704576492e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 -2.9418099671602249e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "bl_caster_l_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_bl_caster_r_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 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686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 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(mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.9488696753978729e+01 6.5759703516960144e+01 1.4109100447967649e+00) (float-vector -7.1428798139095306e+01 5.9612501412630081e+01 2.6272999122738838e+01) (float-vector -7.3951698839664459e+01 4.8940598964691162e+01 2.8930399566888809e+01) (float-vector -7.9383201897144318e+01 4.8954900354146957e+01 -3.4461999894119799e-01) (float-vector -7.4474796652793884e+01 5.9610601514577866e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 5.6843299418687820e+01 4.3021600693464279e+01 -5.3966101258993149e+01) (float-vector 4.3921299278736115e+01 3.2241899520158768e+01 -5.3944598883390427e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 6.6359199583530426e+01 3.2246299088001251e+01 -2.1015599370002747e+01) (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 4.3921299278736115e+01 3.2241899520158768e+01 -5.3944598883390427e+01) (float-vector 2.3136500269174576e+01 1.7725700512528419e+01 -3.0678000301122665e+01) (float-vector 3.7004400044679642e+01 1.7724899575114250e+01 -1.1183599941432476e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 7.3644801974296570e+01 4.9060400575399399e+01 -2.9704099521040916e+01) (float-vector 6.6202603280544281e+01 4.9065899103879929e+01 -4.3869800865650177e+01) (float-vector 5.6843299418687820e+01 4.3021600693464279e+01 -5.3966101258993149e+01) (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 6.6359199583530426e+01 3.2246299088001251e+01 -2.1015599370002747e+01) (float-vector 7.4474796652793884e+01 3.8389399647712708e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4203500002622604e+01 4.9050800502300262e+01 7.8114800155162811e+01) (float-vector -2.7057100087404251e+01 5.4977700114250183e+01 7.3550097644329071e+01) (float-vector -1.5174100175499916e+01 6.5649501979351044e+01 6.8473696708679199e+01) (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector 1.7856500344350934e+00 5.4973501712083817e+01 7.8329898416996002e+01) (float-vector 3.4459200105629861e-01 4.9045100808143616e+01 7.9383298754692078e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector 2.1015599370002747e+01 6.5753698348999023e+01 6.6359199583530426e+01) (float-vector 3.0671700835227966e+01 5.4978098720312119e+01 7.2120100259780884e+01) (float-vector 1.7856500344350934e+00 5.4973501712083817e+01 7.8329898416996002e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.9105001389980316e+01 6.5766297280788422e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 6.5759100019931793e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 6.5753698348999023e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 6.5649501979351044e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 6.5742902457714081e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 6.8581901490688324e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "bl_caster_r_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_bl_caster_rotation_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 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(float-vector -1.4203429222106934e+01 5.0769314839271829e-02 7.8114606440067291e+01) (float-vector -1.2475640513002872e+01 5.9753595851361752e+00 7.7358290553092957e+01) (float-vector 5.1130182109773159e+00 1.4596669934689999e+01 7.2644524276256561e+01) (float-vector 1.6111604869365692e+01 5.9759612195193768e+00 7.6686553657054901e+01) (float-vector 3.4453574335202575e-01 4.5095697714714333e-02 7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.2114569544792175e+01 1.0609956458210945e+01 -7.5127020478248596e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector 3.4453574335202575e-01 -4.5095697714714333e-02 -7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -1.2114569544792175e+01 1.0609956458210945e+01 -7.5127020478248596e+01) (float-vector -3.9661191403865814e+01 1.1734057217836380e+01 -6.4126133918762207e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -1.5645107254385948e+01 -1.0610558092594147e+01 -7.4474632740020752e+01) (float-vector 3.4453574335202575e-01 -4.5095697714714333e-02 -7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.3849890828132629e+01 -1.2509712949395180e+01 -5.2006952464580536e+01) (float-vector -4.1918713599443436e+01 -1.6744256019592285e+01 -5.5662661790847778e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -5.5839743465185165e+01 -6.7689041316043586e-02 -5.6477606296539307e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -5.3849890828132629e+01 1.2509712949395180e+01 5.2006952464580536e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01) (float-vector -7.9383015632629395e+01 -4.5113836677046493e-02 -3.4453574335202575e-01) (float-vector -7.4474632740020752e+01 1.0610558092594147e+01 -1.5645107254385948e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_br_caster_rotation_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_br_caster_rotation_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/caster.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 162 0 2 1 0 151 0 162 151 1 151 152 1 152 215 1 284 2 1 215 284 151 223 152 151 162 223 2 299 162 162 299 223 274 299 2 150 299 274 299 150 223 2 273 274 274 351 148 150 274 148 289 351 274 273 289 274 168 148 351 288 351 289 351 166 168 166 351 288 288 289 175 273 175 289 177 167 288 288 175 177 166 288 167 166 167 168 167 311 168 235 234 167 234 380 167 454 167 380 235 167 177 311 167 454 453 311 454 182 311 453 168 311 182 453 454 451 454 380 451 159 182 453 451 159 453 451 160 159 160 451 380 159 160 161 181 182 159 214 181 159 214 159 161 161 160 380 440 214 161 161 380 440 347 158 214 214 440 347 158 181 214 181 339 47 181 47 182 158 339 181 37 158 134 134 158 347 158 37 339 476 47 339 476 339 37 72 476 36 68 476 427 476 68 47 72 427 476 476 37 36 36 37 38 70 72 36 91 36 38 91 70 36 38 37 368 23 38 368 91 38 287 287 38 23 91 86 70 91 195 86 91 287 195 86 87 70 498 87 86 195 498 86 35 195 287 35 318 195 498 195 497 195 318 497 498 497 418 498 418 87 418 331 87 87 331 70 331 90 71 331 426 90 418 426 331 70 331 71 70 71 72 72 71 82 71 412 82 71 90 412 72 82 414 414 427 72 82 329 414 412 329 82 412 413 329 90 89 412 412 89 413 328 329 142 328 191 329 191 414 329 329 413 142 190 414 191 190 427 414 190 68 427 189 190 191 189 69 190 69 68 190 205 191 328 189 191 205 141 328 142 141 205 328 204 189 205 216 218 205 212 216 205 218 204 205 212 205 141 189 204 499 499 69 189 499 204 42 499 42 452 499 452 69 42 43 44 201 42 202 42 44 202 452 42 201 204 43 42 43 330 44 43 327 344 43 344 330 204 327 43 44 330 325 44 325 202 324 202 325 202 324 201 452 201 324 45 452 46 45 69 452 452 324 341 341 46 452 45 46 47 45 68 69 68 45 47 182 47 46 341 182 46 340 148 341 341 365 182 148 365 341 341 324 340 182 365 168 168 365 148 148 149 150 149 148 340 324 149 340 324 333 149 333 81 149 150 149 81 223 150 224 150 81 224 79 80 81 333 75 81 80 224 81 75 79 81 222 223 224 222 224 80 429 80 428 80 79 428 222 80 429 74 97 79 74 79 75 97 428 79 73 74 75 73 75 333 73 420 74 420 496 74 74 496 97 495 494 73 495 73 333 494 420 73 324 495 333 325 494 495 324 325 495 330 420 494 325 330 494 330 416 420 330 344 416 344 415 416 416 415 420 420 415 496 415 423 95 496 415 95 344 423 415 344 217 345 345 423 344 327 217 344 320 95 423 321 320 423 345 321 423 95 96 97 96 95 320 496 95 97 320 321 96 217 321 345 321 17 96 321 217 17 17 16 96 96 16 97 97 16 326 326 428 97 15 16 17 16 15 326 17 131 15 17 217 213 17 213 131 15 131 52 15 52 245 15 245 286 15 286 326 213 52 131 51 35 52 52 35 34 213 51 52 245 52 34 318 51 319 51 88 319 213 88 51 51 318 35 497 318 418 318 319 418 319 417 418 417 319 88 418 417 426 426 417 90 90 417 88 88 89 90 78 413 89 89 88 76 78 89 76 76 77 78 142 413 78 142 78 77 88 77 76 141 142 77 212 141 77 77 88 212 212 88 213 213 216 212 213 217 216 216 217 218 218 217 327 204 218 327 33 34 35 35 66 67 35 203 66 35 287 203 35 364 33 67 411 35 411 364 35 245 34 314 34 33 314 244 245 101 286 245 223 405 245 314 101 245 405 244 223 245 405 314 33 405 409 402 102 101 405 409 405 33 102 405 402 33 111 110 33 110 409 364 315 33 33 315 111 402 409 110 401 402 110 493 102 402 493 402 401 110 111 112 112 401 110 112 462 401 462 493 401 322 493 197 462 197 493 322 102 493 462 112 332 58 60 462 58 462 332 60 197 462 111 332 112 111 58 332 58 59 60 315 58 111 315 59 58 61 59 62 62 59 30 59 364 30 59 315 364 59 61 477 60 59 477 477 61 92 61 62 92 92 62 32 62 30 32 30 31 32 364 31 30 364 411 31 411 178 31 32 31 178 92 32 93 32 178 93 92 93 94 477 92 421 421 92 94 313 94 93 93 178 180 93 180 313 178 179 180 411 67 178 178 67 179 180 179 83 410 180 85 180 83 85 313 180 410 313 410 342 94 313 342 410 99 342 99 410 85 83 84 85 98 99 85 84 432 85 432 98 85 179 66 83 66 84 83 430 431 84 430 84 66 431 432 84 419 432 431 419 98 432 419 200 98 98 343 99 200 343 98 342 99 343 200 129 343 342 343 278 343 129 278 198 199 200 129 200 199 198 200 419 198 419 431 198 431 375 375 431 430 198 129 199 287 198 375 129 198 287 287 375 203 203 375 430 465 355 287 287 130 129 22 465 287 23 22 287 355 130 287 128 129 130 130 355 308 130 308 307 130 307 128 128 479 129 278 129 479 468 126 479 479 126 278 337 468 479 337 479 128 121 278 126 232 342 278 121 280 278 280 232 278 408 342 232 408 94 342 408 422 94 317 408 316 317 422 408 316 408 232 421 94 422 317 421 422 316 60 317 317 60 477 317 477 421 60 196 197 196 60 316 196 323 197 196 298 323 196 348 298 196 316 348 197 323 322 322 323 11 298 11 323 9 11 298 9 298 348 316 9 348 9 10 11 9 316 10 304 11 53 322 11 304 11 54 53 10 54 11 304 102 322 304 53 100 102 304 100 53 54 55 100 53 55 171 140 54 54 139 55 54 140 139 171 54 10 424 55 425 424 100 55 267 425 55 139 267 55 100 101 102 424 101 100 425 244 424 244 101 424 244 425 223 223 425 461 425 267 461 286 223 222 223 461 239 223 239 271 271 458 223 223 458 152 461 267 266 461 266 239 144 238 239 238 271 239 144 239 266 265 266 267 145 266 265 266 145 144 279 265 267 145 265 279 267 369 104 267 104 279 267 139 369 279 104 173 145 279 173 103 172 173 103 173 104 173 172 366 366 145 173 64 103 104 172 103 64 172 64 63 172 357 367 172 63 357 366 172 367 366 367 145 483 143 367 357 475 367 483 367 448 143 145 367 448 367 475 143 144 145 482 395 143 482 143 483 395 144 143 448 125 483 483 125 482 443 482 125 482 443 395 144 395 396 443 396 395 358 238 144 358 144 450 144 396 450 396 480 450 396 481 480 443 481 396 485 450 277 450 480 277 358 450 350 450 485 350 334 238 358 358 350 334 271 238 272 238 334 272 485 458 271 350 485 271 406 271 272 271 406 350 485 379 458 379 485 277 379 152 458 283 215 379 215 152 379 283 379 277 215 283 284 247 283 208 208 283 277 284 283 247 285 284 247 2 284 285 2 285 273 273 285 439 439 285 247 176 273 439 175 273 176 176 439 177 177 439 247 175 176 177 246 398 177 246 177 247 253 235 177 398 253 177 208 246 247 399 398 246 208 399 246 188 398 399 188 253 398 399 436 472 207 436 399 399 472 188 208 207 399 206 207 208 277 206 208 480 481 206 481 207 206 480 206 277 481 256 207 443 256 481 256 257 207 185 186 256 257 256 209 256 186 209 443 185 256 443 124 185 443 125 124 185 124 186 209 186 13 186 124 264 13 186 264 39 209 13 209 484 257 39 484 209 484 39 257 39 40 41 39 41 194 194 257 39 39 13 12 39 187 40 39 270 187 12 270 39 436 194 41 41 40 436 207 194 436 194 207 257 40 472 436 188 472 40 40 187 188 253 188 254 254 188 292 187 292 188 292 187 270 292 270 260 254 292 260 260 253 254 269 253 260 253 233 235 253 269 233 269 260 270 270 133 269 306 233 269 433 269 491 269 133 491 269 433 306 233 234 235 233 380 234 233 306 380 226 157 380 440 380 157 306 226 380 8 225 226 225 157 226 8 226 306 6 7 8 306 6 8 8 7 225 7 155 225 157 225 155 388 7 6 388 155 7 388 6 27 388 27 394 388 464 155 388 394 464 25 26 27 27 6 132 132 25 27 394 27 26 394 389 464 138 394 26 389 394 138 464 487 488 464 488 155 389 487 464 487 349 488 487 478 349 389 478 487 349 155 488 155 156 157 391 156 155 349 392 155 391 155 392 377 378 156 346 377 156 156 378 157 156 391 346 157 378 393 440 157 393 377 374 378 374 393 378 393 347 440 374 347 393 374 134 347 377 134 374 134 135 56 134 377 135 134 56 37 57 135 305 135 377 305 56 135 57 37 56 57 57 368 37 305 108 57 57 108 109 109 368 57 108 305 346 346 305 377 108 21 109 346 391 108 21 108 391 368 109 21 21 23 368 21 22 23 21 391 392 21 392 349 349 22 21 465 22 349 349 249 248 459 349 248 465 349 459 478 249 349 459 105 465 220 355 465 105 220 465 459 474 105 248 474 459 105 106 107 105 255 106 105 107 220 105 474 255 255 474 355 355 474 308 308 474 248 354 255 355 355 220 354 106 255 354 220 221 354 221 106 354 220 165 221 49 106 221 165 164 221 164 49 221 48 49 50 49 437 106 363 437 49 49 48 363 50 49 164 48 192 193 48 193 363 48 50 192 50 164 192 193 192 164 363 193 445 445 193 164 444 363 445 363 444 437 438 445 164 444 445 438 437 444 438 437 438 275 164 275 438 258 275 211 164 211 275 258 437 275 258 211 259 259 437 258 163 210 211 163 211 164 210 259 211 163 164 165 489 210 163 489 163 165 210 489 437 259 210 437 106 437 489 106 489 243 243 489 165 107 165 220 107 243 165 107 106 243 117 248 249 404 449 248 449 252 248 117 404 248 252 308 248 478 400 249 400 117 249 389 400 478 117 400 4 389 4 400 4 389 390 138 390 389 227 390 137 390 138 137 4 390 227 136 137 138 26 136 138 137 133 268 268 227 137 137 136 26 133 137 26 227 228 229 268 228 227 4 227 229 133 228 268 115 312 228 4 229 228 133 115 228 312 4 228 5 4 312 115 5 312 3 4 5 117 4 3 116 3 5 5 115 116 116 117 3 117 116 404 116 403 404 114 116 115 116 114 403 404 386 449 404 403 386 403 236 386 114 263 403 403 263 236 113 114 115 370 114 113 114 370 263 113 12 370 12 113 115 12 115 133 12 13 14 12 469 470 12 14 469 470 370 12 12 133 270 470 263 370 261 470 469 470 261 263 469 231 261 231 469 14 261 262 263 261 231 301 397 261 301 397 262 261 14 230 231 231 300 301 231 230 300 301 300 441 397 301 295 441 295 301 397 295 372 397 372 466 262 397 466 466 372 237 466 237 407 407 262 466 236 407 237 263 407 236 262 407 263 120 236 237 353 386 236 120 119 236 236 119 353 118 119 120 120 219 118 237 219 120 352 353 119 118 352 119 310 353 352 353 310 387 353 387 386 121 123 352 310 352 123 121 352 118 276 118 219 121 118 276 276 219 383 237 383 219 276 184 232 232 280 276 184 276 383 121 276 280 121 122 123 126 122 121 126 127 122 122 127 123 468 467 126 126 467 127 127 467 468 123 127 337 127 468 337 251 337 128 251 376 337 337 376 123 250 251 252 376 251 250 252 251 490 490 251 128 307 490 128 307 252 490 307 308 252 449 386 252 250 252 386 386 387 250 387 309 250 309 376 250 310 309 387 123 309 310 123 376 309 184 383 169 383 384 169 457 383 237 384 383 457 183 184 169 184 183 232 169 10 183 232 183 316 10 316 183 171 10 169 169 170 171 171 170 140 170 169 359 140 170 64 64 170 146 359 147 170 170 147 146 104 139 140 140 64 104 63 64 65 65 64 146 146 147 65 63 65 357 65 147 357 356 357 147 382 475 357 356 382 357 381 382 356 297 356 371 381 356 297 371 356 147 471 475 382 471 382 381 475 471 448 381 296 471 296 448 471 296 381 297 295 296 297 295 297 371 295 371 372 372 371 147 295 441 442 295 442 296 300 230 441 441 230 442 230 373 442 296 442 373 14 373 230 373 29 296 373 14 29 14 28 29 13 240 14 447 446 14 240 447 14 28 14 446 29 28 460 460 296 29 446 460 28 446 447 448 446 448 460 240 242 447 448 447 242 240 241 242 241 240 13 448 242 125 125 242 241 448 296 460 241 13 125 124 125 13 13 264 124 147 455 372 147 359 455 455 359 456 455 457 372 455 456 457 457 237 372 384 457 456 359 384 456 359 169 384 104 369 139 132 133 25 133 281 282 133 434 433 133 282 434 491 133 433 281 133 132 25 133 26 281 302 303 282 281 303 302 281 132 434 282 435 303 435 282 433 434 435 433 435 306 306 435 303 6 303 302 6 306 303 132 6 302 350 335 334 406 335 350 334 335 336 335 338 336 335 406 154 338 335 154 291 334 293 291 272 334 334 336 293 290 154 291 293 290 291 406 272 291 154 406 291 501 290 293 154 290 501 154 501 473 473 501 293 154 473 385 473 293 385 385 153 154 385 293 492 153 385 492 153 18 154 294 153 492 153 294 18 492 293 294 293 19 294 294 19 18 18 19 20 362 18 20 18 362 154 20 19 24 19 174 24 19 293 174 486 362 20 486 20 24 486 24 174 174 463 486 463 362 486 174 293 336 500 174 361 174 336 361 500 463 174 463 360 362 500 360 463 360 500 361 360 361 362 362 361 336 362 336 338 362 338 154 429 286 222 326 286 429 326 429 428 203 430 66 67 66 179)) + (list :vertices (let ((mat (make-matrix 502 3))) (fvector-replace (array-entity mat) #f(1.5309399414062500e+02 -2.8678799438476562e+02 1.0526599884033203e+02 1.6749499511718750e+02 -2.8678799438476562e+02 1.0526599884033203e+02 1.4962998962402344e+02 -2.8165600585937500e+02 1.0526599884033203e+02 2.5771398925781250e+02 -1.5725999450683594e+02 1.3304998779296875e+02 2.4495401000976562e+02 -1.5231401062011719e+02 1.3304998779296875e+02 2.5889199829101562e+02 -1.5772599792480469e+02 1.3955000305175781e+02 1.7266799926757812e+02 -1.7026600646972656e+02 1.3304998779296875e+02 1.8274299621582031e+02 -1.9238999938964844e+02 1.3304998779296875e+02 1.7675300598144531e+02 -2.0243699645996094e+02 1.3304998779296875e+02 2.9864697265625000e+02 -2.3860499572753906e+02 1.0230000305175781e+02 3.1669802856445312e+02 -2.4011799621582031e+02 1.0230000305175781e+02 2.9776699829101562e+02 -2.4332800292968750e+02 1.0230000305175781e+02 2.8804498291015625e+02 -1.8449600219726562e+02 1.3955000305175781e+02 2.4302198791503906e+02 -2.9742898559570312e+02 1.3955000305175781e+02 2.7962301635742188e+02 -2.7573800659179688e+02 1.3955000305175781e+02 1.4557699584960938e+02 -2.5060800170898438e+02 -1.6409799575805664e+01 1.4248800659179688e+02 -2.5027900695800781e+02 -2.7892499923706055e+01 1.4242399597167969e+02 -2.5025099182128906e+02 -5.9969299316406250e+01 2.3170300292968750e+02 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21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 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:super collada-body - :slots ()) -(defmethod pr2_gkmodel0_br_caster_l_wheel_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/wheel.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 4 1 2 28 0 30 4 0 28 30 0 21 22 2 22 28 2 2 1 21 28 29 30 22 29 28 30 29 31 30 31 4 404 29 407 408 407 29 31 29 404 22 408 29 20 22 21 22 20 408 18 20 21 17 20 18 412 20 17 408 20 412 17 18 19 21 486 18 18 486 19 17 19 16 412 17 16 412 413 414 412 414 408 412 16 413 413 415 414 409 415 413 413 15 409 413 16 481 413 481 15 14 15 7 409 15 14 481 7 15 481 16 7 6 7 8 8 7 11 14 7 6 16 11 7 14 6 10 409 14 10 9 10 6 6 487 9 8 489 6 6 489 487 8 11 13 8 488 489 13 488 8 12 13 11 11 16 12 13 12 19 19 488 13 486 488 19 486 499 488 488 499 497 488 497 489 16 19 12 489 497 494 489 494 487 497 459 494 499 459 497 486 498 499 499 474 459 499 498 474 493 498 486 474 498 475 498 493 475 40 474 475 475 478 471 40 475 471 475 493 478 37 39 40 41 37 40 41 40 471 39 474 40 41 471 378 471 478 378 478 476 378 478 493 476 69 378 379 37 41 378 37 378 69 378 476 379 476 477 379 476 493 477 69 379 376 379 477 376 376 477 473 493 473 477 492 493 3 1 493 486 3 493 1 492 473 493 491 496 492 491 492 3 492 496 473 3 4 5 4 3 1 491 3 5 21 1 486 4 31 5 482 5 483 33 483 5 33 5 31 482 491 5 33 31 34 31 404 34 34 35 33 35 483 33 36 482 483 35 36 483 34 36 35 34 26 36 406 34 404 27 34 406 26 34 27 404 405 406 407 405 404 27 406 410 434 406 405 410 406 434 434 405 423 407 423 405 407 408 423 423 408 417 440 408 414 417 408 440 416 417 418 417 427 418 417 416 423 417 440 427 414 439 440 427 440 439 451 427 439 398 427 402 427 398 418 451 402 427 419 416 418 418 398 419 423 416 419 419 422 423 401 419 398 419 401 400 400 422 419 422 421 423 421 434 423 420 421 422 425 421 420 425 434 421 420 424 425 424 434 425 426 424 420 426 434 424 420 381 426 422 396 420 381 420 382 382 420 396 434 426 435 426 381 435 380 381 382 260 392 381 381 380 260 392 435 381 393 382 396 380 382 393 258 380 257 380 393 257 260 380 258 235 259 260 260 258 235 259 392 260 392 259 391 430 392 391 430 435 392 231 259 235 229 262 259 229 259 231 259 262 391 231 232 229 235 236 231 231 236 232 232 237 229 232 236 177 183 232 177 183 237 232 235 234 236 236 234 181 177 236 181 177 178 167 168 177 167 177 181 178 168 183 177 179 181 180 178 181 179 181 234 180 166 178 164 164 178 179 167 178 166 167 161 162 166 161 167 162 168 167 161 166 160 160 166 164 160 164 159 164 165 159 164 179 165 180 165 179 358 165 363 159 165 358 363 165 365 180 365 165 118 159 117 160 159 118 117 159 358 161 160 119 119 160 118 105 118 117 104 119 118 104 118 105 117 116 105 116 117 329 329 117 358 104 105 98 105 116 95 98 105 95 97 103 104 98 97 104 103 119 104 92 97 98 92 98 95 95 81 92 95 316 81 316 95 317 95 116 317 92 93 94 81 93 92 94 97 92 99 97 94 97 99 103 93 96 94 96 99 94 93 81 72 61 93 72 61 96 93 101 99 96 59 96 61 59 101 96 100 99 101 100 106 99 99 106 103 101 102 100 101 108 102 59 108 101 100 109 106 102 109 100 121 120 106 106 120 103 109 121 106 120 119 103 120 162 161 120 161 119 121 162 120 109 122 121 163 162 121 122 163 121 102 113 109 113 122 109 123 122 113 122 169 163 123 169 122 163 168 162 163 169 174 174 168 163 170 169 123 170 175 169 169 175 174 124 123 114 114 123 113 124 170 123 124 171 170 176 170 171 175 170 176 175 182 174 176 185 175 185 182 175 171 173 176 173 184 176 176 184 185 152 171 125 125 171 124 152 173 171 172 173 152 173 172 184 172 201 184 201 204 184 184 204 210 184 210 185 186 172 152 186 190 172 190 201 172 148 152 125 148 186 152 187 186 149 149 186 148 187 190 186 190 187 191 191 201 190 150 188 187 150 187 149 188 191 187 149 148 136 150 149 137 137 149 136 131 148 125 136 148 131 89 136 131 132 137 136 132 136 89 133 137 132 133 138 137 138 150 137 130 132 89 133 132 134 134 132 130 89 90 91 91 130 89 90 89 131 90 110 91 90 115 110 131 115 90 112 91 107 107 91 110 91 129 130 91 112 129 110 111 107 110 114 111 110 115 114 125 124 115 115 124 114 131 125 115 111 114 113 107 111 102 111 113 102 107 102 108 108 112 107 58 108 59 58 112 108 58 59 57 59 60 57 59 61 60 60 61 62 62 63 60 63 57 60 61 72 62 63 62 64 62 72 64 72 65 64 72 81 82 72 82 65 64 65 66 66 63 64 66 65 70 65 80 70 65 82 80 82 314 80 81 316 82 82 316 314 80 79 70 305 306 80 314 305 80 80 306 79 317 318 314 317 314 316 314 318 305 305 319 315 318 319 305 305 315 306 306 309 79 306 313 309 306 315 313 315 327 325 319 327 315 315 325 313 320 319 318 328 327 319 320 328 319 317 320 318 317 116 320 329 328 320 116 329 320 360 359 328 328 359 327 329 360 328 327 354 325 327 359 354 325 324 313 325 354 324 354 353 324 354 356 353 354 359 361 361 356 354 360 362 359 359 362 361 362 364 361 361 272 356 361 364 272 356 357 353 356 274 357 356 272 274 269 272 268 272 273 268 274 272 269 272 364 273 362 365 364 364 365 273 268 273 234 234 273 180 273 365 180 264 268 234 264 269 268 233 234 235 264 234 233 256 264 233 256 253 264 253 269 264 256 233 257 235 258 233 258 257 233 253 256 263 257 393 256 256 395 263 393 395 256 254 253 263 263 394 254 263 395 394 393 396 395 395 399 400 395 400 394 396 399 395 254 394 255 400 401 394 394 401 255 250 253 254 255 250 254 250 255 251 255 248 251 255 398 248 255 401 398 248 250 251 247 246 248 248 246 250 398 402 248 248 402 247 245 246 247 402 403 247 247 403 245 448 403 402 402 451 448 245 403 397 403 448 397 244 242 245 245 242 246 245 397 244 243 242 244 244 397 243 243 397 386 397 450 386 448 447 397 450 397 447 242 243 240 386 240 243 386 384 387 387 240 386 384 386 449 449 386 450 441 449 450 450 447 441 443 447 448 441 447 442 442 447 443 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(list (float-vector -7.1428798139095306e+01 -3.8387499749660492e+01 2.6272999122738838e+01) (float-vector -5.6481499224901199e+01 -3.2248001545667648e+01 4.0725000202655792e+01) (float-vector -5.3850099444389343e+01 -3.6490198224782944e+01 5.2007101476192474e+01) (float-vector -6.4476996660232544e+01 -4.3020900338888168e+01 4.4562898576259613e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.9488696753978729e+01 -3.2240301370620728e+01 1.4109100447967649e+00) (float-vector -7.1428798139095306e+01 -3.8387499749660492e+01 2.6272999122738838e+01) (float-vector -7.3951698839664459e+01 -4.9059398472309113e+01 2.8930399566888809e+01) (float-vector -7.9383201897144318e+01 -4.9045100808143616e+01 -3.4461999894119799e-01) (float-vector -7.4474796652793884e+01 -3.8389399647712708e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.6820500642061234e+01 -6.5761797130107880e+01 -4.0331300348043442e+01) (float-vector 5.6843299418687820e+01 -5.4978400468826294e+01 -5.3966101258993149e+01) (float-vector 4.3921299278736115e+01 -6.5758101642131805e+01 -5.3944598883390427e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 6.6359199583530426e+01 -6.5753698348999023e+01 -2.1015599370002747e+01) (float-vector 5.6820500642061234e+01 -6.5761797130107880e+01 -4.0331300348043442e+01) (float-vector 4.3921299278736115e+01 -6.5758101642131805e+01 -5.3944598883390427e+01) (float-vector 2.3136500269174576e+01 -8.0274298787117004e+01 -3.0678000301122665e+01) (float-vector 3.7004400044679642e+01 -8.0275103449821472e+01 -1.1183599941432476e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 7.3644801974296570e+01 -4.8939600586891174e+01 -2.9704099521040916e+01) (float-vector 6.6202603280544281e+01 -4.8934098333120346e+01 -4.3869800865650177e+01) (float-vector 5.6843299418687820e+01 -5.4978400468826294e+01 -5.3966101258993149e+01) (float-vector 5.6820500642061234e+01 -6.5761797130107880e+01 -4.0331300348043442e+01) (float-vector 6.6359199583530426e+01 -6.5753698348999023e+01 -2.1015599370002747e+01) (float-vector 7.4474796652793884e+01 -5.9610601514577866e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4203500002622604e+01 -4.8949200659990311e+01 7.8114800155162811e+01) (float-vector -2.7057100087404251e+01 -4.3022301048040390e+01 7.3550097644329071e+01) (float-vector -1.5174100175499916e+01 -3.2350499182939529e+01 6.8473696708679199e+01) (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector 1.7856500344350934e+00 -4.3026499450206757e+01 7.8329898416996002e+01) (float-vector 3.4459200105629861e-01 -4.8954900354146957e+01 7.9383298754692078e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector 2.1015599370002747e+01 -3.2246299088001251e+01 6.6359199583530426e+01) (float-vector 3.0671700835227966e+01 -4.3021898716688156e+01 7.2120100259780884e+01) (float-vector 1.7856500344350934e+00 -4.3026499450206757e+01 7.8329898416996002e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.9105001389980316e+01 -3.2233700156211853e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 -3.2240901142358780e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 -3.2246299088001251e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 -3.2350499182939529e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 -3.2257098704576492e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 -2.9418099671602249e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "br_caster_l_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_br_caster_r_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 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-7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -1.2114569544792175e+01 1.0609956458210945e+01 -7.5127020478248596e+01) (float-vector -3.9661191403865814e+01 1.1734057217836380e+01 -6.4126133918762207e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -1.5645107254385948e+01 -1.0610558092594147e+01 -7.4474632740020752e+01) (float-vector 3.4453574335202575e-01 -4.5095697714714333e-02 -7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.3849890828132629e+01 -1.2509712949395180e+01 -5.2006952464580536e+01) (float-vector -4.1918713599443436e+01 -1.6744256019592285e+01 -5.5662661790847778e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -5.5839743465185165e+01 -6.7689041316043586e-02 -5.6477606296539307e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -5.3849890828132629e+01 1.2509712949395180e+01 5.2006952464580536e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01) (float-vector -7.9383015632629395e+01 -4.5113836677046493e-02 -3.4453574335202575e-01) (float-vector -7.4474632740020752e+01 1.0610558092594147e+01 -1.5645107254385948e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_br_caster_r_wheel_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_br_caster_r_wheel_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/wheel.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 4 1 2 28 0 30 4 0 28 30 0 21 22 2 22 28 2 2 1 21 28 29 30 22 29 28 30 29 31 30 31 4 404 29 407 408 407 29 31 29 404 22 408 29 20 22 21 22 20 408 18 20 21 17 20 18 412 20 17 408 20 412 17 18 19 21 486 18 18 486 19 17 19 16 412 17 16 412 413 414 412 414 408 412 16 413 413 415 414 409 415 413 413 15 409 413 16 481 413 481 15 14 15 7 409 15 14 481 7 15 481 16 7 6 7 8 8 7 11 14 7 6 16 11 7 14 6 10 409 14 10 9 10 6 6 487 9 8 489 6 6 489 487 8 11 13 8 488 489 13 488 8 12 13 11 11 16 12 13 12 19 19 488 13 486 488 19 486 499 488 488 499 497 488 497 489 16 19 12 489 497 494 489 494 487 497 459 494 499 459 497 486 498 499 499 474 459 499 498 474 493 498 486 474 498 475 498 493 475 40 474 475 475 478 471 40 475 471 475 493 478 37 39 40 41 37 40 41 40 471 39 474 40 41 471 378 471 478 378 478 476 378 478 493 476 69 378 379 37 41 378 37 378 69 378 476 379 476 477 379 476 493 477 69 379 376 379 477 376 376 477 473 493 473 477 492 493 3 1 493 486 3 493 1 492 473 493 491 496 492 491 492 3 492 496 473 3 4 5 4 3 1 491 3 5 21 1 486 4 31 5 482 5 483 33 483 5 33 5 31 482 491 5 33 31 34 31 404 34 34 35 33 35 483 33 36 482 483 35 36 483 34 36 35 34 26 36 406 34 404 27 34 406 26 34 27 404 405 406 407 405 404 27 406 410 434 406 405 410 406 434 434 405 423 407 423 405 407 408 423 423 408 417 440 408 414 417 408 440 416 417 418 417 427 418 417 416 423 417 440 427 414 439 440 427 440 439 451 427 439 398 427 402 427 398 418 451 402 427 419 416 418 418 398 419 423 416 419 419 422 423 401 419 398 419 401 400 400 422 419 422 421 423 421 434 423 420 421 422 425 421 420 425 434 421 420 424 425 424 434 425 426 424 420 426 434 424 420 381 426 422 396 420 381 420 382 382 420 396 434 426 435 426 381 435 380 381 382 260 392 381 381 380 260 392 435 381 393 382 396 380 382 393 258 380 257 380 393 257 260 380 258 235 259 260 260 258 235 259 392 260 392 259 391 430 392 391 430 435 392 231 259 235 229 262 259 229 259 231 259 262 391 231 232 229 235 236 231 231 236 232 232 237 229 232 236 177 183 232 177 183 237 232 235 234 236 236 234 181 177 236 181 177 178 167 168 177 167 177 181 178 168 183 177 179 181 180 178 181 179 181 234 180 166 178 164 164 178 179 167 178 166 167 161 162 166 161 167 162 168 167 161 166 160 160 166 164 160 164 159 164 165 159 164 179 165 180 165 179 358 165 363 159 165 358 363 165 365 180 365 165 118 159 117 160 159 118 117 159 358 161 160 119 119 160 118 105 118 117 104 119 118 104 118 105 117 116 105 116 117 329 329 117 358 104 105 98 105 116 95 98 105 95 97 103 104 98 97 104 103 119 104 92 97 98 92 98 95 95 81 92 95 316 81 316 95 317 95 116 317 92 93 94 81 93 92 94 97 92 99 97 94 97 99 103 93 96 94 96 99 94 93 81 72 61 93 72 61 96 93 101 99 96 59 96 61 59 101 96 100 99 101 100 106 99 99 106 103 101 102 100 101 108 102 59 108 101 100 109 106 102 109 100 121 120 106 106 120 103 109 121 106 120 119 103 120 162 161 120 161 119 121 162 120 109 122 121 163 162 121 122 163 121 102 113 109 113 122 109 123 122 113 122 169 163 123 169 122 163 168 162 163 169 174 174 168 163 170 169 123 170 175 169 169 175 174 124 123 114 114 123 113 124 170 123 124 171 170 176 170 171 175 170 176 175 182 174 176 185 175 185 182 175 171 173 176 173 184 176 176 184 185 152 171 125 125 171 124 152 173 171 172 173 152 173 172 184 172 201 184 201 204 184 184 204 210 184 210 185 186 172 152 186 190 172 190 201 172 148 152 125 148 186 152 187 186 149 149 186 148 187 190 186 190 187 191 191 201 190 150 188 187 150 187 149 188 191 187 149 148 136 150 149 137 137 149 136 131 148 125 136 148 131 89 136 131 132 137 136 132 136 89 133 137 132 133 138 137 138 150 137 130 132 89 133 132 134 134 132 130 89 90 91 91 130 89 90 89 131 90 110 91 90 115 110 131 115 90 112 91 107 107 91 110 91 129 130 91 112 129 110 111 107 110 114 111 110 115 114 125 124 115 115 124 114 131 125 115 111 114 113 107 111 102 111 113 102 107 102 108 108 112 107 58 108 59 58 112 108 58 59 57 59 60 57 59 61 60 60 61 62 62 63 60 63 57 60 61 72 62 63 62 64 62 72 64 72 65 64 72 81 82 72 82 65 64 65 66 66 63 64 66 65 70 65 80 70 65 82 80 82 314 80 81 316 82 82 316 314 80 79 70 305 306 80 314 305 80 80 306 79 317 318 314 317 314 316 314 318 305 305 319 315 318 319 305 305 315 306 306 309 79 306 313 309 306 315 313 315 327 325 319 327 315 315 325 313 320 319 318 328 327 319 320 328 319 317 320 318 317 116 320 329 328 320 116 329 320 360 359 328 328 359 327 329 360 328 327 354 325 327 359 354 325 324 313 325 354 324 354 353 324 354 356 353 354 359 361 361 356 354 360 362 359 359 362 361 362 364 361 361 272 356 361 364 272 356 357 353 356 274 357 356 272 274 269 272 268 272 273 268 274 272 269 272 364 273 362 365 364 364 365 273 268 273 234 234 273 180 273 365 180 264 268 234 264 269 268 233 234 235 264 234 233 256 264 233 256 253 264 253 269 264 256 233 257 235 258 233 258 257 233 253 256 263 257 393 256 256 395 263 393 395 256 254 253 263 263 394 254 263 395 394 393 396 395 395 399 400 395 400 394 396 399 395 254 394 255 400 401 394 394 401 255 250 253 254 255 250 254 250 255 251 255 248 251 255 398 248 255 401 398 248 250 251 247 246 248 248 246 250 398 402 248 248 402 247 245 246 247 402 403 247 247 403 245 448 403 402 402 451 448 245 403 397 403 448 397 244 242 245 245 242 246 245 397 244 243 242 244 244 397 243 243 397 386 397 450 386 448 447 397 450 397 447 242 243 240 386 240 243 386 384 387 387 240 386 384 386 449 449 386 450 441 449 450 450 447 441 443 447 448 441 447 442 442 447 443 414 441 442 438 441 414 441 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302 302 338 301 333 332 300 301 333 300 291 301 300 302 301 294 294 301 291 303 302 295 295 302 294 303 339 302 285 294 291 293 295 294 293 294 285 283 291 289 285 291 283 291 300 289 284 285 283 290 285 75 284 75 285 290 293 285 292 293 290 292 295 293 83 277 290 290 277 292 290 75 83 74 75 76 75 74 83 75 284 76 283 282 284 284 282 76 88 76 87 76 88 74 87 76 278 76 282 278 282 280 278 280 282 286 283 289 282 282 289 286 278 279 87 278 280 279 279 280 281 280 286 287 281 280 287 299 298 286 289 299 286 286 298 287 300 299 289 299 332 331 299 331 298 300 332 299 287 298 297 331 330 298 298 330 297 287 288 281 287 297 288 288 297 158 297 196 158 330 196 297 330 334 196 331 335 330 330 335 334 336 331 332 335 331 336 335 346 334 336 346 335 196 334 199 334 347 199 334 346 347 193 158 196 196 199 193 193 199 200 200 199 207 199 209 207 209 199 347 157 158 193 157 193 195 193 200 195 195 200 198 200 207 198 198 207 206 207 208 206 207 209 208 195 198 194 194 198 197 198 206 197 195 194 156 157 195 156 154 194 189 156 194 154 189 194 197 197 192 189 205 202 197 197 202 192 197 206 205 208 205 206 205 217 202 191 202 203 192 202 191 202 217 203 189 192 188 188 192 191 189 188 151 154 189 151 151 188 150 151 150 138 154 151 138 127 138 133 127 139 138 139 154 138 126 127 128 127 133 135 126 139 127 127 135 128 134 135 133 130 135 134 135 366 128 130 366 135 73 366 130 129 73 130 128 366 367 366 53 367 370 53 366 73 370 366 367 86 143 128 367 143 53 47 367 86 367 47 140 143 142 142 143 85 140 128 143 143 86 85 140 126 128 144 145 140 144 140 142 140 145 126 141 142 85 142 141 144 85 86 87 141 85 279 87 279 85 141 153 144 279 281 141 288 153 141 281 288 141 144 147 145 144 153 147 147 146 145 145 146 126 157 156 147 153 157 147 147 156 146 153 158 157 158 153 288 126 146 139 156 155 146 146 155 139 155 156 154 139 155 154 87 86 88 86 369 88 47 369 86 369 368 88 88 368 74 369 43 368 43 369 47 46 47 48 46 43 47 48 47 52 52 47 53 45 43 46 46 461 45 48 461 46 44 43 45 45 458 44 45 461 458 458 461 456 456 461 48 456 457 458 44 458 472 458 457 472 42 43 44 44 472 42 472 56 42 472 457 480 472 480 56 456 459 457 457 459 480 459 456 48 48 460 459 459 460 470 470 494 459 459 474 480 56 480 479 474 479 480 39 479 474 56 479 39 37 38 39 39 38 56 68 37 69 38 37 84 68 84 37 67 68 69 67 71 68 71 84 68 70 69 66 67 69 70 69 376 66 67 77 71 70 79 67 67 79 77 71 77 78 78 84 71 83 84 78 78 77 277 78 277 83 83 74 84 74 38 84 74 368 38 56 38 42 38 43 42 43 38 368 275 276 277 276 292 277 277 77 275 77 308 275 275 311 307 308 311 275 276 275 307 276 296 292 307 296 276 292 296 295 304 303 296 296 303 295 307 304 296 307 321 304 311 321 307 321 326 304 326 340 304 304 340 303 303 340 339 345 339 340 326 342 340 340 342 345 341 342 326 321 351 326 351 341 326 322 321 311 322 351 321 352 351 322 352 355 351 351 355 341 342 341 349 355 350 341 341 350 349 342 349 345 345 349 216 271 349 350 216 349 223 223 349 271 357 350 355 350 357 271 355 352 353 357 355 353 271 357 274 224 271 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436 432 437 437 455 444 455 437 432 436 433 432 433 436 428 431 432 433 431 433 428 455 432 389 391 390 432 389 432 390 431 391 432 431 428 430 431 430 391 390 391 261 391 262 261 389 390 252 261 252 390 239 389 252 239 252 228 228 252 261 228 261 229 229 261 262 228 229 230 219 218 228 230 219 228 229 237 230 237 219 230 204 219 210 204 218 219 210 219 237 203 217 218 203 218 204 203 204 201 203 201 191 210 237 185 185 237 183 182 185 183 182 183 174 174 183 168 428 429 430 430 429 435 428 434 429 429 434 435 36 26 482 462 372 463 469 462 463 463 470 469 51 462 469 50 462 51 50 372 462 371 372 49 372 50 49 468 372 371 49 50 51 54 55 51 51 55 49 469 54 51 470 54 469 460 54 470 52 53 54 54 53 55 460 52 54 55 58 49 55 73 58 370 73 55 55 53 370 57 49 58 73 112 58 129 112 73 57 371 49 57 373 371 371 373 468 48 52 460 399 422 400 422 399 396 363 365 362 358 363 360 360 363 362 329 358 360)) + (list :vertices (let ((mat (make-matrix 500 3))) (fvector-replace (array-entity mat) 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351 289 351 166 168 166 351 288 288 289 175 273 175 289 177 167 288 288 175 177 166 288 167 166 167 168 167 311 168 235 234 167 234 380 167 454 167 380 235 167 177 311 167 454 453 311 454 182 311 453 168 311 182 453 454 451 454 380 451 159 182 453 451 159 453 451 160 159 160 451 380 159 160 161 181 182 159 214 181 159 214 159 161 161 160 380 440 214 161 161 380 440 347 158 214 214 440 347 158 181 214 181 339 47 181 47 182 158 339 181 37 158 134 134 158 347 158 37 339 476 47 339 476 339 37 72 476 36 68 476 427 476 68 47 72 427 476 476 37 36 36 37 38 70 72 36 91 36 38 91 70 36 38 37 368 23 38 368 91 38 287 287 38 23 91 86 70 91 195 86 91 287 195 86 87 70 498 87 86 195 498 86 35 195 287 35 318 195 498 195 497 195 318 497 498 497 418 498 418 87 418 331 87 87 331 70 331 90 71 331 426 90 418 426 331 70 331 71 70 71 72 72 71 82 71 412 82 71 90 412 72 82 414 414 427 72 82 329 414 412 329 82 412 413 329 90 89 412 412 89 413 328 329 142 328 191 329 191 414 329 329 413 142 190 414 191 190 427 414 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2.1916399896144867e+02 1.2899999320507050e+02) (float-vector 1.3915100693702698e+02 2.3853099346160889e+02 1.2899999320507050e+02) (float-vector 1.5259000658988953e+02 2.4588100612163544e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.3734400272369385e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector 1.4979700744152069e+02 2.1820099651813507e+02 1.3955000042915344e+02) (float-vector 1.5774999558925629e+02 1.9044999778270721e+02 1.3955000042915344e+02) (float-vector 1.4279800653457642e+02 2.0137800276279449e+02 1.2899999320507050e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "br_caster_rotation_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_double_stereo_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 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1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 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2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2634 2635 2636 2637 2638 2639 2640 2641 2642 2643 2644 2645 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737 2738 2739 2740 2741 2742 2743 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(float-vector 3.4291680902242661e+01 6.6874124109745026e+01 1.6774982213973999e+02)))) - )) - ) - ) - -(defclass pr2_gkmodel0_fl_caster_l_wheel_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_fl_caster_l_wheel_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/wheel.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-2.0000000000000000e+01 -6.0000000000000000e+01 -3.7252900142448198e-07 -2.2351699158207339e-07 -6.0000000000000000e+01 -3.7252900142448198e-07 -2.2351699158207339e-07 -6.0000000000000000e+01 5.0000000000000000e+01 -2.0000000000000000e+01 -6.0000000000000000e+01 5.0000000000000000e+01 -2.0000000000000000e+01 6.0000000000000000e+01 5.0000000000000000e+01 -2.2351699158207339e-07 6.0000000000000000e+01 5.0000000000000000e+01 -2.2351699158207339e-07 6.0000000000000000e+01 -3.7252900142448198e-07 -2.0000000000000000e+01 6.0000000000000000e+01 -3.7252900142448198e-07 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 6 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 -3.7252900764173091e-07))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 -3.7252900764173091e-07))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 -3.7252900764173091e-07))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -1.9999999552965164e+01 -5.9999998658895493e+01 5.0000000745058060e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -1.9999999552965164e+01 5.9999998658895493e+01 -3.7252900764173091e-07))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 5.0000000745058060e+01) (float-vector -2.2351699657807700e-07 5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 -3.7252900764173091e-07) (float-vector -2.2351699657807700e-07 -5.9999998658895493e+01 5.0000000745058060e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "double_stereo_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_fl_caster_l_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 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1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 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2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452 2453 2454 2455 2456 2457 2458 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2528 2529 2530 2531 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2589 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2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2854 2855 2856 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965 2966 2967 2968 2969 2970 2971 2972 2973 2974 2975 2976 2977 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989 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21 486 18 18 486 19 17 19 16 412 17 16 412 413 414 412 414 408 412 16 413 413 415 414 409 415 413 413 15 409 413 16 481 413 481 15 14 15 7 409 15 14 481 7 15 481 16 7 6 7 8 8 7 11 14 7 6 16 11 7 14 6 10 409 14 10 9 10 6 6 487 9 8 489 6 6 489 487 8 11 13 8 488 489 13 488 8 12 13 11 11 16 12 13 12 19 19 488 13 486 488 19 486 499 488 488 499 497 488 497 489 16 19 12 489 497 494 489 494 487 497 459 494 499 459 497 486 498 499 499 474 459 499 498 474 493 498 486 474 498 475 498 493 475 40 474 475 475 478 471 40 475 471 475 493 478 37 39 40 41 37 40 41 40 471 39 474 40 41 471 378 471 478 378 478 476 378 478 493 476 69 378 379 37 41 378 37 378 69 378 476 379 476 477 379 476 493 477 69 379 376 379 477 376 376 477 473 493 473 477 492 493 3 1 493 486 3 493 1 492 473 493 491 496 492 491 492 3 492 496 473 3 4 5 4 3 1 491 3 5 21 1 486 4 31 5 482 5 483 33 483 5 33 5 31 482 491 5 33 31 34 31 404 34 34 35 33 35 483 33 36 482 483 35 36 483 34 36 35 34 26 36 406 34 404 27 34 406 26 34 27 404 405 406 407 405 404 27 406 410 434 406 405 410 406 434 434 405 423 407 423 405 407 408 423 423 408 417 440 408 414 417 408 440 416 417 418 417 427 418 417 416 423 417 440 427 414 439 440 427 440 439 451 427 439 398 427 402 427 398 418 451 402 427 419 416 418 418 398 419 423 416 419 419 422 423 401 419 398 419 401 400 400 422 419 422 421 423 421 434 423 420 421 422 425 421 420 425 434 421 420 424 425 424 434 425 426 424 420 426 434 424 420 381 426 422 396 420 381 420 382 382 420 396 434 426 435 426 381 435 380 381 382 260 392 381 381 380 260 392 435 381 393 382 396 380 382 393 258 380 257 380 393 257 260 380 258 235 259 260 260 258 235 259 392 260 392 259 391 430 392 391 430 435 392 231 259 235 229 262 259 229 259 231 259 262 391 231 232 229 235 236 231 231 236 232 232 237 229 232 236 177 183 232 177 183 237 232 235 234 236 236 234 181 177 236 181 177 178 167 168 177 167 177 181 178 168 183 177 179 181 180 178 181 179 181 234 180 166 178 164 164 178 179 167 178 166 167 161 162 166 161 167 162 168 167 161 166 160 160 166 164 160 164 159 164 165 159 164 179 165 180 165 179 358 165 363 159 165 358 363 165 365 180 365 165 118 159 117 160 159 118 117 159 358 161 160 119 119 160 118 105 118 117 104 119 118 104 118 105 117 116 105 116 117 329 329 117 358 104 105 98 105 116 95 98 105 95 97 103 104 98 97 104 103 119 104 92 97 98 92 98 95 95 81 92 95 316 81 316 95 317 95 116 317 92 93 94 81 93 92 94 97 92 99 97 94 97 99 103 93 96 94 96 99 94 93 81 72 61 93 72 61 96 93 101 99 96 59 96 61 59 101 96 100 99 101 100 106 99 99 106 103 101 102 100 101 108 102 59 108 101 100 109 106 102 109 100 121 120 106 106 120 103 109 121 106 120 119 103 120 162 161 120 161 119 121 162 120 109 122 121 163 162 121 122 163 121 102 113 109 113 122 109 123 122 113 122 169 163 123 169 122 163 168 162 163 169 174 174 168 163 170 169 123 170 175 169 169 175 174 124 123 114 114 123 113 124 170 123 124 171 170 176 170 171 175 170 176 175 182 174 176 185 175 185 182 175 171 173 176 173 184 176 176 184 185 152 171 125 125 171 124 152 173 171 172 173 152 173 172 184 172 201 184 201 204 184 184 204 210 184 210 185 186 172 152 186 190 172 190 201 172 148 152 125 148 186 152 187 186 149 149 186 148 187 190 186 190 187 191 191 201 190 150 188 187 150 187 149 188 191 187 149 148 136 150 149 137 137 149 136 131 148 125 136 148 131 89 136 131 132 137 136 132 136 89 133 137 132 133 138 137 138 150 137 130 132 89 133 132 134 134 132 130 89 90 91 91 130 89 90 89 131 90 110 91 90 115 110 131 115 90 112 91 107 107 91 110 91 129 130 91 112 129 110 111 107 110 114 111 110 115 114 125 124 115 115 124 114 131 125 115 111 114 113 107 111 102 111 113 102 107 102 108 108 112 107 58 108 59 58 112 108 58 59 57 59 60 57 59 61 60 60 61 62 62 63 60 63 57 60 61 72 62 63 62 64 62 72 64 72 65 64 72 81 82 72 82 65 64 65 66 66 63 64 66 65 70 65 80 70 65 82 80 82 314 80 81 316 82 82 316 314 80 79 70 305 306 80 314 305 80 80 306 79 317 318 314 317 314 316 314 318 305 305 319 315 318 319 305 305 315 306 306 309 79 306 313 309 306 315 313 315 327 325 319 327 315 315 325 313 320 319 318 328 327 319 320 328 319 317 320 318 317 116 320 329 328 320 116 329 320 360 359 328 328 359 327 329 360 328 327 354 325 327 359 354 325 324 313 325 354 324 354 353 324 354 356 353 354 359 361 361 356 354 360 362 359 359 362 361 362 364 361 361 272 356 361 364 272 356 357 353 356 274 357 356 272 274 269 272 268 272 273 268 274 272 269 272 364 273 362 365 364 364 365 273 268 273 234 234 273 180 273 365 180 264 268 234 264 269 268 233 234 235 264 234 233 256 264 233 256 253 264 253 269 264 256 233 257 235 258 233 258 257 233 253 256 263 257 393 256 256 395 263 393 395 256 254 253 263 263 394 254 263 395 394 393 396 395 395 399 400 395 400 394 396 399 395 254 394 255 400 401 394 394 401 255 250 253 254 255 250 254 250 255 251 255 248 251 255 398 248 255 401 398 248 250 251 247 246 248 248 246 250 398 402 248 248 402 247 245 246 247 402 403 247 247 403 245 448 403 402 402 451 448 245 403 397 403 448 397 244 242 245 245 242 246 245 397 244 243 242 244 244 397 243 243 397 386 397 450 386 448 447 397 450 397 447 242 243 240 386 240 243 386 384 387 387 240 386 384 386 449 449 386 450 441 449 450 450 447 441 443 447 448 441 447 442 442 447 443 414 441 442 438 441 414 441 438 449 384 449 454 449 438 454 414 415 438 415 445 438 454 438 445 443 439 414 414 442 443 439 443 448 448 451 439 444 445 415 444 446 445 454 445 452 446 452 445 384 454 452 385 384 452 452 453 385 452 446 453 453 446 444 385 453 389 455 389 453 453 444 455 383 384 385 385 389 238 385 238 383 383 388 384 384 388 387 249 388 383 383 238 249 228 238 239 226 249 238 226 238 228 238 389 239 226 241 249 241 388 249 387 388 241 240 387 241 240 241 225 225 241 226 225 226 227 217 227 226 228 218 226 217 226 218 227 212 225 211 225 212 242 240 225 225 211 242 212 227 217 208 211 212 205 212 217 208 212 205 211 209 213 209 211 208 213 221 211 211 221 242 242 221 246 220 221 213 220 222 221 222 246 221 213 347 346 213 346 220 209 347 213 220 215 222 220 346 336 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158 157 158 153 288 126 146 139 156 155 146 146 155 139 155 156 154 139 155 154 87 86 88 86 369 88 47 369 86 369 368 88 88 368 74 369 43 368 43 369 47 46 47 48 46 43 47 48 47 52 52 47 53 45 43 46 46 461 45 48 461 46 44 43 45 45 458 44 45 461 458 458 461 456 456 461 48 456 457 458 44 458 472 458 457 472 42 43 44 44 472 42 472 56 42 472 457 480 472 480 56 456 459 457 457 459 480 459 456 48 48 460 459 459 460 470 470 494 459 459 474 480 56 480 479 474 479 480 39 479 474 56 479 39 37 38 39 39 38 56 68 37 69 38 37 84 68 84 37 67 68 69 67 71 68 71 84 68 70 69 66 67 69 70 69 376 66 67 77 71 70 79 67 67 79 77 71 77 78 78 84 71 83 84 78 78 77 277 78 277 83 83 74 84 74 38 84 74 368 38 56 38 42 38 43 42 43 38 368 275 276 277 276 292 277 277 77 275 77 308 275 275 311 307 308 311 275 276 275 307 276 296 292 307 296 276 292 296 295 304 303 296 296 303 295 307 304 296 307 321 304 311 321 307 321 326 304 326 340 304 304 340 303 303 340 339 345 339 340 326 342 340 340 342 345 341 342 326 321 351 326 351 341 326 322 321 311 322 351 321 352 351 322 352 355 351 351 355 341 342 341 349 355 350 341 341 350 349 342 349 345 345 349 216 271 349 350 216 349 223 223 349 271 357 350 355 350 357 271 355 352 353 357 355 353 271 357 274 224 271 270 271 274 270 224 223 271 223 224 214 223 214 216 224 267 214 224 270 265 224 265 267 265 270 266 266 270 269 270 274 269 265 266 253 253 250 265 267 265 250 246 267 250 214 267 246 266 269 253 323 353 352 324 353 323 323 322 312 324 323 312 323 352 322 313 324 312 308 312 311 309 312 308 309 313 312 312 322 311 309 308 310 310 308 77 310 79 309 79 310 77 66 375 63 66 376 377 377 375 66 63 375 374 375 466 464 374 375 464 377 466 375 63 374 373 63 373 57 374 464 465 465 373 374 464 496 465 464 466 496 377 473 466 496 466 473 376 473 377 490 496 491 495 496 490 496 495 465 467 373 465 465 495 467 494 495 490 495 494 467 468 373 467 467 463 372 467 372 468 467 494 470 467 470 463 487 494 490 9 487 23 23 487 490 23 10 9 23 24 10 32 23 485 24 23 32 23 490 485 409 10 24 32 27 24 24 27 409 27 32 25 485 25 32 485 484 25 485 490 484 484 490 491 26 484 482 25 484 26 482 484 491 25 26 27 409 27 410 409 410 411 409 411 415 428 410 434 428 411 410 437 411 436 436 411 428 411 444 415 411 437 444 436 432 437 437 455 444 455 437 432 436 433 432 433 436 428 431 432 433 431 433 428 455 432 389 391 390 432 389 432 390 431 391 432 431 428 430 431 430 391 390 391 261 391 262 261 389 390 252 261 252 390 239 389 252 239 252 228 228 252 261 228 261 229 229 261 262 228 229 230 219 218 228 230 219 228 229 237 230 237 219 230 204 219 210 204 218 219 210 219 237 203 217 218 203 218 204 203 204 201 203 201 191 210 237 185 185 237 183 182 185 183 182 183 174 174 183 168 428 429 430 430 429 435 428 434 429 429 434 435 36 26 482 462 372 463 469 462 463 463 470 469 51 462 469 50 462 51 50 372 462 371 372 49 372 50 49 468 372 371 49 50 51 54 55 51 51 55 49 469 54 51 470 54 469 460 54 470 52 53 54 54 53 55 460 52 54 55 58 49 55 73 58 370 73 55 55 53 370 57 49 58 73 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-4.5113836677046493e-02 -3.4453574335202575e-01) (float-vector -7.4474632740020752e+01 1.0610558092594147e+01 -1.5645107254385948e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_fr_caster_rotation_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_fr_caster_rotation_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/caster.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 4 1 2 28 0 30 4 0 28 30 0 21 22 2 22 28 2 2 1 21 28 29 30 22 29 28 30 29 31 30 31 4 404 29 407 408 407 29 31 29 404 22 408 29 20 22 21 22 20 408 18 20 21 17 20 18 412 20 17 408 20 412 17 18 19 21 486 18 18 486 19 17 19 16 412 17 16 412 413 414 412 414 408 412 16 413 413 415 414 409 415 413 413 15 409 413 16 481 413 481 15 14 15 7 409 15 14 481 7 15 481 16 7 6 7 8 8 7 11 14 7 6 16 11 7 14 6 10 409 14 10 9 10 6 6 487 9 8 489 6 6 489 487 8 11 13 8 488 489 13 488 8 12 13 11 11 16 12 13 12 19 19 488 13 486 488 19 486 499 488 488 499 497 488 497 489 16 19 12 489 497 494 489 494 487 497 459 494 499 459 497 486 498 499 499 474 459 499 498 474 493 498 486 474 498 475 498 493 475 40 474 475 475 478 471 40 475 471 475 493 478 37 39 40 41 37 40 41 40 471 39 474 40 41 471 378 471 478 378 478 476 378 478 493 476 69 378 379 37 41 378 37 378 69 378 476 379 476 477 379 476 493 477 69 379 376 379 477 376 376 477 473 493 473 477 492 493 3 1 493 486 3 493 1 492 473 493 491 496 492 491 492 3 492 496 473 3 4 5 4 3 1 491 3 5 21 1 486 4 31 5 482 5 483 33 483 5 33 5 31 482 491 5 33 31 34 31 404 34 34 35 33 35 483 33 36 482 483 35 36 483 34 36 35 34 26 36 406 34 404 27 34 406 26 34 27 404 405 406 407 405 404 27 406 410 434 406 405 410 406 434 434 405 423 407 423 405 407 408 423 423 408 417 440 408 414 417 408 440 416 417 418 417 427 418 417 416 423 417 440 427 414 439 440 427 440 439 451 427 439 398 427 402 427 398 418 451 402 427 419 416 418 418 398 419 423 416 419 419 422 423 401 419 398 419 401 400 400 422 419 422 421 423 421 434 423 420 421 422 425 421 420 425 434 421 420 424 425 424 434 425 426 424 420 426 434 424 420 381 426 422 396 420 381 420 382 382 420 396 434 426 435 426 381 435 380 381 382 260 392 381 381 380 260 392 435 381 393 382 396 380 382 393 258 380 257 380 393 257 260 380 258 235 259 260 260 258 235 259 392 260 392 259 391 430 392 391 430 435 392 231 259 235 229 262 259 229 259 231 259 262 391 231 232 229 235 236 231 231 236 232 232 237 229 232 236 177 183 232 177 183 237 232 235 234 236 236 234 181 177 236 181 177 178 167 168 177 167 177 181 178 168 183 177 179 181 180 178 181 179 181 234 180 166 178 164 164 178 179 167 178 166 167 161 162 166 161 167 162 168 167 161 166 160 160 166 164 160 164 159 164 165 159 164 179 165 180 165 179 358 165 363 159 165 358 363 165 365 180 365 165 118 159 117 160 159 118 117 159 358 161 160 119 119 160 118 105 118 117 104 119 118 104 118 105 117 116 105 116 117 329 329 117 358 104 105 98 105 116 95 98 105 95 97 103 104 98 97 104 103 119 104 92 97 98 92 98 95 95 81 92 95 316 81 316 95 317 95 116 317 92 93 94 81 93 92 94 97 92 99 97 94 97 99 103 93 96 94 96 99 94 93 81 72 61 93 72 61 96 93 101 99 96 59 96 61 59 101 96 100 99 101 100 106 99 99 106 103 101 102 100 101 108 102 59 108 101 100 109 106 102 109 100 121 120 106 106 120 103 109 121 106 120 119 103 120 162 161 120 161 119 121 162 120 109 122 121 163 162 121 122 163 121 102 113 109 113 122 109 123 122 113 122 169 163 123 169 122 163 168 162 163 169 174 174 168 163 170 169 123 170 175 169 169 175 174 124 123 114 114 123 113 124 170 123 124 171 170 176 170 171 175 170 176 175 182 174 176 185 175 185 182 175 171 173 176 173 184 176 176 184 185 152 171 125 125 171 124 152 173 171 172 173 152 173 172 184 172 201 184 201 204 184 184 204 210 184 210 185 186 172 152 186 190 172 190 201 172 148 152 125 148 186 152 187 186 149 149 186 148 187 190 186 190 187 191 191 201 190 150 188 187 150 187 149 188 191 187 149 148 136 150 149 137 137 149 136 131 148 125 136 148 131 89 136 131 132 137 136 132 136 89 133 137 132 133 138 137 138 150 137 130 132 89 133 132 134 134 132 130 89 90 91 91 130 89 90 89 131 90 110 91 90 115 110 131 115 90 112 91 107 107 91 110 91 129 130 91 112 129 110 111 107 110 114 111 110 115 114 125 124 115 115 124 114 131 125 115 111 114 113 107 111 102 111 113 102 107 102 108 108 112 107 58 108 59 58 112 108 58 59 57 59 60 57 59 61 60 60 61 62 62 63 60 63 57 60 61 72 62 63 62 64 62 72 64 72 65 64 72 81 82 72 82 65 64 65 66 66 63 64 66 65 70 65 80 70 65 82 80 82 314 80 81 316 82 82 316 314 80 79 70 305 306 80 314 305 80 80 306 79 317 318 314 317 314 316 314 318 305 305 319 315 318 319 305 305 315 306 306 309 79 306 313 309 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397 244 243 242 244 244 397 243 243 397 386 397 450 386 448 447 397 450 397 447 242 243 240 386 240 243 386 384 387 387 240 386 384 386 449 449 386 450 441 449 450 450 447 441 443 447 448 441 447 442 442 447 443 414 441 442 438 441 414 441 438 449 384 449 454 449 438 454 414 415 438 415 445 438 454 438 445 443 439 414 414 442 443 439 443 448 448 451 439 444 445 415 444 446 445 454 445 452 446 452 445 384 454 452 385 384 452 452 453 385 452 446 453 453 446 444 385 453 389 455 389 453 453 444 455 383 384 385 385 389 238 385 238 383 383 388 384 384 388 387 249 388 383 383 238 249 228 238 239 226 249 238 226 238 228 238 389 239 226 241 249 241 388 249 387 388 241 240 387 241 240 241 225 225 241 226 225 226 227 217 227 226 228 218 226 217 226 218 227 212 225 211 225 212 242 240 225 225 211 242 212 227 217 208 211 212 205 212 217 208 212 205 211 209 213 209 211 208 213 221 211 211 221 242 242 221 246 220 221 213 220 222 221 222 246 221 213 347 346 213 346 220 209 347 213 220 215 222 220 346 336 337 220 336 220 337 215 214 222 215 214 246 222 214 215 216 348 215 343 343 215 337 215 348 216 333 337 332 332 337 336 343 337 333 333 338 343 338 344 343 344 348 343 216 348 344 339 344 338 344 339 345 345 216 344 301 338 333 339 338 302 302 338 301 333 332 300 301 333 300 291 301 300 302 301 294 294 301 291 303 302 295 295 302 294 303 339 302 285 294 291 293 295 294 293 294 285 283 291 289 285 291 283 291 300 289 284 285 283 290 285 75 284 75 285 290 293 285 292 293 290 292 295 293 83 277 290 290 277 292 290 75 83 74 75 76 75 74 83 75 284 76 283 282 284 284 282 76 88 76 87 76 88 74 87 76 278 76 282 278 282 280 278 280 282 286 283 289 282 282 289 286 278 279 87 278 280 279 279 280 281 280 286 287 281 280 287 299 298 286 289 299 286 286 298 287 300 299 289 299 332 331 299 331 298 300 332 299 287 298 297 331 330 298 298 330 297 287 288 281 287 297 288 288 297 158 297 196 158 330 196 297 330 334 196 331 335 330 330 335 334 336 331 332 335 331 336 335 346 334 336 346 335 196 334 199 334 347 199 334 346 347 193 158 196 196 199 193 193 199 200 200 199 207 199 209 207 209 199 347 157 158 193 157 193 195 193 200 195 195 200 198 200 207 198 198 207 206 207 208 206 207 209 208 195 198 194 194 198 197 198 206 197 195 194 156 157 195 156 154 194 189 156 194 154 189 194 197 197 192 189 205 202 197 197 202 192 197 206 205 208 205 206 205 217 202 191 202 203 192 202 191 202 217 203 189 192 188 188 192 191 189 188 151 154 189 151 151 188 150 151 150 138 154 151 138 127 138 133 127 139 138 139 154 138 126 127 128 127 133 135 126 139 127 127 135 128 134 135 133 130 135 134 135 366 128 130 366 135 73 366 130 129 73 130 128 366 367 366 53 367 370 53 366 73 370 366 367 86 143 128 367 143 53 47 367 86 367 47 140 143 142 142 143 85 140 128 143 143 86 85 140 126 128 144 145 140 144 140 142 140 145 126 141 142 85 142 141 144 85 86 87 141 85 279 87 279 85 141 153 144 279 281 141 288 153 141 281 288 141 144 147 145 144 153 147 147 146 145 145 146 126 157 156 147 153 157 147 147 156 146 153 158 157 158 153 288 126 146 139 156 155 146 146 155 139 155 156 154 139 155 154 87 86 88 86 369 88 47 369 86 369 368 88 88 368 74 369 43 368 43 369 47 46 47 48 46 43 47 48 47 52 52 47 53 45 43 46 46 461 45 48 461 46 44 43 45 45 458 44 45 461 458 458 461 456 456 461 48 456 457 458 44 458 472 458 457 472 42 43 44 44 472 42 472 56 42 472 457 480 472 480 56 456 459 457 457 459 480 459 456 48 48 460 459 459 460 470 470 494 459 459 474 480 56 480 479 474 479 480 39 479 474 56 479 39 37 38 39 39 38 56 68 37 69 38 37 84 68 84 37 67 68 69 67 71 68 71 84 68 70 69 66 67 69 70 69 376 66 67 77 71 70 79 67 67 79 77 71 77 78 78 84 71 83 84 78 78 77 277 78 277 83 83 74 84 74 38 84 74 368 38 56 38 42 38 43 42 43 38 368 275 276 277 276 292 277 277 77 275 77 308 275 275 311 307 308 311 275 276 275 307 276 296 292 307 296 276 292 296 295 304 303 296 296 303 295 307 304 296 307 321 304 311 321 307 321 326 304 326 340 304 304 340 303 303 340 339 345 339 340 326 342 340 340 342 345 341 342 326 321 351 326 351 341 326 322 321 311 322 351 321 352 351 322 352 355 351 351 355 341 342 341 349 355 350 341 341 350 349 342 349 345 345 349 216 271 349 350 216 349 223 223 349 271 357 350 355 350 357 271 355 352 353 357 355 353 271 357 274 224 271 270 271 274 270 224 223 271 223 224 214 223 214 216 224 267 214 224 270 265 224 265 267 265 270 266 266 270 269 270 274 269 265 266 253 253 250 265 267 265 250 246 267 250 214 267 246 266 269 253 323 353 352 324 353 323 323 322 312 324 323 312 323 352 322 313 324 312 308 312 311 309 312 308 309 313 312 312 322 311 309 308 310 310 308 77 310 79 309 79 310 77 66 375 63 66 376 377 377 375 66 63 375 374 375 466 464 374 375 464 377 466 375 63 374 373 63 373 57 374 464 465 465 373 374 464 496 465 464 466 496 377 473 466 496 466 473 376 473 377 490 496 491 495 496 490 496 495 465 467 373 465 465 495 467 494 495 490 495 494 467 468 373 467 467 463 372 467 372 468 467 494 470 467 470 463 487 494 490 9 487 23 23 487 490 23 10 9 23 24 10 32 23 485 24 23 32 23 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(float-vector 5.9105001389980316e+01 6.5766297280788422e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 6.5759100019931793e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 6.5753698348999023e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 6.5649501979351044e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 6.5742902457714081e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 6.8581901490688324e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "fl_caster_r_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_fl_caster_rotation_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 2.2459999999999999e+02 2.2459999999999999e+02 2.8199999999999999e+01)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 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-3.2848102569580078e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 55 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1479099392890930e+02 -2.4332399666309357e+02 -5.9969998896121979e+01) (float-vector -3.1411498785018921e+02 -2.0466500520706177e+02 -5.9969898313283920e+01) (float-vector -3.1788599491119385e+02 -2.1692399680614471e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.3806399703025818e+02 -1.8976399302482605e+02 1.0526599735021591e+02) (float-vector -1.5055300295352936e+02 -2.1059499680995941e+02 -5.9969801455736160e+01) (float-vector -1.3104900717735291e+02 -2.2218500077724457e+02 1.0230000317096710e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send 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-3.1185600161552429e+02 -2.3003600537776947e+02 1.2899999320507050e+02) (float-vector -3.1419399380683899e+02 -2.5077700614929199e+02 1.0526599735021591e+02) (float-vector -3.1788599491119385e+02 -2.1692399680614471e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5181901454925537e+02 -1.3809999823570251e+02 -3.2403599470853806e+01) (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.9610601067543030e+02 -1.6241200268268585e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.3481400310993195e+02 -1.5020799636840820e+02 1.3955000042915344e+02) (float-vector -2.5610598921775818e+02 -1.5641400218009949e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.9709999859333038e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.5181901454925537e+02 -1.3809999823570251e+02 -3.2403599470853806e+01) (float-vector -2.3904600739479065e+02 -1.3809999823570251e+02 -5.1552701741456985e+01) (float-vector -2.2125299274921417e+02 -1.3809999823570251e+02 -5.5608499795198441e+01) (float-vector -2.1183300018310547e+02 -1.3809999823570251e+02 -5.2639398723840714e+01) (float-vector -1.9875699281692505e+02 -1.3809899985790253e+02 -3.8267400115728378e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -1.9709999859333038e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.1309900283813477e+02 -1.5035900473594666e+02 1.3955000042915344e+02) (float-vector -2.3481400310993195e+02 -1.5020799636840820e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9610601067543030e+02 -2.8678798675537109e+02 1.0526599735021591e+02) (float-vector -3.0640199780464172e+02 -2.4782200157642365e+02 1.2899999320507050e+02) (float-vector -2.9144999384880066e+02 -2.5874999165534973e+02 1.3955000042915344e+02) (float-vector -2.7223700284957886e+02 -2.8273099660873413e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1419399380683899e+02 -2.5077700614929199e+02 1.0526599735021591e+02) (float-vector -3.1185600161552429e+02 -2.3003600537776947e+02 1.2899999320507050e+02) (float-vector -3.0640199780464172e+02 -2.4782200157642365e+02 1.2899999320507050e+02) (float-vector -2.9610601067543030e+02 -2.8678798675537109e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.8166100382804871e+02 -1.7586100101470947e+02 1.3955000042915344e+02) (float-vector -2.9610601067543030e+02 -1.6241200268268585e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8166100382804871e+02 -1.7586100101470947e+02 1.3955000042915344e+02) (float-vector -2.5209999084472656e+02 -1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.5610598921775818e+02 -1.5641400218009949e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0943799018859863e+02 -1.8562600016593933e+02 1.0526499897241592e+02) (float-vector -3.1004899740219116e+02 -2.1066899597644806e+02 1.2899999320507050e+02) (float-vector -3.1788599491119385e+02 -2.1692399680614471e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1004899740219116e+02 -2.1066899597644806e+02 1.2899999320507050e+02) (float-vector -3.1185600161552429e+02 -2.3003600537776947e+02 1.2899999320507050e+02) (float-vector -3.1788599491119385e+02 -2.1692399680614471e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0943799018859863e+02 -1.8562600016593933e+02 1.0526499897241592e+02) (float-vector -2.9610601067543030e+02 -1.6241200268268585e+02 1.0526599735021591e+02) (float-vector -2.8166100382804871e+02 -1.7586100101470947e+02 1.3955000042915344e+02) (float-vector -3.1004899740219116e+02 -2.1066899597644806e+02 1.2899999320507050e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9660999774932861e+02 -2.0331899821758270e+02 1.3955000042915344e+02) (float-vector -3.1004899740219116e+02 -2.1066899597644806e+02 1.2899999320507050e+02) (float-vector -2.8166100382804871e+02 -1.7586100101470947e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4959000051021576e+02 -2.2743700444698334e+02 1.3955000042915344e+02) (float-vector -1.5247799456119537e+02 -2.4559000134468079e+02 1.3955000042915344e+02) (float-vector -1.6203199326992035e+02 -2.6609998941421509e+02 1.3955000042915344e+02) (float-vector -1.9108900427818298e+02 -2.9184100031852722e+02 1.3955000042915344e+02) (float-vector -2.2460000216960907e+02 -2.9960000514984131e+02 1.3955000042915344e+02) (float-vector -2.4579900503158569e+02 -2.9661598801612854e+02 1.3955000042915344e+02) (float-vector -2.7223700284957886e+02 -2.8273099660873413e+02 1.3955000042915344e+02) (float-vector -2.9144999384880066e+02 -2.5874999165534973e+02 1.3955000042915344e+02) (float-vector -2.9940301179885864e+02 -2.3099899291992188e+02 1.3955000042915344e+02) (float-vector -2.9660999774932861e+02 -2.0331899821758270e+02 1.3955000042915344e+02) (float-vector -2.8166100382804871e+02 -1.7586100101470947e+02 1.3955000042915344e+02) (float-vector -2.5610598921775818e+02 -1.5641400218009949e+02 1.3955000042915344e+02) (float-vector -2.3481400310993195e+02 -1.5020799636840820e+02 1.3955000042915344e+02) (float-vector -2.1309900283813477e+02 -1.5035900473594666e+02 1.3955000042915344e+02) (float-vector -1.9030800461769104e+02 -1.5772600471973419e+02 1.3955000042915344e+02) (float-vector -1.6750200092792511e+02 -1.7591199278831482e+02 1.3955000042915344e+02) (float-vector -1.5419000387191772e+02 -1.9822399318218231e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9940301179885864e+02 -2.3099899291992188e+02 1.3955000042915344e+02) (float-vector -3.1185600161552429e+02 -2.3003600537776947e+02 1.2899999320507050e+02) (float-vector -3.1004899740219116e+02 -2.1066899597644806e+02 1.2899999320507050e+02) (float-vector -2.9660999774932861e+02 -2.0331899821758270e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1185600161552429e+02 -2.3003600537776947e+02 1.2899999320507050e+02) (float-vector -2.9940301179885864e+02 -2.3099899291992188e+02 1.3955000042915344e+02) (float-vector -2.9144999384880066e+02 -2.5874999165534973e+02 1.3955000042915344e+02) (float-vector -3.0640199780464172e+02 -2.4782200157642365e+02 1.2899999320507050e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "fl_caster_rotation_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_fr_caster_l_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 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5.4679863154888153e+01) (float-vector 2.7444604784250259e+00 1.9581815227866173e+01 -1.2800634838640690e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.4203429222106934e+01 5.0769314839271829e-02 7.8114606440067291e+01) (float-vector -1.2475640513002872e+01 5.9753595851361752e+00 7.7358290553092957e+01) (float-vector 5.1130182109773159e+00 1.4596669934689999e+01 7.2644524276256561e+01) (float-vector 1.6111604869365692e+01 5.9759612195193768e+00 7.6686553657054901e+01) (float-vector 3.4453574335202575e-01 4.5095697714714333e-02 7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.2114569544792175e+01 1.0609956458210945e+01 -7.5127020478248596e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector 3.4453574335202575e-01 -4.5095697714714333e-02 -7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -1.2114569544792175e+01 1.0609956458210945e+01 -7.5127020478248596e+01) (float-vector -3.9661191403865814e+01 1.1734057217836380e+01 -6.4126133918762207e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -1.5645107254385948e+01 -1.0610558092594147e+01 -7.4474632740020752e+01) (float-vector 3.4453574335202575e-01 -4.5095697714714333e-02 -7.9383015632629395e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.3849890828132629e+01 -1.2509712949395180e+01 -5.2006952464580536e+01) (float-vector -4.1918713599443436e+01 -1.6744256019592285e+01 -5.5662661790847778e+01) (float-vector -2.9782399535179138e+01 -1.0612962767481804e+01 -7.0040166378021240e+01) (float-vector -2.8930276632308960e+01 -5.9412366681499407e-02 -7.3951415717601776e+01) (float-vector -4.3129697442054749e+01 -6.5381012973375618e-02 -6.6686503589153290e+01) (float-vector -5.5839743465185165e+01 -6.7689041316043586e-02 -5.6477606296539307e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -5.6481309235095978e+01 1.6751972958445549e+01 4.0724862366914749e+01) (float-vector -5.3849890828132629e+01 1.2509712949395180e+01 5.2006952464580536e+01) (float-vector -6.4476884901523590e+01 5.9789675287902355e+00 4.4562760740518570e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -6.9488480687141418e+01 1.6759587451815605e+01 1.4108126051723957e+00) (float-vector -7.1428626775741577e+01 1.0612362064421177e+01 2.6272902265191078e+01) (float-vector -7.3951415717601776e+01 -5.9412366681499407e-02 2.8930276632308960e+01) (float-vector -7.9383015632629395e+01 -4.5113836677046493e-02 -3.4453574335202575e-01) (float-vector -7.4474632740020752e+01 1.0610558092594147e+01 -1.5645107254385948e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_fr_caster_r_wheel_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_fr_caster_r_wheel_link_geom0 - (:init (&key (name "package://pr2_description/meshes/base_v0/wheel.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 4 1 2 28 0 30 4 0 28 30 0 21 22 2 22 28 2 2 1 21 28 29 30 22 29 28 30 29 31 30 31 4 404 29 407 408 407 29 31 29 404 22 408 29 20 22 21 22 20 408 18 20 21 17 20 18 412 20 17 408 20 412 17 18 19 21 486 18 18 486 19 17 19 16 412 17 16 412 413 414 412 414 408 412 16 413 413 415 414 409 415 413 413 15 409 413 16 481 413 481 15 14 15 7 409 15 14 481 7 15 481 16 7 6 7 8 8 7 11 14 7 6 16 11 7 14 6 10 409 14 10 9 10 6 6 487 9 8 489 6 6 489 487 8 11 13 8 488 489 13 488 8 12 13 11 11 16 12 13 12 19 19 488 13 486 488 19 486 499 488 488 499 497 488 497 489 16 19 12 489 497 494 489 494 487 497 459 494 499 459 497 486 498 499 499 474 459 499 498 474 493 498 486 474 498 475 498 493 475 40 474 475 475 478 471 40 475 471 475 493 478 37 39 40 41 37 40 41 40 471 39 474 40 41 471 378 471 478 378 478 476 378 478 493 476 69 378 379 37 41 378 37 378 69 378 476 379 476 477 379 476 493 477 69 379 376 379 477 376 376 477 473 493 473 477 492 493 3 1 493 486 3 493 1 492 473 493 491 496 492 491 492 3 492 496 473 3 4 5 4 3 1 491 3 5 21 1 486 4 31 5 482 5 483 33 483 5 33 5 31 482 491 5 33 31 34 31 404 34 34 35 33 35 483 33 36 482 483 35 36 483 34 36 35 34 26 36 406 34 404 27 34 406 26 34 27 404 405 406 407 405 404 27 406 410 434 406 405 410 406 434 434 405 423 407 423 405 407 408 423 423 408 417 440 408 414 417 408 440 416 417 418 417 427 418 417 416 423 417 440 427 414 439 440 427 440 439 451 427 439 398 427 402 427 398 418 451 402 427 419 416 418 418 398 419 423 416 419 419 422 423 401 419 398 419 401 400 400 422 419 422 421 423 421 434 423 420 421 422 425 421 420 425 434 421 420 424 425 424 434 425 426 424 420 426 434 424 420 381 426 422 396 420 381 420 382 382 420 396 434 426 435 426 381 435 380 381 382 260 392 381 381 380 260 392 435 381 393 382 396 380 382 393 258 380 257 380 393 257 260 380 258 235 259 260 260 258 235 259 392 260 392 259 391 430 392 391 430 435 392 231 259 235 229 262 259 229 259 231 259 262 391 231 232 229 235 236 231 231 236 232 232 237 229 232 236 177 183 232 177 183 237 232 235 234 236 236 234 181 177 236 181 177 178 167 168 177 167 177 181 178 168 183 177 179 181 180 178 181 179 181 234 180 166 178 164 164 178 179 167 178 166 167 161 162 166 161 167 162 168 167 161 166 160 160 166 164 160 164 159 164 165 159 164 179 165 180 165 179 358 165 363 159 165 358 363 165 365 180 365 165 118 159 117 160 159 118 117 159 358 161 160 119 119 160 118 105 118 117 104 119 118 104 118 105 117 116 105 116 117 329 329 117 358 104 105 98 105 116 95 98 105 95 97 103 104 98 97 104 103 119 104 92 97 98 92 98 95 95 81 92 95 316 81 316 95 317 95 116 317 92 93 94 81 93 92 94 97 92 99 97 94 97 99 103 93 96 94 96 99 94 93 81 72 61 93 72 61 96 93 101 99 96 59 96 61 59 101 96 100 99 101 100 106 99 99 106 103 101 102 100 101 108 102 59 108 101 100 109 106 102 109 100 121 120 106 106 120 103 109 121 106 120 119 103 120 162 161 120 161 119 121 162 120 109 122 121 163 162 121 122 163 121 102 113 109 113 122 109 123 122 113 122 169 163 123 169 122 163 168 162 163 169 174 174 168 163 170 169 123 170 175 169 169 175 174 124 123 114 114 123 113 124 170 123 124 171 170 176 170 171 175 170 176 175 182 174 176 185 175 185 182 175 171 173 176 173 184 176 176 184 185 152 171 125 125 171 124 152 173 171 172 173 152 173 172 184 172 201 184 201 204 184 184 204 210 184 210 185 186 172 152 186 190 172 190 201 172 148 152 125 148 186 152 187 186 149 149 186 148 187 190 186 190 187 191 191 201 190 150 188 187 150 187 149 188 191 187 149 148 136 150 149 137 137 149 136 131 148 125 136 148 131 89 136 131 132 137 136 132 136 89 133 137 132 133 138 137 138 150 137 130 132 89 133 132 134 134 132 130 89 90 91 91 130 89 90 89 131 90 110 91 90 115 110 131 115 90 112 91 107 107 91 110 91 129 130 91 112 129 110 111 107 110 114 111 110 115 114 125 124 115 115 124 114 131 125 115 111 114 113 107 111 102 111 113 102 107 102 108 108 112 107 58 108 59 58 112 108 58 59 57 59 60 57 59 61 60 60 61 62 62 63 60 63 57 60 61 72 62 63 62 64 62 72 64 72 65 64 72 81 82 72 82 65 64 65 66 66 63 64 66 65 70 65 80 70 65 82 80 82 314 80 81 316 82 82 316 314 80 79 70 305 306 80 314 305 80 80 306 79 317 318 314 317 314 316 314 318 305 305 319 315 318 319 305 305 315 306 306 309 79 306 313 309 306 315 313 315 327 325 319 327 315 315 325 313 320 319 318 328 327 319 320 328 319 317 320 318 317 116 320 329 328 320 116 329 320 360 359 328 328 359 327 329 360 328 327 354 325 327 359 354 325 324 313 325 354 324 354 353 324 354 356 353 354 359 361 361 356 354 360 362 359 359 362 361 362 364 361 361 272 356 361 364 272 356 357 353 356 274 357 356 272 274 269 272 268 272 273 268 274 272 269 272 364 273 362 365 364 364 365 273 268 273 234 234 273 180 273 365 180 264 268 234 264 269 268 233 234 235 264 234 233 256 264 233 256 253 264 253 269 264 256 233 257 235 258 233 258 257 233 253 256 263 257 393 256 256 395 263 393 395 256 254 253 263 263 394 254 263 395 394 393 396 395 395 399 400 395 400 394 396 399 395 254 394 255 400 401 394 394 401 255 250 253 254 255 250 254 250 255 251 255 248 251 255 398 248 255 401 398 248 250 251 247 246 248 248 246 250 398 402 248 248 402 247 245 246 247 402 403 247 247 403 245 448 403 402 402 451 448 245 403 397 403 448 397 244 242 245 245 242 246 245 397 244 243 242 244 244 397 243 243 397 386 397 450 386 448 447 397 450 397 447 242 243 240 386 240 243 386 384 387 387 240 386 384 386 449 449 386 450 441 449 450 450 447 441 443 447 448 441 447 442 442 447 443 414 441 442 438 441 414 441 438 449 384 449 454 449 438 454 414 415 438 415 445 438 454 438 445 443 439 414 414 442 443 439 443 448 448 451 439 444 445 415 444 446 445 454 445 452 446 452 445 384 454 452 385 384 452 452 453 385 452 446 453 453 446 444 385 453 389 455 389 453 453 444 455 383 384 385 385 389 238 385 238 383 383 388 384 384 388 387 249 388 383 383 238 249 228 238 239 226 249 238 226 238 228 238 389 239 226 241 249 241 388 249 387 388 241 240 387 241 240 241 225 225 241 226 225 226 227 217 227 226 228 218 226 217 226 218 227 212 225 211 225 212 242 240 225 225 211 242 212 227 217 208 211 212 205 212 217 208 212 205 211 209 213 209 211 208 213 221 211 211 221 242 242 221 246 220 221 213 220 222 221 222 246 221 213 347 346 213 346 220 209 347 213 220 215 222 220 346 336 337 220 336 220 337 215 214 222 215 214 246 222 214 215 216 348 215 343 343 215 337 215 348 216 333 337 332 332 337 336 343 337 333 333 338 343 338 344 343 344 348 343 216 348 344 339 344 338 344 339 345 345 216 344 301 338 333 339 338 302 302 338 301 333 332 300 301 333 300 291 301 300 302 301 294 294 301 291 303 302 295 295 302 294 303 339 302 285 294 291 293 295 294 293 294 285 283 291 289 285 291 283 291 300 289 284 285 283 290 285 75 284 75 285 290 293 285 292 293 290 292 295 293 83 277 290 290 277 292 290 75 83 74 75 76 75 74 83 75 284 76 283 282 284 284 282 76 88 76 87 76 88 74 87 76 278 76 282 278 282 280 278 280 282 286 283 289 282 282 289 286 278 279 87 278 280 279 279 280 281 280 286 287 281 280 287 299 298 286 289 299 286 286 298 287 300 299 289 299 332 331 299 331 298 300 332 299 287 298 297 331 330 298 298 330 297 287 288 281 287 297 288 288 297 158 297 196 158 330 196 297 330 334 196 331 335 330 330 335 334 336 331 332 335 331 336 335 346 334 336 346 335 196 334 199 334 347 199 334 346 347 193 158 196 196 199 193 193 199 200 200 199 207 199 209 207 209 199 347 157 158 193 157 193 195 193 200 195 195 200 198 200 207 198 198 207 206 207 208 206 207 209 208 195 198 194 194 198 197 198 206 197 195 194 156 157 195 156 154 194 189 156 194 154 189 194 197 197 192 189 205 202 197 197 202 192 197 206 205 208 205 206 205 217 202 191 202 203 192 202 191 202 217 203 189 192 188 188 192 191 189 188 151 154 189 151 151 188 150 151 150 138 154 151 138 127 138 133 127 139 138 139 154 138 126 127 128 127 133 135 126 139 127 127 135 128 134 135 133 130 135 134 135 366 128 130 366 135 73 366 130 129 73 130 128 366 367 366 53 367 370 53 366 73 370 366 367 86 143 128 367 143 53 47 367 86 367 47 140 143 142 142 143 85 140 128 143 143 86 85 140 126 128 144 145 140 144 140 142 140 145 126 141 142 85 142 141 144 85 86 87 141 85 279 87 279 85 141 153 144 279 281 141 288 153 141 281 288 141 144 147 145 144 153 147 147 146 145 145 146 126 157 156 147 153 157 147 147 156 146 153 158 157 158 153 288 126 146 139 156 155 146 146 155 139 155 156 154 139 155 154 87 86 88 86 369 88 47 369 86 369 368 88 88 368 74 369 43 368 43 369 47 46 47 48 46 43 47 48 47 52 52 47 53 45 43 46 46 461 45 48 461 46 44 43 45 45 458 44 45 461 458 458 461 456 456 461 48 456 457 458 44 458 472 458 457 472 42 43 44 44 472 42 472 56 42 472 457 480 472 480 56 456 459 457 457 459 480 459 456 48 48 460 459 459 460 470 470 494 459 459 474 480 56 480 479 474 479 480 39 479 474 56 479 39 37 38 39 39 38 56 68 37 69 38 37 84 68 84 37 67 68 69 67 71 68 71 84 68 70 69 66 67 69 70 69 376 66 67 77 71 70 79 67 67 79 77 71 77 78 78 84 71 83 84 78 78 77 277 78 277 83 83 74 84 74 38 84 74 368 38 56 38 42 38 43 42 43 38 368 275 276 277 276 292 277 277 77 275 77 308 275 275 311 307 308 311 275 276 275 307 276 296 292 307 296 276 292 296 295 304 303 296 296 303 295 307 304 296 307 321 304 311 321 307 321 326 304 326 340 304 304 340 303 303 340 339 345 339 340 326 342 340 340 342 345 341 342 326 321 351 326 351 341 326 322 321 311 322 351 321 352 351 322 352 355 351 351 355 341 342 341 349 355 350 341 341 350 349 342 349 345 345 349 216 271 349 350 216 349 223 223 349 271 357 350 355 350 357 271 355 352 353 357 355 353 271 357 274 224 271 270 271 274 270 224 223 271 223 224 214 223 214 216 224 267 214 224 270 265 224 265 267 265 270 266 266 270 269 270 274 269 265 266 253 253 250 265 267 265 250 246 267 250 214 267 246 266 269 253 323 353 352 324 353 323 323 322 312 324 323 312 323 352 322 313 324 312 308 312 311 309 312 308 309 313 312 312 322 311 309 308 310 310 308 77 310 79 309 79 310 77 66 375 63 66 376 377 377 375 66 63 375 374 375 466 464 374 375 464 377 466 375 63 374 373 63 373 57 374 464 465 465 373 374 464 496 465 464 466 496 377 473 466 496 466 473 376 473 377 490 496 491 495 496 490 496 495 465 467 373 465 465 495 467 494 495 490 495 494 467 468 373 467 467 463 372 467 372 468 467 494 470 467 470 463 487 494 490 9 487 23 23 487 490 23 10 9 23 24 10 32 23 485 24 23 32 23 490 485 409 10 24 32 27 24 24 27 409 27 32 25 485 25 32 485 484 25 485 490 484 484 490 491 26 484 482 25 484 26 482 484 491 25 26 27 409 27 410 409 410 411 409 411 415 428 410 434 428 411 410 437 411 436 436 411 428 411 444 415 411 437 444 436 432 437 437 455 444 455 437 432 436 433 432 433 436 428 431 432 433 431 433 428 455 432 389 391 390 432 389 432 390 431 391 432 431 428 430 431 430 391 390 391 261 391 262 261 389 390 252 261 252 390 239 389 252 239 252 228 228 252 261 228 261 229 229 261 262 228 229 230 219 218 228 230 219 228 229 237 230 237 219 230 204 219 210 204 218 219 210 219 237 203 217 218 203 218 204 203 204 201 203 201 191 210 237 185 185 237 183 182 185 183 182 183 174 174 183 168 428 429 430 430 429 435 428 434 429 429 434 435 36 26 482 462 372 463 469 462 463 463 470 469 51 462 469 50 462 51 50 372 462 371 372 49 372 50 49 468 372 371 49 50 51 54 55 51 51 55 49 469 54 51 470 54 469 460 54 470 52 53 54 54 53 55 460 52 54 55 58 49 55 73 58 370 73 55 55 53 370 57 49 58 73 112 58 129 112 73 57 371 49 57 373 371 371 373 468 48 52 460 399 422 400 422 399 396 363 365 362 358 363 360 360 363 362 329 358 360)) + (list :vertices (let ((mat (make-matrix 500 3))) (fvector-replace (array-entity mat) #f(5.1378703117370605e+00 -2.9734701156616211e+01 -9.3289899826049805e+00 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:vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector 2.1015599370002747e+01 -3.2246299088001251e+01 6.6359199583530426e+01) (float-vector 3.0671700835227966e+01 -4.3021898716688156e+01 7.2120100259780884e+01) (float-vector 1.7856500344350934e+00 -4.3026499450206757e+01 7.8329898416996002e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.9105001389980316e+01 -3.2233700156211853e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 -3.2240901142358780e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 -3.2246299088001251e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 -3.4403301775455475e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 -3.2350499182939529e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 -3.2257098704576492e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 -2.9418099671602249e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "fr_caster_l_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_fr_caster_r_wheel_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -4.9000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 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(float-vector -2.8930399566888809e+01 4.8940598964691162e+01 -7.3951698839664459e+01) (float-vector -4.3129801750183105e+01 4.8934601247310638e+01 -6.6686600446701050e+01) (float-vector -5.5839899927377701e+01 4.8932299017906189e+01 -5.6477800011634827e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -5.6481499224901199e+01 6.5751999616622925e+01 4.0725000202655792e+01) (float-vector -7.1428798139095306e+01 5.9612501412630081e+01 2.6272999122738838e+01) (float-vector -6.9488696753978729e+01 6.5759703516960144e+01 1.4109100447967649e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.1428798139095306e+01 5.9612501412630081e+01 2.6272999122738838e+01) (float-vector -6.4476996660232544e+01 5.4979100823402405e+01 4.4562898576259613e+01) (float-vector -7.3951698839664459e+01 4.8940598964691162e+01 2.8930399566888809e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.1428798139095306e+01 5.9612501412630081e+01 2.6272999122738838e+01) (float-vector -5.6481499224901199e+01 6.5751999616622925e+01 4.0725000202655792e+01) (float-vector -5.3850099444389343e+01 6.1509799212217331e+01 5.2007101476192474e+01) (float-vector -6.4476996660232544e+01 5.4979100823402405e+01 4.4562898576259613e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.9488696753978729e+01 6.5759703516960144e+01 1.4109100447967649e+00) (float-vector -7.1428798139095306e+01 5.9612501412630081e+01 2.6272999122738838e+01) (float-vector -7.3951698839664459e+01 4.8940598964691162e+01 2.8930399566888809e+01) (float-vector -7.9383201897144318e+01 4.8954900354146957e+01 -3.4461999894119799e-01) (float-vector -7.4474796652793884e+01 5.9610601514577866e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 5.6843299418687820e+01 4.3021600693464279e+01 -5.3966101258993149e+01) (float-vector 4.3921299278736115e+01 3.2241899520158768e+01 -5.3944598883390427e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 6.6359199583530426e+01 3.2246299088001251e+01 -2.1015599370002747e+01) (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 4.3921299278736115e+01 3.2241899520158768e+01 -5.3944598883390427e+01) (float-vector 2.3136500269174576e+01 1.7725700512528419e+01 -3.0678000301122665e+01) (float-vector 3.7004400044679642e+01 1.7724899575114250e+01 -1.1183599941432476e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 7.3644801974296570e+01 4.9060400575399399e+01 -2.9704099521040916e+01) (float-vector 6.6202603280544281e+01 4.9065899103879929e+01 -4.3869800865650177e+01) (float-vector 5.6843299418687820e+01 4.3021600693464279e+01 -5.3966101258993149e+01) (float-vector 5.6820500642061234e+01 3.2238200306892395e+01 -4.0331300348043442e+01) (float-vector 6.6359199583530426e+01 3.2246299088001251e+01 -2.1015599370002747e+01) (float-vector 7.4474796652793884e+01 3.8389399647712708e+01 -1.5645200386643410e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4203500002622604e+01 4.9050800502300262e+01 7.8114800155162811e+01) (float-vector -2.7057100087404251e+01 5.4977700114250183e+01 7.3550097644329071e+01) (float-vector -1.5174100175499916e+01 6.5649501979351044e+01 6.8473696708679199e+01) (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector 1.7856500344350934e+00 5.4973501712083817e+01 7.8329898416996002e+01) (float-vector 3.4459200105629861e-01 4.9045100808143616e+01 7.9383298754692078e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector 2.1015599370002747e+01 6.5753698348999023e+01 6.6359199583530426e+01) (float-vector 3.0671700835227966e+01 5.4978098720312119e+01 7.2120100259780884e+01) (float-vector 1.7856500344350934e+00 5.4973501712083817e+01 7.8329898416996002e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.9105001389980316e+01 6.5766297280788422e+01 3.6562200635671616e+01) (float-vector 3.6946401000022888e+01 6.5759100019931793e+01 5.8903798460960388e+01) (float-vector 2.1015599370002747e+01 6.5753698348999023e+01 6.6359199583530426e+01) (float-vector 5.1130601204931736e+00 6.3596703112125397e+01 7.2644703090190887e+01) (float-vector -1.5174100175499916e+01 6.5649501979351044e+01 6.8473696708679199e+01) (float-vector -4.3375499546527863e+01 6.5742902457714081e+01 5.4680000990629196e+01) (float-vector 2.7445200830698013e+00 6.8581901490688324e+01 -1.2800700031220913e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "fr_caster_r_wheel_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_fr_caster_rotation_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 2.2459999999999999e+02 -2.2459999999999999e+02 2.8199999999999999e+01)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.900000 0.900000 0.900000 1.000000)) - (list :diffuse (float-vector 0.900000 0.900000 0.900000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 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2.3287402093410492e+02) (float-vector 9.3989402055740356e+01 1.0713200084865093e+01 3.1608650088310242e+02)))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_pan_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_pan_link_geom0 - (:init (&key (name "package://pr2_description/meshes/head_v0/head_pan.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 162 0 2 1 0 151 0 162 151 1 151 152 1 152 215 1 284 2 1 215 284 151 223 152 151 162 223 2 299 162 162 299 223 274 299 2 150 299 274 299 150 223 2 273 274 274 351 148 150 274 148 289 351 274 273 289 274 168 148 351 288 351 289 351 166 168 166 351 288 288 289 175 273 175 289 177 167 288 288 175 177 166 288 167 166 167 168 167 311 168 235 234 167 234 380 167 454 167 380 235 167 177 311 167 454 453 311 454 182 311 453 168 311 182 453 454 451 454 380 451 159 182 453 451 159 453 451 160 159 160 451 380 159 160 161 181 182 159 214 181 159 214 159 161 161 160 380 440 214 161 161 380 440 347 158 214 214 440 347 158 181 214 181 339 47 181 47 182 158 339 181 37 158 134 134 158 347 158 37 339 476 47 339 476 339 37 72 476 36 68 476 427 476 68 47 72 427 476 476 37 36 36 37 38 70 72 36 91 36 38 91 70 36 38 37 368 23 38 368 91 38 287 287 38 23 91 86 70 91 195 86 91 287 195 86 87 70 498 87 86 195 498 86 35 195 287 35 318 195 498 195 497 195 318 497 498 497 418 498 418 87 418 331 87 87 331 70 331 90 71 331 426 90 418 426 331 70 331 71 70 71 72 72 71 82 71 412 82 71 90 412 72 82 414 414 427 72 82 329 414 412 329 82 412 413 329 90 89 412 412 89 413 328 329 142 328 191 329 191 414 329 329 413 142 190 414 191 190 427 414 190 68 427 189 190 191 189 69 190 69 68 190 205 191 328 189 191 205 141 328 142 141 205 328 204 189 205 216 218 205 212 216 205 218 204 205 212 205 141 189 204 499 499 69 189 499 204 42 499 42 452 499 452 69 42 43 44 201 42 202 42 44 202 452 42 201 204 43 42 43 330 44 43 327 344 43 344 330 204 327 43 44 330 325 44 325 202 324 202 325 202 324 201 452 201 324 45 452 46 45 69 452 452 324 341 341 46 452 45 46 47 45 68 69 68 45 47 182 47 46 341 182 46 340 148 341 341 365 182 148 365 341 341 324 340 182 365 168 168 365 148 148 149 150 149 148 340 324 149 340 324 333 149 333 81 149 150 149 81 223 150 224 150 81 224 79 80 81 333 75 81 80 224 81 75 79 81 222 223 224 222 224 80 429 80 428 80 79 428 222 80 429 74 97 79 74 79 75 97 428 79 73 74 75 73 75 333 73 420 74 420 496 74 74 496 97 495 494 73 495 73 333 494 420 73 324 495 333 325 494 495 324 325 495 330 420 494 325 330 494 330 416 420 330 344 416 344 415 416 416 415 420 420 415 496 415 423 95 496 415 95 344 423 415 344 217 345 345 423 344 327 217 344 320 95 423 321 320 423 345 321 423 95 96 97 96 95 320 496 95 97 320 321 96 217 321 345 321 17 96 321 217 17 17 16 96 96 16 97 97 16 326 326 428 97 15 16 17 16 15 326 17 131 15 17 217 213 17 213 131 15 131 52 15 52 245 15 245 286 15 286 326 213 52 131 51 35 52 52 35 34 213 51 52 245 52 34 318 51 319 51 88 319 213 88 51 51 318 35 497 318 418 318 319 418 319 417 418 417 319 88 418 417 426 426 417 90 90 417 88 88 89 90 78 413 89 89 88 76 78 89 76 76 77 78 142 413 78 142 78 77 88 77 76 141 142 77 212 141 77 77 88 212 212 88 213 213 216 212 213 217 216 216 217 218 218 217 327 204 218 327 33 34 35 35 66 67 35 203 66 35 287 203 35 364 33 67 411 35 411 364 35 245 34 314 34 33 314 244 245 101 286 245 223 405 245 314 101 245 405 244 223 245 405 314 33 405 409 402 102 101 405 409 405 33 102 405 402 33 111 110 33 110 409 364 315 33 33 315 111 402 409 110 401 402 110 493 102 402 493 402 401 110 111 112 112 401 110 112 462 401 462 493 401 322 493 197 462 197 493 322 102 493 462 112 332 58 60 462 58 462 332 60 197 462 111 332 112 111 58 332 58 59 60 315 58 111 315 59 58 61 59 62 62 59 30 59 364 30 59 315 364 59 61 477 60 59 477 477 61 92 61 62 92 92 62 32 62 30 32 30 31 32 364 31 30 364 411 31 411 178 31 32 31 178 92 32 93 32 178 93 92 93 94 477 92 421 421 92 94 313 94 93 93 178 180 93 180 313 178 179 180 411 67 178 178 67 179 180 179 83 410 180 85 180 83 85 313 180 410 313 410 342 94 313 342 410 99 342 99 410 85 83 84 85 98 99 85 84 432 85 432 98 85 179 66 83 66 84 83 430 431 84 430 84 66 431 432 84 419 432 431 419 98 432 419 200 98 98 343 99 200 343 98 342 99 343 200 129 343 342 343 278 343 129 278 198 199 200 129 200 199 198 200 419 198 419 431 198 431 375 375 431 430 198 129 199 287 198 375 129 198 287 287 375 203 203 375 430 465 355 287 287 130 129 22 465 287 23 22 287 355 130 287 128 129 130 130 355 308 130 308 307 130 307 128 128 479 129 278 129 479 468 126 479 479 126 278 337 468 479 337 479 128 121 278 126 232 342 278 121 280 278 280 232 278 408 342 232 408 94 342 408 422 94 317 408 316 317 422 408 316 408 232 421 94 422 317 421 422 316 60 317 317 60 477 317 477 421 60 196 197 196 60 316 196 323 197 196 298 323 196 348 298 196 316 348 197 323 322 322 323 11 298 11 323 9 11 298 9 298 348 316 9 348 9 10 11 9 316 10 304 11 53 322 11 304 11 54 53 10 54 11 304 102 322 304 53 100 102 304 100 53 54 55 100 53 55 171 140 54 54 139 55 54 140 139 171 54 10 424 55 425 424 100 55 267 425 55 139 267 55 100 101 102 424 101 100 425 244 424 244 101 424 244 425 223 223 425 461 425 267 461 286 223 222 223 461 239 223 239 271 271 458 223 223 458 152 461 267 266 461 266 239 144 238 239 238 271 239 144 239 266 265 266 267 145 266 265 266 145 144 279 265 267 145 265 279 267 369 104 267 104 279 267 139 369 279 104 173 145 279 173 103 172 173 103 173 104 173 172 366 366 145 173 64 103 104 172 103 64 172 64 63 172 357 367 172 63 357 366 172 367 366 367 145 483 143 367 357 475 367 483 367 448 143 145 367 448 367 475 143 144 145 482 395 143 482 143 483 395 144 143 448 125 483 483 125 482 443 482 125 482 443 395 144 395 396 443 396 395 358 238 144 358 144 450 144 396 450 396 480 450 396 481 480 443 481 396 485 450 277 450 480 277 358 450 350 450 485 350 334 238 358 358 350 334 271 238 272 238 334 272 485 458 271 350 485 271 406 271 272 271 406 350 485 379 458 379 485 277 379 152 458 283 215 379 215 152 379 283 379 277 215 283 284 247 283 208 208 283 277 284 283 247 285 284 247 2 284 285 2 285 273 273 285 439 439 285 247 176 273 439 175 273 176 176 439 177 177 439 247 175 176 177 246 398 177 246 177 247 253 235 177 398 253 177 208 246 247 399 398 246 208 399 246 188 398 399 188 253 398 399 436 472 207 436 399 399 472 188 208 207 399 206 207 208 277 206 208 480 481 206 481 207 206 480 206 277 481 256 207 443 256 481 256 257 207 185 186 256 257 256 209 256 186 209 443 185 256 443 124 185 443 125 124 185 124 186 209 186 13 186 124 264 13 186 264 39 209 13 209 484 257 39 484 209 484 39 257 39 40 41 39 41 194 194 257 39 39 13 12 39 187 40 39 270 187 12 270 39 436 194 41 41 40 436 207 194 436 194 207 257 40 472 436 188 472 40 40 187 188 253 188 254 254 188 292 187 292 188 292 187 270 292 270 260 254 292 260 260 253 254 269 253 260 253 233 235 253 269 233 269 260 270 270 133 269 306 233 269 433 269 491 269 133 491 269 433 306 233 234 235 233 380 234 233 306 380 226 157 380 440 380 157 306 226 380 8 225 226 225 157 226 8 226 306 6 7 8 306 6 8 8 7 225 7 155 225 157 225 155 388 7 6 388 155 7 388 6 27 388 27 394 388 464 155 388 394 464 25 26 27 27 6 132 132 25 27 394 27 26 394 389 464 138 394 26 389 394 138 464 487 488 464 488 155 389 487 464 487 349 488 487 478 349 389 478 487 349 155 488 155 156 157 391 156 155 349 392 155 391 155 392 377 378 156 346 377 156 156 378 157 156 391 346 157 378 393 440 157 393 377 374 378 374 393 378 393 347 440 374 347 393 374 134 347 377 134 374 134 135 56 134 377 135 134 56 37 57 135 305 135 377 305 56 135 57 37 56 57 57 368 37 305 108 57 57 108 109 109 368 57 108 305 346 346 305 377 108 21 109 346 391 108 21 108 391 368 109 21 21 23 368 21 22 23 21 391 392 21 392 349 349 22 21 465 22 349 349 249 248 459 349 248 465 349 459 478 249 349 459 105 465 220 355 465 105 220 465 459 474 105 248 474 459 105 106 107 105 255 106 105 107 220 105 474 255 255 474 355 355 474 308 308 474 248 354 255 355 355 220 354 106 255 354 220 221 354 221 106 354 220 165 221 49 106 221 165 164 221 164 49 221 48 49 50 49 437 106 363 437 49 49 48 363 50 49 164 48 192 193 48 193 363 48 50 192 50 164 192 193 192 164 363 193 445 445 193 164 444 363 445 363 444 437 438 445 164 444 445 438 437 444 438 437 438 275 164 275 438 258 275 211 164 211 275 258 437 275 258 211 259 259 437 258 163 210 211 163 211 164 210 259 211 163 164 165 489 210 163 489 163 165 210 489 437 259 210 437 106 437 489 106 489 243 243 489 165 107 165 220 107 243 165 107 106 243 117 248 249 404 449 248 449 252 248 117 404 248 252 308 248 478 400 249 400 117 249 389 400 478 117 400 4 389 4 400 4 389 390 138 390 389 227 390 137 390 138 137 4 390 227 136 137 138 26 136 138 137 133 268 268 227 137 137 136 26 133 137 26 227 228 229 268 228 227 4 227 229 133 228 268 115 312 228 4 229 228 133 115 228 312 4 228 5 4 312 115 5 312 3 4 5 117 4 3 116 3 5 5 115 116 116 117 3 117 116 404 116 403 404 114 116 115 116 114 403 404 386 449 404 403 386 403 236 386 114 263 403 403 263 236 113 114 115 370 114 113 114 370 263 113 12 370 12 113 115 12 115 133 12 13 14 12 469 470 12 14 469 470 370 12 12 133 270 470 263 370 261 470 469 470 261 263 469 231 261 231 469 14 261 262 263 261 231 301 397 261 301 397 262 261 14 230 231 231 300 301 231 230 300 301 300 441 397 301 295 441 295 301 397 295 372 397 372 466 262 397 466 466 372 237 466 237 407 407 262 466 236 407 237 263 407 236 262 407 263 120 236 237 353 386 236 120 119 236 236 119 353 118 119 120 120 219 118 237 219 120 352 353 119 118 352 119 310 353 352 353 310 387 353 387 386 121 123 352 310 352 123 121 352 118 276 118 219 121 118 276 276 219 383 237 383 219 276 184 232 232 280 276 184 276 383 121 276 280 121 122 123 126 122 121 126 127 122 122 127 123 468 467 126 126 467 127 127 467 468 123 127 337 127 468 337 251 337 128 251 376 337 337 376 123 250 251 252 376 251 250 252 251 490 490 251 128 307 490 128 307 252 490 307 308 252 449 386 252 250 252 386 386 387 250 387 309 250 309 376 250 310 309 387 123 309 310 123 376 309 184 383 169 383 384 169 457 383 237 384 383 457 183 184 169 184 183 232 169 10 183 232 183 316 10 316 183 171 10 169 169 170 171 171 170 140 170 169 359 140 170 64 64 170 146 359 147 170 170 147 146 104 139 140 140 64 104 63 64 65 65 64 146 146 147 65 63 65 357 65 147 357 356 357 147 382 475 357 356 382 357 381 382 356 297 356 371 381 356 297 371 356 147 471 475 382 471 382 381 475 471 448 381 296 471 296 448 471 296 381 297 295 296 297 295 297 371 295 371 372 372 371 147 295 441 442 295 442 296 300 230 441 441 230 442 230 373 442 296 442 373 14 373 230 373 29 296 373 14 29 14 28 29 13 240 14 447 446 14 240 447 14 28 14 446 29 28 460 460 296 29 446 460 28 446 447 448 446 448 460 240 242 447 448 447 242 240 241 242 241 240 13 448 242 125 125 242 241 448 296 460 241 13 125 124 125 13 13 264 124 147 455 372 147 359 455 455 359 456 455 457 372 455 456 457 457 237 372 384 457 456 359 384 456 359 169 384 104 369 139 132 133 25 133 281 282 133 434 433 133 282 434 491 133 433 281 133 132 25 133 26 281 302 303 282 281 303 302 281 132 434 282 435 303 435 282 433 434 435 433 435 306 306 435 303 6 303 302 6 306 303 132 6 302 350 335 334 406 335 350 334 335 336 335 338 336 335 406 154 338 335 154 291 334 293 291 272 334 334 336 293 290 154 291 293 290 291 406 272 291 154 406 291 501 290 293 154 290 501 154 501 473 473 501 293 154 473 385 473 293 385 385 153 154 385 293 492 153 385 492 153 18 154 294 153 492 153 294 18 492 293 294 293 19 294 294 19 18 18 19 20 362 18 20 18 362 154 20 19 24 19 174 24 19 293 174 486 362 20 486 20 24 486 24 174 174 463 486 463 362 486 174 293 336 500 174 361 174 336 361 500 463 174 463 360 362 500 360 463 360 500 361 360 361 362 362 361 336 362 336 338 362 338 154 429 286 222 326 286 429 326 429 428 203 430 66 67 66 179)) + (list :vertices (let ((mat (make-matrix 502 3))) (fvector-replace (array-entity mat) #f(-2.9610601806640625e+02 1.6241200256347656e+02 1.0526599884033203e+02 -2.8170498657226562e+02 1.6241200256347656e+02 1.0526599884033203e+02 -2.9957000732421875e+02 1.6754400634765625e+02 1.0526599884033203e+02 -1.9148600769042969e+02 2.9194000244140625e+02 1.3304998779296875e+02 -2.0424600219726562e+02 2.9688598632812500e+02 1.3304998779296875e+02 -1.9030799865722656e+02 2.9147402954101562e+02 1.3955000305175781e+02 -2.7653198242187500e+02 2.7893399047851562e+02 1.3304998779296875e+02 -2.6645700073242188e+02 2.5680999755859375e+02 1.3304998779296875e+02 -2.7244699096679688e+02 2.4676300048828125e+02 1.3304998779296875e+02 -1.5055300903320312e+02 2.1059500122070312e+02 1.0230000305175781e+02 -1.3250199890136719e+02 2.0908200073242188e+02 1.0230000305175781e+02 -1.5143299865722656e+02 2.0587199401855469e+02 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-3.2848102569580078e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 55 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1479099392890930e+02 2.0587599277496338e+02 -5.9969998896121979e+01) (float-vector -3.1411498785018921e+02 2.4453499913215637e+02 -5.9969898313283920e+01) (float-vector -3.1788599491119385e+02 2.3227599263191223e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.3806399703025818e+02 2.5943601131439209e+02 1.0526599735021591e+02) (float-vector -1.5055300295352936e+02 2.3860499262809753e+02 -5.9969801455736160e+01) (float-vector -1.3104900717735291e+02 2.2701500356197357e+02 1.0230000317096710e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send 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:transform-vector v)) + (nreverse (list (float-vector -2.7223700284957886e+02 1.6646899282932281e+02 1.3955000042915344e+02) (float-vector -2.4579900503158569e+02 1.5258400142192841e+02 1.3955000042915344e+02) (float-vector -2.5209999084472656e+02 1.3809999823570251e+02 1.2899999320507050e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.7223700284957886e+02 1.6646899282932281e+02 1.3955000042915344e+02) (float-vector -2.5209999084472656e+02 1.3809999823570251e+02 1.2899999320507050e+02) (float-vector -2.9610601067543030e+02 1.6241200268268585e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1185600161552429e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector -3.1419399380683899e+02 1.9842299818992615e+02 1.0526599735021591e+02) (float-vector -3.1788599491119385e+02 2.3227599263191223e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5181901454925537e+02 3.1110000610351562e+02 -3.2403599470853806e+01) (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.9610601067543030e+02 2.8678798675537109e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.3481400310993195e+02 2.9899200797080994e+02 1.3955000042915344e+02) (float-vector -2.5610598921775818e+02 2.9278600215911865e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.9709999859333038e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.5181901454925537e+02 3.1110000610351562e+02 -3.2403599470853806e+01) (float-vector -2.3904600739479065e+02 3.1110000610351562e+02 -5.1552701741456985e+01) (float-vector -2.2125299274921417e+02 3.1110000610351562e+02 -5.5608499795198441e+01) (float-vector -2.1183300018310547e+02 3.1110000610351562e+02 -5.2639398723840714e+01) (float-vector -1.9875699281692505e+02 3.1110098958015442e+02 -3.8267400115728378e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -1.9709999859333038e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.1309900283813477e+02 2.9884099960327148e+02 1.3955000042915344e+02) (float-vector -2.3481400310993195e+02 2.9899200797080994e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9610601067543030e+02 1.6241200268268585e+02 1.0526599735021591e+02) (float-vector -3.0640199780464172e+02 2.0137800276279449e+02 1.2899999320507050e+02) (float-vector -2.9144999384880066e+02 1.9044999778270721e+02 1.3955000042915344e+02) (float-vector -2.7223700284957886e+02 1.6646899282932281e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1419399380683899e+02 1.9842299818992615e+02 1.0526599735021591e+02) (float-vector -3.1185600161552429e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector -3.0640199780464172e+02 2.0137800276279449e+02 1.2899999320507050e+02) (float-vector -2.9610601067543030e+02 1.6241200268268585e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.8166100382804871e+02 2.7333900332450867e+02 1.3955000042915344e+02) (float-vector -2.9610601067543030e+02 2.8678798675537109e+02 1.0526599735021591e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8166100382804871e+02 2.7333900332450867e+02 1.3955000042915344e+02) (float-vector -2.5209999084472656e+02 3.1110000610351562e+02 1.2899999320507050e+02) (float-vector -2.5610598921775818e+02 2.9278600215911865e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0943799018859863e+02 2.6357400417327881e+02 1.0526499897241592e+02) (float-vector -3.1004899740219116e+02 2.3853099346160889e+02 1.2899999320507050e+02) (float-vector -3.1788599491119385e+02 2.3227599263191223e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1004899740219116e+02 2.3853099346160889e+02 1.2899999320507050e+02) (float-vector -3.1185600161552429e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector -3.1788599491119385e+02 2.3227599263191223e+02 1.0526499897241592e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0943799018859863e+02 2.6357400417327881e+02 1.0526499897241592e+02) (float-vector -2.9610601067543030e+02 2.8678798675537109e+02 1.0526599735021591e+02) (float-vector -2.8166100382804871e+02 2.7333900332450867e+02 1.3955000042915344e+02) (float-vector -3.1004899740219116e+02 2.3853099346160889e+02 1.2899999320507050e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9660999774932861e+02 2.4588100612163544e+02 1.3955000042915344e+02) (float-vector -3.1004899740219116e+02 2.3853099346160889e+02 1.2899999320507050e+02) (float-vector -2.8166100382804871e+02 2.7333900332450867e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4959000051021576e+02 2.2176299989223480e+02 1.3955000042915344e+02) (float-vector -1.5247799456119537e+02 2.0361000299453735e+02 1.3955000042915344e+02) (float-vector -1.6203199326992035e+02 1.8310000002384186e+02 1.3955000042915344e+02) (float-vector -1.9108900427818298e+02 1.5735900402069092e+02 1.3955000042915344e+02) (float-vector -2.2460000216960907e+02 1.4959999918937683e+02 1.3955000042915344e+02) (float-vector -2.4579900503158569e+02 1.5258400142192841e+02 1.3955000042915344e+02) (float-vector -2.7223700284957886e+02 1.6646899282932281e+02 1.3955000042915344e+02) (float-vector -2.9144999384880066e+02 1.9044999778270721e+02 1.3955000042915344e+02) (float-vector -2.9940301179885864e+02 2.1820099651813507e+02 1.3955000042915344e+02) (float-vector -2.9660999774932861e+02 2.4588100612163544e+02 1.3955000042915344e+02) (float-vector -2.8166100382804871e+02 2.7333900332450867e+02 1.3955000042915344e+02) (float-vector -2.5610598921775818e+02 2.9278600215911865e+02 1.3955000042915344e+02) (float-vector -2.3481400310993195e+02 2.9899200797080994e+02 1.3955000042915344e+02) (float-vector -2.1309900283813477e+02 2.9884099960327148e+02 1.3955000042915344e+02) (float-vector -1.9030800461769104e+02 2.9147401452064514e+02 1.3955000042915344e+02) (float-vector -1.6750200092792511e+02 2.7328801155090332e+02 1.3955000042915344e+02) (float-vector -1.5419000387191772e+02 2.5097599625587463e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9940301179885864e+02 2.1820099651813507e+02 1.3955000042915344e+02) (float-vector -3.1185600161552429e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector -3.1004899740219116e+02 2.3853099346160889e+02 1.2899999320507050e+02) (float-vector -2.9660999774932861e+02 2.4588100612163544e+02 1.3955000042915344e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.1185600161552429e+02 2.1916399896144867e+02 1.2899999320507050e+02) (float-vector -2.9940301179885864e+02 2.1820099651813507e+02 1.3955000042915344e+02) (float-vector -2.9144999384880066e+02 1.9044999778270721e+02 1.3955000042915344e+02) (float-vector -3.0640199780464172e+02 2.0137800276279449e+02 1.2899999320507050e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "fr_caster_rotation_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_head_mount_kinect_ir_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -3.2266999999999996e+01 1.2500000000000000e+01 1.3645300000000000e+02)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 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8.7907999753952026e+01 -1.5569099783897400e+02 7.1428000926971436e+01) (float-vector 6.8544998764991760e+01 2.8354000300168991e+01 7.8302003443241119e+01) (float-vector 8.7907999753952026e+01 1.5569099783897400e+02 7.1428000926971436e+01) (float-vector 1.0810399800539017e+02 1.2736499309539795e+02 6.3277997076511383e+01) (float-vector 1.0200700163841248e+02 -1.5696099400520325e+02 6.5171003341674805e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 6.1820000410079956e+01 -1.5600000321865082e+02 7.4056997895240784e+01) (float-vector 5.1598001271486282e+01 -3.2503001391887665e+01 7.6255001127719879e+01) (float-vector 6.8544998764991760e+01 2.8354000300168991e+01 7.8302003443241119e+01) (float-vector 8.7907999753952026e+01 -1.5569099783897400e+02 7.1428000926971436e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -6.9738000631332397e+01 -1.5709699690341949e+02 2.6100000832229853e+00) (float-vector -5.1539000123739243e+01 -1.5606500208377838e+02 1.6820000484585762e+01) (float-vector 9.6119996160268784e+00 -1.5681700408458710e+02 5.3511001169681549e+01) (float-vector 6.1820000410079956e+01 -1.5600000321865082e+02 7.4056997895240784e+01) (float-vector 8.7907999753952026e+01 -1.5569099783897400e+02 7.1428000926971436e+01) (float-vector 1.0200700163841248e+02 -1.5696099400520325e+02 6.5171003341674805e+01) (float-vector 1.0619299858808517e+02 -1.5952399373054504e+02 3.2951999455690384e+01) (float-vector 8.2263998687267303e+01 -1.6060799360275269e+02 5.0320001319050789e+00) (float-vector -8.0779999494552612e+01 -1.5689399838447571e+02 -4.2433999478816986e+01) (float-vector -7.7702999114990234e+01 -1.5715600550174713e+02 -1.1335000395774841e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_tilt_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_tilt_link_geom0 - (:init (&key (name "package://pr2_description/meshes/head_v0/head_tilt.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 0.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)))) + (list :indices #i( 0 1 2 10 11 0 0 11 1 36 0 2 36 10 0 2 1 3 2 3 4 36 2 4 36 4 6 36 6 8 36 8 10 8 9 10 10 9 11 6 7 8 8 7 9 4 5 6 6 5 7 4 3 5 3 13 5 5 13 14 5 14 7 7 14 15 7 15 9 9 15 16 9 16 11 14 20 15 15 20 21 15 21 16 13 19 14 14 19 20 19 25 20 20 25 26 20 26 21 16 21 22 21 26 27 21 27 22 25 31 26 26 31 32 26 32 27 19 24 25 24 30 25 25 30 31 30 37 31 31 37 32 27 32 33 32 37 33 22 27 28 27 33 28 28 33 34 33 37 34 34 37 35 35 37 30 24 35 30 29 34 35 29 35 24 18 24 19 18 29 24 23 28 29 23 29 18 28 34 29 22 28 23 17 22 23 17 23 12 12 23 18 12 18 13 13 18 19 1 12 3 3 12 13 1 17 12 11 16 17 11 17 1 16 22 17)) + (list :vertices (let ((mat (make-matrix 38 3))) (fvector-replace (array-entity mat) #f(3.2483901977539062e+01 -1.2500000000000000e+01 -1.3600300598144531e+02 3.2657897949218750e+01 -1.2500000000000000e+01 -1.3614100646972656e+02 3.2375499725341797e+01 -1.2312100410461426e+01 -1.3600300598144531e+02 3.2462501525878906e+01 -1.2161499977111816e+01 -1.3614100646972656e+02 3.2158500671386719e+01 -1.2312100410461426e+01 -1.3600300598144531e+02 3.2071502685546875e+01 -1.2161499977111816e+01 -1.3614100646972656e+02 3.2050098419189453e+01 -1.2500000000000000e+01 -1.3600300598144531e+02 3.1876098632812500e+01 -1.2500000000000000e+01 -1.3614100646972656e+02 3.2158500671386719e+01 -1.2687900543212891e+01 -1.3600300598144531e+02 3.2071502685546875e+01 -1.2838500022888184e+01 -1.3614100646972656e+02 3.2375499725341797e+01 -1.2687900543212891e+01 -1.3600300598144531e+02 3.2462501525878906e+01 -1.2838500022888184e+01 -1.3614100646972656e+02 3.2754501342773438e+01 -1.2500000000000000e+01 -1.3634201049804688e+02 3.2510700225830078e+01 -1.2077799797058105e+01 -1.3634201049804688e+02 3.2023300170898438e+01 -1.2077799797058105e+01 -1.3634201049804688e+02 3.1779500961303711e+01 -1.2500000000000000e+01 -1.3634201049804688e+02 3.2023300170898438e+01 -1.2922200202941895e+01 -1.3634201049804688e+02 3.2510700225830078e+01 -1.2922200202941895e+01 -1.3634201049804688e+02 3.2754501342773438e+01 -1.2500000000000000e+01 -1.3656399536132812e+02 3.2510700225830078e+01 -1.2077799797058105e+01 -1.3656399536132812e+02 3.2023300170898438e+01 -1.2077799797058105e+01 -1.3656399536132812e+02 3.1779500961303711e+01 -1.2500000000000000e+01 -1.3656399536132812e+02 3.2023300170898438e+01 -1.2922200202941895e+01 -1.3656399536132812e+02 3.2510700225830078e+01 -1.2922200202941895e+01 -1.3656399536132812e+02 3.2657897949218750e+01 -1.2500000000000000e+01 -1.3676499938964844e+02 3.2462501525878906e+01 -1.2161499977111816e+01 -1.3676499938964844e+02 3.2071502685546875e+01 -1.2161499977111816e+01 -1.3676499938964844e+02 3.1876098632812500e+01 -1.2500000000000000e+01 -1.3676499938964844e+02 3.2071502685546875e+01 -1.2838500022888184e+01 -1.3676499938964844e+02 3.2462501525878906e+01 -1.2838500022888184e+01 -1.3676499938964844e+02 3.2483901977539062e+01 -1.2500000000000000e+01 -1.3690299987792969e+02 3.2375499725341797e+01 -1.2312100410461426e+01 -1.3690299987792969e+02 3.2158500671386719e+01 -1.2312100410461426e+01 -1.3690299987792969e+02 3.2050098419189453e+01 -1.2500000000000000e+01 -1.3690299987792969e+02 3.2158500671386719e+01 -1.2687900543212891e+01 -1.3690299987792969e+02 3.2375499725341797e+01 -1.2687900543212891e+01 -1.3690299987792969e+02 3.2267002105712891e+01 -1.2500000000000000e+01 -1.3595298767089844e+02 3.2267002105712891e+01 -1.2500000000000000e+01 -1.3695300292968750e+02 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 216 -> 4 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.2754499465227127e+01 -1.2500000186264515e+01 -1.3656400144100189e+02) (float-vector 3.2510701566934586e+01 -1.2077799998223782e+01 -1.3634200394153595e+02) (float-vector 3.1779501587152481e+01 -1.2500000186264515e+01 -1.3634200394153595e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.2267000526189804e+01 -1.2500000186264515e+01 -1.3595299422740936e+02) (float-vector 3.2754499465227127e+01 -1.2500000186264515e+01 -1.3656400144100189e+02) (float-vector 3.1779501587152481e+01 -1.2500000186264515e+01 -1.3634200394153595e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.2510701566934586e+01 -1.2077799998223782e+01 -1.3634200394153595e+02) (float-vector 3.2267000526189804e+01 -1.2500000186264515e+01 -1.3595299422740936e+02) (float-vector 3.1779501587152481e+01 -1.2500000186264515e+01 -1.3634200394153595e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.2267000526189804e+01 -1.2500000186264515e+01 -1.3595299422740936e+02) (float-vector 3.2510701566934586e+01 -1.2077799998223782e+01 -1.3634200394153595e+02) (float-vector 3.2754499465227127e+01 -1.2500000186264515e+01 -1.3656400144100189e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "head_mount_kinect_ir_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_head_mount_kinect_rgb_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -1.8366991384599999e+01 -2.1222300136900000e+01 -2.1886964296799999e+01) + :rot (quaternion2matrix (float-vector 9.9967297120778287e-01 -5.6000060945167749e-03 -2.4366744094289648e-02 -5.3714384096068416e-03))))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 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4.6961899846792221e+01 -1.4347380399703979e+02 6.8339005112648010e+01) (float-vector 6.2528602778911591e+01 -1.4066331088542938e+02 6.8006806075572968e+01) (float-vector 4.4401898980140686e+01 -9.5199905335903168e+01 -4.4011201709508896e+01) (float-vector 2.0336600020527840e+01 -9.5200002193450928e+01 -5.9251397848129272e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -1.5362480282783508e+02 -1.4787989854812622e+02 8.7529502809047699e+01) (float-vector 1.0817600414156914e+01 -1.4769499003887177e+02 8.6644001305103302e+01) (float-vector 4.6961899846792221e+01 -1.4347380399703979e+02 6.8339005112648010e+01) (float-vector 2.0336600020527840e+01 -9.5200002193450928e+01 -5.9251397848129272e+01) (float-vector 0.0000000000000000e+00 -9.5200002193450928e+01 -6.2000002712011337e+01) (float-vector -2.2257300093770027e+01 -9.5199905335903168e+01 -5.8664299547672272e+01) (float-vector -1.7606280744075775e+02 -1.4565269649028778e+02 8.8054798543453217e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01) (float-vector 4.4401898980140686e+01 9.5199905335903168e+01 -4.4011201709508896e+01) (float-vector 5.6615002453327179e+01 9.5200002193450928e+01 -2.5728300213813782e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01) (float-vector 2.0336600020527840e+01 9.5200002193450928e+01 -5.9251397848129272e+01) (float-vector 4.4401898980140686e+01 9.5199905335903168e+01 -4.4011201709508896e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01) (float-vector 5.9044998139142990e+01 1.4317940175533295e+02 1.2546280026435852e+02) (float-vector 2.8711302205920219e+01 1.4657621085643768e+02 1.3688819110393524e+02) (float-vector 1.7354799434542656e+01 1.4749281108379364e+02 8.7385706603527069e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 0.0000000000000000e+00 9.5200002193450928e+01 -6.2000002712011337e+01) (float-vector 2.0336600020527840e+01 9.5200002193450928e+01 -5.9251397848129272e+01) (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01) (float-vector 1.7354799434542656e+01 1.4749281108379364e+02 8.7385706603527069e+01) (float-vector -1.7582030594348907e+02 1.4573140442371368e+02 8.8322997093200684e+01) (float-vector -2.2257300093770027e+01 9.5199905335903168e+01 -5.8664299547672272e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01) (float-vector 7.3350600898265839e+01 1.2504489719867706e+02 1.1774950474500656e+02) (float-vector 6.0173600912094116e+01 1.3815690577030182e+02 1.3707460463047028e+02) (float-vector 5.9044998139142990e+01 1.4317940175533295e+02 1.2546280026435852e+02)))) - (instance face :init :vertices (nreverse (list (float-vector 5.6615002453327179e+01 9.5200002193450928e+01 -2.5728300213813782e+01) (float-vector 6.2131501734256744e+01 9.2200003564357758e+01 -8.0525008961558342e+00) (float-vector 7.3350600898265839e+01 1.2504489719867706e+02 1.1774950474500656e+02) (float-vector 6.0944803059101105e+01 1.4352099597454071e+02 7.0972502231597900e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_plate_frame_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_plate_frame_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 0.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)))) + (list :indices #i( 0 1 2 10 11 0 0 11 1 36 0 2 36 10 0 2 1 3 2 3 4 36 2 4 36 4 6 36 6 8 36 8 10 8 9 10 10 9 11 6 7 8 8 7 9 4 5 6 6 5 7 4 3 5 3 13 5 5 13 14 5 14 7 7 14 15 7 15 9 9 15 16 9 16 11 14 20 15 15 20 21 15 21 16 13 19 14 14 19 20 19 25 20 20 25 26 20 26 21 16 21 22 21 26 27 21 27 22 25 31 26 26 31 32 26 32 27 19 24 25 24 30 25 25 30 31 30 37 31 31 37 32 27 32 33 32 37 33 22 27 28 27 33 28 28 33 34 33 37 34 34 37 35 35 37 30 24 35 30 29 34 35 29 35 24 18 24 19 18 29 24 23 28 29 23 29 18 28 34 29 22 28 23 17 22 23 17 23 12 12 23 18 12 18 13 13 18 19 1 12 3 3 12 13 1 17 12 11 16 17 11 17 1 16 22 17)) + (list :vertices (let ((mat (make-matrix 38 3))) (fvector-replace (array-entity mat) #f(1.9428199768066406e+01 2.1180101394653320e+01 2.1648399353027344e+01 1.9595199584960938e+01 2.1183601379394531e+01 2.1501399993896484e+01 1.9317901611328125e+01 2.1366798400878906e+01 2.1655900955200195e+01 1.9396501541137695e+01 2.1519899368286133e+01 2.1514799118041992e+01 1.9101299285888672e+01 2.1364400863647461e+01 2.1666400909423828e+01 1.9006000518798828e+01 2.1515600204467773e+01 2.1533800125122070e+01 1.8994899749755859e+01 2.1175399780273438e+01 2.1669599533081055e+01 1.8814399719238281e+01 2.1175001144409180e+01 2.1539499282836914e+01 1.9105199813842773e+01 2.0988700866699219e+01 2.1662099838256836e+01 1.9013099670410156e+01 2.0838600158691406e+01 2.1526100158691406e+01 1.9321899414062500e+01 2.0991100311279297e+01 2.1651599884033203e+01 1.9403598785400391e+01 2.0842901229858398e+01 2.1506999969482422e+01 1.9681900024414062e+01 2.1186800003051758e+01 2.1296499252319336e+01 1.9434000015258789e+01 2.1606300354003906e+01 2.1313199996948242e+01 1.8947200775146484e+01 2.1600900650024414e+01 2.1336900711059570e+01 1.8708198547363281e+01 2.1176099777221680e+01 2.1343900680541992e+01 1.8955999374389648e+01 2.0756698608398438e+01 2.1327199935913086e+01 1.9442899703979492e+01 2.0762001037597656e+01 2.1303499221801758e+01 1.9671001434326172e+01 2.1189300537109375e+01 2.1074199676513672e+01 1.9423200607299805e+01 2.1608699798583984e+01 2.1090900421142578e+01 1.8936300277709961e+01 2.1603300094604492e+01 2.1114700317382812e+01 1.8697301864624023e+01 2.1178501129150391e+01 2.1121700286865234e+01 1.8945199966430664e+01 2.0759099960327148e+01 2.1105001449584961e+01 1.9432001113891602e+01 2.0764499664306641e+01 2.1081300735473633e+01 1.9564800262451172e+01 2.1190399169921875e+01 2.0878700256347656e+01 1.9366100311279297e+01 2.1526699066162109e+01 2.0892101287841797e+01 1.8975601196289062e+01 2.1522401809692383e+01 2.0911098480224609e+01 1.8784000396728516e+01 2.1181798934936523e+01 2.0916700363159180e+01 1.8982698440551758e+01 2.0845399856567383e+01 2.0903398513793945e+01 1.9373100280761719e+01 2.0849699020385742e+01 2.0884300231933594e+01 1.9384300231933594e+01 2.1190000534057617e+01 2.0748600006103516e+01 1.9274000167846680e+01 2.1376699447631836e+01 2.0756000518798828e+01 1.9057300567626953e+01 2.1374300003051758e+01 2.0766599655151367e+01 1.8950899124145508e+01 2.1185199737548828e+01 2.0769701004028320e+01 1.9061300277709961e+01 2.0998600006103516e+01 2.0762300491333008e+01 1.9277900695800781e+01 2.1000900268554688e+01 2.0751699447631836e+01 1.9214000701904297e+01 2.1177200317382812e+01 2.1708499908447266e+01 1.9165199279785156e+01 2.1188100814819336e+01 2.0709701538085938e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 216 -> 4 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9681900739669800e+01 2.1186800673604012e+01 2.1296499297022820e+01) (float-vector 1.9423199817538261e+01 2.1608699113130569e+01 2.1090900525450706e+01) (float-vector 1.8697300925850868e+01 2.1178500726819038e+01 2.1121699362993240e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9214000552892685e+01 2.1177200600504875e+01 2.1708499640226364e+01) (float-vector 1.9681900739669800e+01 2.1186800673604012e+01 2.1296499297022820e+01) (float-vector 1.8697300925850868e+01 2.1178500726819038e+01 2.1121699362993240e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9423199817538261e+01 2.1608699113130569e+01 2.1090900525450706e+01) (float-vector 1.9214000552892685e+01 2.1177200600504875e+01 2.1708499640226364e+01) (float-vector 1.8697300925850868e+01 2.1178500726819038e+01 2.1121699362993240e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9214000552892685e+01 2.1177200600504875e+01 2.1708499640226364e+01) (float-vector 1.9423199817538261e+01 2.1608699113130569e+01 2.1090900525450706e+01) (float-vector 1.9681900739669800e+01 2.1186800673604012e+01 2.1296499297022820e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "head_mount_kinect_rgb_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_head_mount_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -1.3800000000000000e+02 0.0000000000000000e+00 9.1000000000000000e+01)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_mount_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_mount_link_geom0 - (:init (&key (name)) - (replace-object self (make-cube 10 10 10)) - (if name (send self :name name)) - self) - ) -(defclass pr2_gkmodel0_head_mount_kinect_ir_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_mount_kinect_ir_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.250000 0.250000 0.250000 1.000000)) + (list :diffuse (float-vector 0.500000 0.500000 0.500000 1.000000)))) + (list :indices #i( 0 1 2 13 14 0 0 14 15 0 15 1 2 123 0 0 123 125 0 125 13 13 12 14 12 126 14 14 126 124 14 124 15 15 124 122 15 122 1 123 122 124 123 124 125 125 124 126 120 122 123 2 120 123 120 121 122 1 122 121 118 119 120 119 121 120 4 118 120 4 120 2 1 121 3 3 121 119 2 1 3 2 3 4 4 3 5 4 5 6 6 118 4 3 119 5 118 117 119 5 119 117 116 117 118 6 116 118 6 5 7 6 7 8 8 116 6 5 117 7 116 115 117 7 117 115 114 115 116 8 114 116 7 57 8 8 57 58 8 58 59 59 114 8 7 115 57 114 113 115 57 115 113 77 113 114 59 77 114 59 58 60 59 60 61 61 77 59 57 113 58 58 113 112 58 112 60 77 112 113 75 76 77 76 112 77 61 75 77 61 60 62 61 62 32 32 75 61 60 112 76 60 76 62 75 74 76 62 76 74 73 74 75 32 73 75 32 33 34 32 62 63 32 63 33 34 73 32 62 74 63 73 72 74 63 74 72 71 72 73 34 71 73 34 33 35 34 35 36 36 71 34 100 101 71 71 101 102 71 102 72 36 100 71 63 72 33 33 72 102 33 102 35 36 35 37 35 102 101 35 101 37 36 37 38 38 100 36 98 99 100 100 99 101 38 98 100 37 101 99 38 37 39 37 99 39 38 39 40 40 98 38 96 97 98 98 97 99 40 96 98 39 99 97 39 50 40 39 97 50 40 50 51 40 51 52 52 96 40 70 95 96 96 95 97 52 70 96 50 97 95 50 95 51 52 51 53 51 95 94 51 94 53 52 53 54 54 70 52 54 53 55 53 69 55 53 94 69 69 94 70 70 94 95 68 69 70 54 68 70 54 55 23 23 68 54 23 55 56 55 69 67 55 67 56 68 67 69 66 67 68 23 66 68 23 24 25 23 56 24 25 66 23 56 67 65 56 65 24 66 65 67 64 65 66 25 64 66 25 24 26 25 26 27 27 64 25 24 65 86 24 86 26 64 86 65 84 85 64 64 85 86 27 84 64 27 26 28 27 28 29 29 84 27 26 86 85 26 85 28 84 83 85 28 85 83 82 83 84 29 82 84 29 28 30 29 30 16 16 82 29 28 83 30 82 81 83 30 83 81 80 81 82 16 80 82 16 17 18 16 30 31 16 31 17 18 80 16 30 81 31 80 79 81 31 81 79 78 79 80 18 78 80 18 17 19 18 19 20 20 78 18 91 92 78 78 92 93 78 93 79 20 91 78 31 79 17 17 79 93 17 93 19 20 19 21 19 93 92 19 92 21 20 21 22 22 91 20 89 90 91 91 90 92 22 89 91 21 92 90 21 41 22 21 90 41 22 41 42 22 42 43 43 89 22 87 88 89 89 88 90 43 87 89 41 90 88 41 88 42 43 42 44 42 88 111 42 111 44 43 44 45 45 87 43 45 44 46 44 111 110 44 110 46 87 110 111 87 111 88 109 110 87 45 109 87 45 46 47 47 109 45 47 46 48 46 110 108 46 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-4.5048442482948303e-01)(-1.9545787572860718e-01 3.3854296803474426e-01 -3.1174489855766296e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(-1.9545787572860718e-01 3.3854296803474426e-01 -3.1174489855766296e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(-3.9091575145721436e-01 4.7871787549750894e-17 -3.1174489855766296e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(-3.9091575145721436e-01 4.7871787549750894e-17 -3.1174489855766296e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(-1.9545787572860718e-01 -3.3854296803474426e-01 -3.1174489855766296e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(-1.9545787572860718e-01 -3.3854296803474426e-01 -3.1174489855766296e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(1.9545787572860718e-01 -3.3854296803474426e-01 -3.1174489855766296e-01)(1.0847093909978867e-01 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1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 4.5048442482948303e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 4.5048442482948303e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 4.5048442482948303e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 4.5048442482948303e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-1.0847093909978867e-01 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(:qhull-faceset () - ;; qhull 156 -> 4 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01) (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_mount_kinect_rgb_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_mount_kinect_rgb_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 0.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)))) + (list :indices #i( 0 1 2 10 11 0 0 11 1 36 0 2 36 10 0 2 1 3 2 3 4 36 2 4 36 4 6 36 6 8 36 8 10 8 9 10 10 9 11 6 7 8 8 7 9 4 5 6 6 5 7 4 3 5 3 13 5 5 13 14 5 14 7 7 14 15 7 15 9 9 15 16 9 16 11 14 20 15 15 20 21 15 21 16 13 19 14 14 19 20 19 25 20 20 25 26 20 26 21 16 21 22 21 26 27 21 27 22 25 31 26 26 31 32 26 32 27 19 24 25 24 30 25 25 30 31 30 37 31 31 37 32 27 32 33 32 37 33 22 27 28 27 33 28 28 33 34 33 37 34 34 37 35 35 37 30 24 35 30 29 34 35 29 35 24 18 24 19 18 29 24 23 28 29 23 29 18 28 34 29 22 28 23 17 22 23 17 23 12 12 23 18 12 18 13 13 18 19 1 12 3 3 12 13 1 17 12 11 16 17 11 17 1 16 22 17)) + (list :vertices (let ((mat (make-matrix 38 3))) (fvector-replace (array-entity mat) #f(4.6673900604248047e+01 -1.2500000000000000e+01 -8.8470504760742188e+01 4.6847900390625000e+01 -1.2500000000000000e+01 -8.8609298706054688e+01 4.6565498352050781e+01 -1.2312100410461426e+01 -8.8470504760742188e+01 4.6652500152587891e+01 -1.2161499977111816e+01 -8.8609298706054688e+01 4.6348499298095703e+01 -1.2312100410461426e+01 -8.8470504760742188e+01 4.6261501312255859e+01 -1.2161499977111816e+01 -8.8609298706054688e+01 4.6240097045898438e+01 -1.2500000000000000e+01 -8.8470504760742188e+01 4.6066101074218750e+01 -1.2500000000000000e+01 -8.8609298706054688e+01 4.6348499298095703e+01 -1.2687900543212891e+01 -8.8470504760742188e+01 4.6261501312255859e+01 -1.2838500022888184e+01 -8.8609298706054688e+01 4.6565498352050781e+01 -1.2687900543212891e+01 -8.8470504760742188e+01 4.6652500152587891e+01 -1.2838500022888184e+01 -8.8609298706054688e+01 4.6944499969482422e+01 -1.2500000000000000e+01 -8.8809700012207031e+01 4.6700702667236328e+01 -1.2077799797058105e+01 -8.8809700012207031e+01 4.6213298797607422e+01 -1.2077799797058105e+01 -8.8809700012207031e+01 4.5969501495361328e+01 -1.2500000000000000e+01 -8.8809700012207031e+01 4.6213298797607422e+01 -1.2922200202941895e+01 -8.8809700012207031e+01 4.6700702667236328e+01 -1.2922200202941895e+01 -8.8809700012207031e+01 4.6944499969482422e+01 -1.2500000000000000e+01 -8.9032302856445312e+01 4.6700702667236328e+01 -1.2077799797058105e+01 -8.9032302856445312e+01 4.6213298797607422e+01 -1.2077799797058105e+01 -8.9032302856445312e+01 4.5969501495361328e+01 -1.2500000000000000e+01 -8.9032302856445312e+01 4.6213298797607422e+01 -1.2922200202941895e+01 -8.9032302856445312e+01 4.6700702667236328e+01 -1.2922200202941895e+01 -8.9032302856445312e+01 4.6847900390625000e+01 -1.2500000000000000e+01 -8.9232696533203125e+01 4.6652500152587891e+01 -1.2161499977111816e+01 -8.9232696533203125e+01 4.6261501312255859e+01 -1.2161499977111816e+01 -8.9232696533203125e+01 4.6066101074218750e+01 -1.2500000000000000e+01 -8.9232696533203125e+01 4.6261501312255859e+01 -1.2838500022888184e+01 -8.9232696533203125e+01 4.6652500152587891e+01 -1.2838500022888184e+01 -8.9232696533203125e+01 4.6673900604248047e+01 -1.2500000000000000e+01 -8.9371505737304688e+01 4.6565498352050781e+01 -1.2312100410461426e+01 -8.9371505737304688e+01 4.6348499298095703e+01 -1.2312100410461426e+01 -8.9371505737304688e+01 4.6240097045898438e+01 -1.2500000000000000e+01 -8.9371505737304688e+01 4.6348499298095703e+01 -1.2687900543212891e+01 -8.9371505737304688e+01 4.6565498352050781e+01 -1.2687900543212891e+01 -8.9371505737304688e+01 4.6457000732421875e+01 -1.2500000000000000e+01 -8.8421005249023438e+01 4.6457000732421875e+01 -1.2500000000000000e+01 -8.9420997619628906e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 216 -> 4 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.6944499015808105e+01 -1.2500000186264515e+01 -8.9032299816608429e+01) (float-vector 4.6700701117515564e+01 -1.2077799998223782e+01 -8.8809698820114136e+01) (float-vector 4.5969501137733459e+01 -1.2500000186264515e+01 -8.8809698820114136e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.6457000076770782e+01 -1.2500000186264515e+01 -8.8421002030372620e+01) (float-vector 4.6944499015808105e+01 -1.2500000186264515e+01 -8.9032299816608429e+01) (float-vector 4.5969501137733459e+01 -1.2500000186264515e+01 -8.8809698820114136e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.6700701117515564e+01 -1.2077799998223782e+01 -8.8809698820114136e+01) (float-vector 4.6457000076770782e+01 -1.2500000186264515e+01 -8.8421002030372620e+01) (float-vector 4.5969501137733459e+01 -1.2500000186264515e+01 -8.8809698820114136e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.6457000076770782e+01 -1.2500000186264515e+01 -8.8421002030372620e+01) (float-vector 4.6700701117515564e+01 -1.2077799998223782e+01 -8.8809698820114136e+01) (float-vector 4.6944499015808105e+01 -1.2500000186264515e+01 -8.9032299816608429e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "head_mount_prosilica_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_head_pan_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -1.7069999999999997e+01 0.0000000000000000e+00 3.8144999999999999e+02)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.100000 0.100000 0.100000 0.000000)) - (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)) - )) - (list :indices #i( 0 1 2 2 1 3 4 5 6 6 5 7 8 9 10 10 9 11 12 13 14 14 13 15 16 17 18 18 17 19 20 21 22 22 21 23 24 25 26 26 25 27 28 29 30 30 29 31 32 33 34 34 33 35 36 37 38 38 37 39 40 41 42 42 41 43 44 45 46 46 45 47 48 49 50 50 49 51 52 53 54 54 53 55 56 57 58 58 57 59 60 61 62 62 61 63 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(float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_head_mount_prosilica_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_head_mount_prosilica_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 3 0 2 3 4 0 1 0 209 0 4 209 1 209 208 2 1 208 2 208 3 207 3 208 208 209 84 205 208 84 208 205 207 207 205 206 3 207 121 121 207 206 205 188 192 205 192 206 205 245 188 245 205 84 121 206 124 124 206 190 206 192 190 190 192 188 188 189 190 124 190 125 190 189 125 124 125 121 121 125 122 122 125 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1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 4.5048442482948303e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 4.5048442482948303e-01)(-1.0847093909978867e-01 1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 4.5048442482948303e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 4.5048442482948303e-01)(-2.1694187819957733e-01 2.6566839320412633e-17 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 4.5048442482948303e-01)(1.0847093909978867e-01 -1.8787717819213867e-01 4.5048442482948303e-01)(-1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 5.0000000000000000e-01)(1.0847093909978867e-01 -1.8787717819213867e-01 4.5048442482948303e-01)(2.1694187819957733e-01 0.0000000000000000e+00 4.5048442482948303e-01)(1.0847093909978867e-01 -1.8787717819213867e-01 -4.5048442482948303e-01)(0.0000000000000000e+00 0.0000000000000000e+00 -5.0000000000000000e-01)(2.1694187819957733e-01 0.0000000000000000e+00 -4.5048442482948303e-01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 156 -> 4 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01) (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector -4.8746395623311400e-01 5.9695143266114348e-17 1.1126046592835337e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -5.0000002374872565e-01) (float-vector -2.4373197811655700e-01 -4.2215618304908276e-01 1.1126046592835337e-01) (float-vector 4.8746395623311400e-01 0.0000000000000000e+00 1.1126046592835337e-01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_sensor_mount_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_sensor_mount_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-2.8200000762939453e+01 -5.0000000000000000e+00 -6.9500000000000000e+01 -1.8200000762939453e+01 -5.0000000000000000e+00 -6.9500000000000000e+01 -1.8200000762939453e+01 -5.0000000000000000e+00 -5.9500000000000000e+01 -2.8200000762939453e+01 -5.0000000000000000e+00 -5.9500000000000000e+01 -2.8200000762939453e+01 5.0000000000000000e+00 -5.9500000000000000e+01 -1.8200000762939453e+01 5.0000000000000000e+00 -5.9500000000000000e+01 -1.8200000762939453e+01 5.0000000000000000e+00 -6.9500000000000000e+01 -2.8200000762939453e+01 5.0000000000000000e+00 -6.9500000000000000e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 6 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -6.9499999284744263e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -5.9500001370906830e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -5.9500001370906830e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -5.9500001370906830e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -2.8200000524520874e+01 -4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -1.8200000748038292e+01 -4.9999998882412910e+00 -6.9499999284744263e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -6.9499999284744263e+01) (float-vector -1.8200000748038292e+01 4.9999998882412910e+00 -5.9500001370906830e+01) (float-vector -2.8200000524520874e+01 4.9999998882412910e+00 -5.9500001370906830e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "head_plate_frame_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_head_tilt_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 6.8000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 -2.5000000000000000e+00 -2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 -2.5000000000000000e+00)(-2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00)(2.5000000000000000e+00 2.5000000000000000e+00 2.5000000000000000e+00))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - (instance faceset :init :faces (list - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 -2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00))) - (instance face :init :vertices (list (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 -2.4999999441206455e+00) (float-vector -2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00) (float-vector 2.4999999441206455e+00 2.4999999441206455e+00 2.4999999441206455e+00))) - )) - ) - ) - -(defclass pr2_gkmodel0_double_stereo_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_double_stereo_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 10 11 0 0 11 1 10 0 3 2 3 0 2 1 4 4 1 16 1 11 16 2 4 3 3 4 5 16 5 4 9 5 6 5 9 3 18 15 5 18 5 16 5 15 6 9 6 8 9 8 3 6 7 8 6 15 7 18 19 15 7 15 24 19 24 15 7 24 3 3 8 7 3 24 25 24 19 25 18 25 19 25 21 3 25 18 21 3 21 22 21 26 22 17 26 21 17 21 18 3 23 12 12 10 3 22 23 3 20 22 16 26 16 22 22 20 23 16 26 17 16 17 18 16 14 13 16 11 14 13 20 16 23 20 13 23 13 12 12 13 14 12 14 10 14 11 10 27 28 29 27 29 68 68 28 27 29 44 45 28 31 29 29 31 60 44 29 60 29 45 68 28 68 57 68 50 57 68 45 50 44 50 45 49 50 44 50 49 57 57 49 56 28 57 55 56 55 57 32 49 33 44 33 49 56 49 32 32 55 56 34 55 32 28 55 34 32 33 34 35 33 44 33 35 53 34 33 53 35 36 37 35 54 53 35 37 54 36 35 44 34 53 54 37 52 54 52 34 54 52 37 67 37 36 67 67 36 38 38 52 67 39 36 40 36 39 38 40 36 44 38 39 40 38 40 46 46 48 38 38 48 52 44 47 40 40 47 46 46 47 48 48 41 52 48 42 41 47 42 48 47 44 42 41 42 43 43 42 44 41 43 66 66 52 41 51 52 43 66 43 52 51 43 44 44 60 61 61 51 44 62 64 51 52 51 64 51 61 65 51 65 62 52 63 34 64 63 52 62 63 64 62 58 63 65 58 62 65 60 58 65 61 60 28 58 59 34 63 58 58 28 34 58 60 59 28 30 31 59 30 28 59 60 30 60 31 30 69 70 71 69 76 78 71 76 69 78 85 69 69 85 70 70 75 71 74 75 70 70 85 74 71 82 76 75 82 71 76 77 78 76 82 77 78 82 83 77 82 78 83 85 78 83 82 95 95 85 83 95 86 85 95 82 86 85 86 87 86 94 87 86 82 94 87 94 89 89 85 87 90 89 94 82 79 94 94 79 93 90 94 93 88 89 90 88 85 89 92 90 93 90 92 88 92 93 91 91 93 81 93 79 81 92 91 88 88 91 85 85 80 84 72 85 84 74 85 72 85 91 80 80 91 81 80 81 79 84 80 79 84 79 72 72 73 74 79 73 72 74 73 75 73 82 75 73 79 82 96 97 98 96 99 100 102 99 96 96 100 97 96 98 107 96 107 102 102 108 99 108 120 99 99 120 100 100 120 97 118 119 120 121 120 119 118 120 122 117 120 113 122 120 117 109 120 121 113 120 106 97 120 109 106 120 108 119 110 121 109 121 110 101 109 110 97 109 101 98 97 101 101 119 98 110 119 101 107 98 112 98 119 112 118 112 119 118 122 116 116 112 118 116 122 117 115 116 117 115 112 116 117 114 115 117 113 114 114 112 115 112 114 113 112 113 111 111 113 103 103 113 106 111 103 105 105 112 111 103 104 105 104 103 106 104 106 107 107 106 108 104 107 105 107 112 105 108 102 107 123 124 125 123 130 132 125 130 123 132 139 123 123 139 124 124 129 125 128 129 124 124 139 128 125 136 130 129 136 125 130 131 132 130 136 131 132 136 137 131 136 132 137 139 132 137 136 149 149 139 137 149 140 139 149 136 140 139 140 141 140 148 141 140 136 148 141 148 143 143 139 141 144 143 148 136 133 148 148 133 147 144 148 147 142 143 144 142 139 143 146 144 147 144 146 142 146 147 145 145 147 135 147 133 135 146 145 142 142 145 139 139 134 138 126 139 138 128 139 126 139 145 134 134 145 135 134 135 133 138 134 133 138 133 126 126 127 128 133 127 126 128 127 129 127 136 129 127 133 136 150 151 152 150 153 154 156 153 150 150 154 151 150 152 161 150 161 156 156 162 153 162 174 153 153 174 154 154 174 151 172 173 174 175 174 173 172 174 176 171 174 167 176 174 171 163 174 175 167 174 160 151 174 163 160 174 162 173 164 175 163 175 164 155 163 164 151 163 155 152 151 155 155 173 152 164 173 155 161 152 166 152 173 166 172 166 173 172 176 170 170 166 172 170 176 171 169 170 171 169 166 170 171 168 169 171 167 168 168 166 169 166 168 167 166 167 165 165 167 157 157 167 160 165 157 159 159 166 165 157 158 159 158 157 160 158 160 161 161 160 162 158 161 159 161 166 159 162 156 161 177 178 179 181 178 177 182 181 177 179 182 177 178 187 179 193 178 181 193 187 178 179 187 188 182 179 188 188 187 189 189 187 193 188 189 191 182 188 191 189 190 191 190 189 193 191 200 182 191 190 200 193 197 190 190 197 200 182 200 198 200 197 198 193 198 197 198 199 182 198 203 199 198 193 203 182 199 202 199 194 202 199 203 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:transform-vector v)) + (nreverse (list (float-vector -1.1385000310838223e+01 9.5200002193450928e+01 -2.5728400796651840e+01) (float-vector -5.8684297837316990e+00 9.2200003564357758e+01 -8.0525502562522888e+00) (float-vector 5.3506200201809406e+00 1.2504500150680542e+02 1.1774999648332596e+02) (float-vector -7.0551298558712006e+00 1.4352099597454071e+02 7.0972502231597900e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "head_tilt_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_elbow_flex_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(-5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01)(-5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 -3.0000000000000000e+01 1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 -3.0000000000000000e+01 -1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 -1.2500000000000000e+01)(-5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01)(5.0000000000000000e+00 3.0000000000000000e+01 1.2500000000000000e+01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 24 -> 6 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector -4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 -1.2500000186264515e+01) (float-vector 4.9999998882412910e+00 -2.9999999329447746e+01 1.2500000186264515e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_shoulder_pan_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_shoulder_pan_link_geom0 - (:init (&key (name "package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 0 25 24 0 2 25 24 174 0 174 175 0 0 175 1 23 24 25 25 28 23 25 17 28 2 17 25 12 33 24 23 12 24 24 33 174 12 32 33 174 33 32 174 179 175 174 32 179 175 176 1 175 179 176 176 179 177 177 179 178 179 32 178 29 32 12 178 32 29 177 178 115 115 178 29 29 30 31 30 29 12 29 150 116 29 31 150 115 29 116 115 116 104 104 177 115 116 102 104 116 105 102 116 106 105 150 106 116 150 107 106 31 112 150 150 112 107 106 107 108 105 106 108 107 112 162 162 356 107 107 356 108 35 112 31 112 34 162 35 34 112 34 35 30 35 31 30 36 34 37 37 34 30 34 36 162 92 30 12 92 37 30 36 37 39 88 37 92 39 37 88 4 91 92 4 92 12 88 92 93 91 93 92 40 39 88 88 89 40 88 93 89 89 93 94 94 93 91 3 91 4 3 94 91 94 3 100 100 342 94 342 343 94 94 344 89 343 344 94 100 99 86 86 101 100 3 99 100 101 342 100 86 99 97 97 99 3 86 87 83 86 97 87 83 101 86 85 101 83 85 168 101 101 168 342 83 84 85 83 87 84 84 341 85 87 326 84 341 84 326 329 341 327 341 326 327 329 85 341 326 325 327 325 326 95 96 326 87 326 96 95 328 329 327 331 327 325 328 327 331 95 324 325 331 325 324 95 96 60 60 324 95 60 96 61 96 87 61 59 60 61 59 71 60 71 324 60 340 331 324 69 324 71 340 324 69 70 71 59 69 71 70 65 69 68 68 69 70 338 340 69 65 338 69 338 339 340 339 331 340 336 339 338 336 331 339 330 328 331 330 331 336 330 336 332 332 372 330 330 372 375 375 381 330 330 381 328 328 381 377 328 377 329 377 381 380 381 376 380 376 381 375 375 372 376 380 376 382 382 376 383 376 384 383 376 374 384 372 374 376 383 384 337 338 383 337 382 383 338 384 374 385 335 384 385 337 384 335 335 336 337 337 336 338 67 338 65 173 338 67 173 382 338 65 66 67 20 173 67 20 67 66 65 68 66 21 66 68 20 66 21 21 68 22 22 68 70 20 21 13 13 21 11 21 22 11 22 18 11 22 70 18 18 70 5 70 59 5 11 18 12 18 4 12 5 4 18 8 11 6 6 11 12 8 13 11 23 6 12 6 7 8 7 6 23 7 9 8 9 13 8 10 9 7 23 26 7 7 26 10 28 26 23 26 16 27 28 16 26 10 26 19 26 27 19 19 20 10 10 20 9 20 13 9 19 173 20 27 172 19 19 172 173 16 64 27 27 64 172 172 382 173 64 382 172 62 63 64 15 62 64 15 64 16 63 382 64 63 380 382 62 72 63 72 56 63 379 380 63 56 379 63 72 62 15 57 72 73 57 56 72 14 73 72 14 72 15 56 57 58 58 379 56 73 181 57 57 182 58 181 182 57 1 73 14 180 181 73 180 73 1 2 1 14 14 15 2 1 176 170 170 180 1 170 181 180 168 169 170 170 169 181 365 168 170 177 365 170 170 176 177 169 168 171 171 168 85 342 168 365 169 171 183 169 183 181 183 171 184 184 181 183 181 184 182 171 368 184 368 182 184 182 368 371 182 379 58 371 379 182 368 171 370 371 368 370 370 378 371 371 378 379 378 380 379 377 378 370 377 380 378 369 370 171 369 377 370 329 377 369 329 369 85 85 369 171 366 365 177 342 365 366 177 367 366 342 366 343 366 367 343 104 367 177 357 367 104 343 367 344 344 367 345 345 367 357 102 103 104 103 357 104 102 105 103 105 357 103 355 357 105 345 357 354 354 357 355 89 345 90 89 344 345 354 90 345 89 90 40 90 127 40 127 90 161 90 354 161 38 39 40 38 40 42 42 40 127 127 161 126 42 127 126 126 161 123 161 354 123 126 123 125 42 126 125 38 42 43 42 125 43 123 124 125 43 125 159 159 125 124 123 354 124 159 124 160 124 353 160 354 353 124 160 43 159 43 44 38 44 43 167 167 43 160 353 352 160 160 352 167 354 356 353 353 356 352 355 356 354 108 356 355 358 356 162 352 356 358 167 352 166 352 350 166 352 358 350 166 44 167 149 148 166 148 44 166 166 350 149 122 148 149 149 350 122 44 148 49 122 49 148 44 49 38 38 49 47 49 121 120 122 121 49 47 49 120 350 351 122 122 351 121 121 117 120 121 349 117 121 351 349 120 117 119 47 120 119 117 118 119 117 349 348 117 348 118 349 361 348 351 361 349 350 360 351 360 361 351 350 359 360 350 358 359 360 359 114 114 361 360 109 359 110 359 358 110 114 359 109 110 358 162 109 110 111 162 36 110 110 36 111 109 113 114 111 128 109 109 128 113 36 45 111 111 45 128 36 39 45 41 45 39 41 128 45 113 128 129 128 41 129 113 129 114 114 129 130 129 131 130 129 41 131 39 38 41 38 163 41 41 163 131 130 131 132 131 163 132 130 361 114 132 361 130 132 133 134 132 163 133 362 361 132 134 362 132 163 38 133 134 133 135 133 136 135 133 38 136 363 362 134 135 363 134 347 362 363 348 362 347 348 361 362 137 363 135 137 364 363 363 364 347 135 136 137 46 136 38 136 46 137 137 46 138 138 364 137 46 47 48 46 38 47 138 46 139 46 48 139 138 139 140 140 364 138 140 139 141 139 142 141 139 48 142 140 193 192 141 193 140 192 364 140 141 142 143 143 193 141 151 143 142 55 151 142 55 142 48 151 152 143 195 193 143 152 195 143 153 152 151 55 54 151 54 153 151 48 54 55 51 54 48 54 51 153 153 154 152 153 155 154 153 51 155 152 202 195 154 202 152 154 197 202 155 197 154 51 146 155 199 197 155 146 199 155 196 197 198 197 199 198 196 202 197 195 202 196 195 196 194 196 389 194 198 227 196 227 389 196 199 200 198 200 227 198 199 201 200 146 201 199 80 200 79 79 200 201 234 227 200 80 234 200 79 201 75 75 201 203 145 201 146 145 203 201 74 79 75 79 78 80 78 79 74 74 75 76 75 203 76 76 203 147 147 203 145 144 145 146 144 147 145 156 146 51 156 144 146 157 147 144 51 144 156 144 50 157 50 144 51 157 158 147 147 346 76 158 346 147 50 53 157 157 53 158 48 50 51 48 53 50 48 52 53 158 53 164 53 52 164 164 346 158 164 52 165 347 346 164 165 347 164 47 52 48 47 119 52 165 52 118 118 52 119 348 347 165 118 348 165 347 364 346 204 364 192 206 364 204 346 364 206 192 187 191 192 193 187 191 204 192 188 191 187 191 188 190 190 204 191 188 187 186 188 189 190 186 388 188 388 189 188 189 204 190 205 204 189 189 388 205 388 494 205 388 390 494 389 388 186 389 390 388 185 186 187 185 389 186 194 389 185 227 390 389 227 391 390 494 390 495 390 391 495 226 391 227 226 392 391 391 392 495 494 495 493 493 495 492 495 496 492 495 392 496 233 392 226 233 393 392 392 393 496 492 496 491 496 497 491 393 394 496 496 394 497 225 393 233 225 394 393 225 233 217 217 233 226 221 225 217 221 232 225 232 394 225 232 395 394 394 395 497 231 232 221 231 395 232 231 396 395 497 395 396 229 231 221 229 396 231 229 397 396 497 396 498 396 397 498 224 229 214 214 229 221 224 397 229 224 398 397 498 397 398 498 489 490 490 497 498 489 498 499 498 398 499 228 398 224 228 399 398 398 399 499 489 499 486 486 499 487 499 400 487 499 399 400 230 399 228 230 400 399 210 228 212 212 228 224 210 230 228 223 230 210 223 400 230 223 401 400 487 400 442 442 400 401 222 223 210 222 235 223 235 401 223 235 402 401 401 402 442 487 442 402 279 402 235 279 403 402 402 444 487 402 484 444 402 403 484 222 279 235 220 222 210 220 279 222 209 220 210 209 278 220 220 278 277 277 279 220 208 209 210 208 210 212 209 486 278 209 489 486 208 489 209 277 278 276 278 444 276 486 444 278 486 487 444 443 444 445 444 484 445 276 444 443 275 276 274 276 275 277 276 443 274 273 274 272 275 274 273 274 443 272 282 273 283 283 273 284 275 273 282 273 271 284 272 271 273 281 275 282 282 406 281 282 407 406 283 407 282 283 408 407 284 408 283 284 271 313 284 409 408 313 409 284 446 408 450 450 408 451 446 407 408 408 409 451 406 407 446 281 406 405 445 406 446 445 405 406 280 405 404 281 405 280 404 405 445 443 445 446 484 404 445 312 404 403 280 404 312 484 403 404 280 275 281 312 275 280 279 277 312 312 277 275 312 403 279 446 447 443 448 447 446 448 446 450 272 447 448 272 443 447 449 448 450 268 448 449 272 448 268 450 451 449 451 452 449 449 452 269 268 449 269 268 269 270 271 268 270 271 272 268 270 269 285 285 269 286 269 267 286 269 452 267 271 270 313 313 270 314 314 270 285 313 410 409 314 410 313 314 411 410 285 411 314 451 410 411 451 409 410 285 412 411 451 411 453 411 412 453 451 453 452 453 454 452 453 456 454 453 412 456 287 412 285 287 413 412 412 413 456 455 454 456 456 457 455 456 414 457 456 413 414 288 413 287 288 414 413 285 286 287 287 286 288 286 266 288 288 266 315 315 414 288 315 415 414 414 415 457 315 266 289 289 415 315 266 264 265 267 264 266 266 265 289 286 267 266 289 265 290 289 416 415 290 416 289 457 415 416 290 417 416 457 416 460 416 417 460 290 265 291 291 417 290 291 418 417 417 418 460 265 262 291 291 262 316 316 418 291 316 419 418 460 418 419 316 262 317 317 419 316 317 420 419 460 419 462 419 420 462 262 259 317 317 259 318 318 420 317 318 421 420 462 420 464 420 421 464 318 259 319 319 421 318 319 422 421 421 422 464 464 463 462 464 465 463 466 465 464 464 422 466 320 422 319 320 423 422 422 423 466 259 257 319 319 257 320 320 257 321 321 423 320 321 424 423 423 424 466 467 465 466 469 467 466 466 424 469 292 424 321 292 425 424 424 425 469 257 255 321 321 255 292 292 253 293 292 255 253 293 425 292 293 426 425 425 426 469 293 253 294 294 426 293 294 427 426 469 426 472 426 427 472 294 253 295 295 427 294 295 428 427 472 427 428 471 470 472 473 471 472 469 472 470 472 428 473 296 428 295 296 429 428 428 429 473 295 250 296 253 250 295 296 250 297 297 429 296 297 430 429 429 430 473 297 249 298 250 249 297 298 430 297 250 251 248 253 251 250 248 249 250 252 251 253 255 252 253 251 471 248 251 470 471 252 470 251 248 247 249 248 471 247 474 471 473 247 471 474 246 247 245 247 246 249 247 474 245 473 488 474 474 488 476 245 474 476 473 430 488 488 432 476 430 431 488 488 431 432 475 476 477 476 432 477 245 476 242 242 476 475 478 475 477 478 479 475 242 475 241 475 479 241 432 433 477 433 434 477 477 434 478 322 433 432 300 433 322 300 434 433 301 434 300 301 435 434 434 435 478 300 244 301 322 244 300 299 246 322 322 246 244 322 432 299 298 249 299 249 246 299 299 431 298 299 432 431 244 246 245 244 245 242 242 241 243 242 243 244 241 240 239 241 239 243 241 479 240 244 243 302 302 243 239 301 244 302 302 239 303 302 435 301 302 436 435 303 436 302 303 239 304 303 437 436 304 437 303 478 436 480 478 435 436 436 437 480 304 438 437 437 438 480 304 238 305 304 239 238 305 438 304 305 439 438 480 438 439 305 238 306 306 439 305 306 440 439 480 439 482 439 440 482 306 307 308 306 238 307 308 440 306 308 441 440 482 440 441 482 483 481 483 482 485 481 480 482 482 441 485 481 483 236 236 483 237 483 485 237 480 481 479 479 481 236 479 478 480 240 479 236 236 237 238 239 240 236 239 236 238 237 307 238 308 307 309 307 237 309 309 441 308 310 311 309 309 237 310 386 441 309 311 386 309 485 441 387 387 441 386 385 374 386 386 374 387 334 386 311 385 386 334 310 334 311 310 333 334 334 333 335 335 385 334 332 333 323 335 333 336 323 333 310 332 336 333 323 372 332 237 323 310 237 485 323 323 485 373 323 373 372 372 373 374 387 374 373 373 485 387 298 431 430 470 468 469 252 468 470 468 467 469 254 467 468 254 468 252 254 252 255 254 255 256 256 467 254 256 465 467 257 256 255 257 258 256 258 465 256 463 465 258 259 258 257 260 258 259 260 463 258 461 462 463 260 461 463 261 260 262 262 260 259 261 461 260 461 459 462 261 459 461 459 460 462 459 458 460 263 458 459 263 459 261 263 261 262 263 262 265 264 263 265 264 458 263 457 458 455 460 458 457 264 455 458 267 454 264 264 454 455 452 454 267 211 489 208 211 490 489 211 208 212 213 211 214 214 211 212 213 490 211 213 491 490 491 497 490 213 221 216 214 221 213 216 491 213 212 224 214 216 492 491 215 216 217 216 221 217 215 492 216 215 493 492 215 218 219 215 217 218 219 493 215 217 226 218 81 219 218 226 227 218 218 227 81 207 219 81 207 205 219 205 493 219 205 494 493 207 206 205 205 206 204 81 206 207 76 206 74 74 206 77 77 206 81 76 346 206 74 77 78 77 81 78 78 82 80 78 81 82 81 227 82 82 227 234 80 82 234 187 194 185 193 194 187 193 195 194 108 355 105 17 2 15 15 16 17 17 16 28 3 4 5 5 59 3 59 98 3 3 98 97 61 98 59 97 98 61 87 97 61)) + (list :vertices (let ((mat (make-matrix 500 3))) (fvector-replace (array-entity mat) #f(-3.0777401733398438e+02 -1.3134599685668945e+01 -6.5277297973632812e+01 -3.0890899658203125e+02 -1.3436499595642090e+01 -6.6128204345703125e+01 -3.0848898315429688e+02 -1.2156300544738770e+01 -6.7489898681640625e+01 -3.0911199951171875e+02 1.3857300758361816e+01 -6.4911697387695312e+01 -3.0809301757812500e+02 1.2844799995422363e+01 -6.5707603454589844e+01 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1.3391500338912010e+01) (float-vector -3.0807599425315857e+02 -3.7323299795389175e+01 2.7167100459337234e+01) (float-vector -3.0808100104331970e+02 -2.3659000173211098e+01 3.9577201008796692e+01) (float-vector -3.0767300724983215e+02 -7.8517198562622070e+00 4.5116499066352844e+01) (float-vector -3.0769398808479309e+02 1.4874399639666080e+01 4.3229501694440842e+01) (float-vector -3.0810800194740295e+02 3.1050199642777443e+01 3.3764101564884186e+01) (float-vector -3.0801001191139221e+02 4.2826101183891296e+01 1.6164800152182579e+01) (float-vector -3.0751499533653259e+02 4.4803798198699951e+01 -6.9697401486337185e+00) (float-vector -3.0825400352478027e+02 4.0041800588369370e+01 -2.2384600713849068e+01) (float-vector -3.0911201238632202e+02 1.3857300393283367e+01 -6.4911700785160065e+01) (float-vector -3.0740201473236084e+02 -4.7992998734116554e+00 -7.0437602698802948e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.5922300219535828e+02 1.7825800925493240e+01 5.2779398858547211e+01) (float-vector -3.2183599472045898e+02 4.6051800251007080e+01 1.7238899599760771e+00) (float-vector -3.0751499533653259e+02 4.4803798198699951e+01 -6.9697401486337185e+00) (float-vector -3.0801001191139221e+02 4.2826101183891296e+01 1.6164800152182579e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -4.2405098676681519e+02 1.6744200140237808e+01 7.6272100210189819e+01) (float-vector -4.4579100608825684e+02 1.7054699361324310e+01 6.5511800348758698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0769398808479309e+02 1.4874399639666080e+01 4.3229501694440842e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01) (float-vector -3.0810800194740295e+02 3.1050199642777443e+01 3.3764101564884186e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -3.0801001191139221e+02 4.2826101183891296e+01 1.6164800152182579e+01) (float-vector -3.0810800194740295e+02 3.1050199642777443e+01 3.3764101564884186e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.6707299351692200e+02 -1.7500000074505806e+01 -4.3435901403427124e+01) (float-vector -4.4579100608825684e+02 -1.7469700425863266e+01 -6.5511800348758698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.1821500658988953e+02 1.6923200339078903e+01 -7.7839598059654236e+01) (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.4579100608825684e+02 -1.7469700425863266e+01 -6.5511800348758698e+01) (float-vector -4.2535400390625000e+02 -1.8483899533748627e+01 -7.4913397431373596e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.1821500658988953e+02 1.6923200339078903e+01 -7.7839598059654236e+01) (float-vector -3.9871600270271301e+02 1.6813099384307861e+01 -7.9975098371505737e+01) (float-vector -3.0825400352478027e+02 4.0041800588369370e+01 -2.2384600713849068e+01) (float-vector -3.0751499533653259e+02 4.4803798198699951e+01 -6.9697401486337185e+00) (float-vector -3.2183599472045898e+02 4.6051800251007080e+01 1.7238899599760771e+00) (float-vector -4.7842100262641907e+02 1.7054699361324310e+01 -1.5449600294232368e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.7842100262641907e+02 1.7054699361324310e+01 -1.5449600294232368e+01) (float-vector -4.7705200314521790e+02 -1.7500000074505806e+01 -2.1174399182200432e+01) (float-vector -4.6707299351692200e+02 -1.7500000074505806e+01 -4.3435901403427124e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0808100104331970e+02 -2.3659000173211098e+01 3.9577201008796692e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.0767300724983215e+02 -7.8517198562622070e+00 4.5116499066352844e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0769398808479309e+02 1.4874399639666080e+01 4.3229501694440842e+01) (float-vector -3.0767300724983215e+02 -7.8517198562622070e+00 4.5116499066352844e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.0808100104331970e+02 -2.3659000173211098e+01 3.9577201008796692e+01) (float-vector -3.0807599425315857e+02 -3.7323299795389175e+01 2.7167100459337234e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_elbow_flex_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_forearm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 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(float-vector 1.7702059447765350e+02 -7.9392604529857635e+01 1.0179849714040756e+02) (float-vector 2.0350900292396545e+02 -7.9408302903175354e+01 7.4386402964591980e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_shoulder_lift_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_shoulder_lift_link_geom0 - (:init (&key (name "package://pr2_description/meshes/shoulder_v0/shoulder_lift.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 3 1 0 2 4 0 0 756 3 0 702 709 702 0 4 706 756 0 709 706 0 1 3 698 698 3 737 3 756 737 737 756 698 756 759 698 759 756 705 705 756 706 636 634 706 706 709 636 706 634 705 636 10 528 634 636 528 10 636 9 636 709 9 528 527 634 527 635 634 634 635 705 527 528 374 528 529 374 10 529 528 527 374 526 526 635 527 637 635 526 635 637 704 704 705 635 374 373 526 526 373 523 523 637 526 638 637 523 704 637 638 703 704 638 703 705 704 759 705 762 703 762 705 703 641 710 703 638 641 762 703 760 710 760 703 524 638 523 524 641 638 520 640 641 520 641 524 710 641 640 523 521 524 524 521 520 520 518 517 520 521 518 517 640 520 519 640 517 642 640 519 710 640 642 517 518 519 518 386 519 518 521 378 386 518 378 523 373 521 521 373 378 373 377 378 380 386 378 378 377 380 372 373 374 373 372 377 372 379 377 377 379 380 386 380 387 379 389 380 380 389 387 372 384 379 384 385 379 389 379 385 389 390 387 389 489 390 389 345 489 345 389 385 387 388 386 387 390 388 390 391 388 488 391 390 390 489 488 514 388 515 516 388 514 388 391 515 388 516 386 519 386 516 522 519 516 516 514 522 514 639 522 514 643 639 515 643 514 522 639 642 522 642 519 708 639 643 642 639 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(float-vector 1.0530900210142136e+02 3.4321598708629608e+01 6.5242402255535126e+01) (float-vector 1.3469900190830231e+02 4.1564099490642548e+01 5.7772401720285416e+01) (float-vector 3.2513499259948730e+02 4.9954198300838470e+01 3.3501699566841125e+01) (float-vector 1.2979599833488464e+02 2.8933299705386162e+01 6.6312000155448914e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.6004799008369446e+01 2.6230899617075920e+01 5.0048001110553741e+01) (float-vector 1.0530900210142136e+02 3.4321598708629608e+01 6.5242402255535126e+01) (float-vector 1.0531699657440186e+02 -3.4370500594377518e+01 6.5224297344684601e+01) (float-vector 9.5996297895908356e+01 -1.0822400450706482e+01 5.3937699645757675e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.6004799008369446e+01 2.6230899617075920e+01 5.0048001110553741e+01) (float-vector 9.6015296876430511e+01 4.8818901181221008e+01 1.9644500687718391e+01) (float-vector 1.0614900290966034e+02 5.0014998763799667e+01 4.0773898363113403e+01) (float-vector 1.0617800056934357e+02 4.4436000287532806e+01 5.2621901035308838e+01) (float-vector 1.0530900210142136e+02 3.4321598708629608e+01 6.5242402255535126e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0530900210142136e+02 3.4321598708629608e+01 6.5242402255535126e+01) (float-vector 1.2979599833488464e+02 2.8933299705386162e+01 6.6312000155448914e+01) (float-vector 1.0531699657440186e+02 -3.4370500594377518e+01 6.5224297344684601e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.3256500959396362e+02 5.7484500110149384e+01 -1.3136399909853935e+01) (float-vector 3.3653500676155090e+02 5.8015000075101852e+01 2.0056299399584532e+00) (float-vector 3.2583698630332947e+02 5.8132298290729523e+01 1.3629400171339512e+01) (float-vector 2.9397800564765930e+02 5.9503998607397079e+01 -3.6015700548887253e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.5430300235748291e+02 5.0840999931097031e+01 2.4503499735146761e+00) (float-vector 3.5377600789070129e+02 4.7331199049949646e+01 1.4020999893546104e+01) (float-vector 3.4893900156021118e+02 4.7365598380565643e+01 2.1899100393056870e+01) (float-vector 3.3696499466896057e+02 5.4748099297285080e+01 2.0116200670599937e+01) (float-vector 3.2583698630332947e+02 5.8132298290729523e+01 1.3629400171339512e+01) (float-vector 3.3653500676155090e+02 5.8015000075101852e+01 2.0056299399584532e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.4121999144554138e+02 5.0550501793622971e+01 -2.6544099673628807e+01) (float-vector 3.3727699518203735e+02 4.6310298144817352e+01 -3.1631298363208771e+01) (float-vector 3.4826299548149109e+02 2.7280200272798538e+01 -2.4681599810719490e+01) (float-vector 3.5230401158332825e+02 4.6536900103092194e+01 -1.7081100493669510e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.5430300235748291e+02 5.0840999931097031e+01 2.4503499735146761e+00) (float-vector 3.3653500676155090e+02 5.8015000075101852e+01 2.0056299399584532e+00) (float-vector 3.3256500959396362e+02 5.7484500110149384e+01 -1.3136399909853935e+01) (float-vector 3.4121999144554138e+02 5.0550501793622971e+01 -2.6544099673628807e+01) (float-vector 3.5230401158332825e+02 4.6536900103092194e+01 -1.7081100493669510e+01) (float-vector 3.5648798942565918e+02 4.6525001525878906e+01 -4.1701798327267170e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.3727699518203735e+02 4.6310298144817352e+01 -3.1631298363208771e+01) (float-vector 3.4121999144554138e+02 5.0550501793622971e+01 -2.6544099673628807e+01) (float-vector 3.1970798969268799e+02 5.4104100912809372e+01 -3.4696899354457855e+01) (float-vector 3.2102000713348389e+02 4.8730101436376572e+01 -3.8035899400711060e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 3.4121999144554138e+02 5.0550501793622971e+01 -2.6544099673628807e+01) (float-vector 3.3256500959396362e+02 5.7484500110149384e+01 -1.3136399909853935e+01) (float-vector 2.9397800564765930e+02 5.9503998607397079e+01 -3.6015700548887253e+01) (float-vector 3.1970798969268799e+02 5.4104100912809372e+01 -3.4696899354457855e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_forearm_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_forearm_roll_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 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7.5107999145984650e+01 2.9799101874232292e+01) (float-vector 1.2100000679492950e+02 7.5107999145984650e+01 -2.9799101874232292e+01) (float-vector 1.2103420495986938e+02 3.9254702627658844e+01 -6.2075298279523849e+01) (float-vector 1.1880420893430710e+02 1.6510300338268280e+01 -7.4573501944541931e+01) (float-vector 1.2117500603199005e+02 -1.8278900533914566e+01 -7.0859998464584351e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_upper_arm_roll_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_upper_arm_roll_link_geom0 - (:init (&key (name "package://pr2_description/meshes/shoulder_v0/upper_arm_roll.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 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299 290 301 355 25 355 398 355 25 184 355 301 398 398 301 390 390 25 398 390 106 25 390 107 106 301 107 390 106 107 108 107 301 347 108 107 347 106 108 162 292 285 108 162 108 285 292 108 347 282 106 162 285 282 162 281 285 67 282 285 281 68 285 214 68 67 285 285 292 214 281 67 282 8 282 6 282 8 106 282 67 6 62 67 68 80 67 62 6 67 80 6 7 8 74 6 75 6 80 75 74 7 6 106 8 65 7 65 8 106 64 25 64 106 65 64 65 66 25 64 351 349 64 66 351 64 349 66 109 111 65 257 66 66 257 109 66 111 349 349 350 351 349 111 350 350 378 351 351 378 386 386 25 351 350 168 378 350 111 168 109 110 111 167 168 111 111 110 167 109 257 110 110 242 243 257 374 110 110 374 242 110 243 167 257 16 242 257 242 374 16 161 242 161 243 242 161 375 243 375 167 243 16 160 161 160 371 161 371 375 161 371 408 375 375 408 167 160 377 371 371 377 408 160 16 15 160 15 222 160 222 224 160 224 377 376 167 377 377 224 376 377 167 408 262 167 376 262 376 224 222 223 224 224 185 262 224 223 406 224 406 185 187 261 262 333 262 261 262 333 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125 117 133 116 39 39 116 320 222 221 320 320 221 39 320 223 222 37 38 39 39 38 286 221 37 39 286 133 39 286 361 133 82 133 361 286 38 302 303 302 38 38 37 273 38 273 303 302 303 272 147 302 272 146 101 302 146 302 147 272 303 273 271 272 273 37 271 273 147 272 271 271 37 147 145 146 147 147 17 145 17 147 37 154 146 145 146 154 101 17 14 145 154 145 402 120 145 14 15 16 17 16 14 17 15 17 37 37 221 15 15 221 222 12 13 14 21 12 14 118 14 198 118 21 14 198 14 16 65 16 257 198 16 65 7 198 65 7 74 198 76 288 198 288 118 198 198 74 76 74 75 76 76 287 288 76 75 287 288 345 118 287 345 288 63 287 75 287 63 62 287 387 345 287 62 387 80 63 75 61 62 63 63 80 61 68 119 62 62 119 387 61 80 62 387 119 345 119 118 345 118 119 21 21 119 178 119 68 178 178 68 171 293 171 68 21 178 171 12 21 2 12 2 13 2 166 13 172 171 293 402 120 154 82 361 83 81 82 83 329 81 83 259 329 83 93 47 216 238 237 214 214 237 299 238 214 292 156 214 299 298 290 299 299 237 298 290 298 291 237 291 298 236 237 238 291 237 236 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2.8756501674652100e+00 -6.9424300193786621e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 2979 -> 30 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2399902641773224e+01 1.8794899806380272e+01 3.8409598171710968e+01) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2408299446105957e+01 3.6649398505687714e+01 -1.9086899235844612e+01) (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 9.2389598488807678e+01 4.1256599128246307e+01 -9.2630402650684118e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 9.2390097677707672e+01 -3.3803198486566544e+01 2.3915499448776245e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01) (float-vector 9.2390097677707672e+01 -3.3803198486566544e+01 2.3915499448776245e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2414796352386475e+01 -4.1516300290822983e+01 -5.2713998593389988e-01) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector 9.2390097677707672e+01 -3.3803198486566544e+01 2.3915499448776245e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2408098280429840e+01 -2.3180099204182625e+01 -3.4330401569604874e+01) (float-vector 9.2419296503067017e+01 -8.8318502530455589e+00 -4.0474899113178253e+01) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 -5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2419296503067017e+01 -8.8318502530455589e+00 -4.0474899113178253e+01) (float-vector 9.2408098280429840e+01 -2.3180099204182625e+01 -3.4330401569604874e+01) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2419296503067017e+01 -8.8318502530455589e+00 -4.0474899113178253e+01) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01) (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 9.2399999499320984e+01 4.4464501552283764e+00 -4.1099399328231812e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2391498386859894e+01 -3.7257999181747437e+01 -1.8208600580692291e+01) (float-vector 9.2408098280429840e+01 -2.3180099204182625e+01 -3.4330401569604874e+01) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 -5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2408098280429840e+01 -2.3180099204182625e+01 -3.4330401569604874e+01) (float-vector 9.2391498386859894e+01 -3.7257999181747437e+01 -1.8208600580692291e+01) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 -5.3135100752115250e+00) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector 9.2414796352386475e+01 -4.1516300290822983e+01 -5.2713998593389988e-01) (float-vector 9.2391498386859894e+01 -3.7257999181747437e+01 -1.8208600580692291e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 7.5144302099943161e+00 -1.6653300536188148e-15) (float-vector 9.2408299446105957e+01 3.6649398505687714e+01 -1.9086899235844612e+01) (float-vector 9.2389598488807678e+01 4.1256599128246307e+01 -9.2630402650684118e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 7.5144302099943161e+00 -1.6653300536188148e-15) (float-vector 9.2389598488807678e+01 4.1256599128246307e+01 -9.2630402650684118e-01) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 9.3900002539157867e+01 2.5806499645113945e+01 -3.1690601259469986e+01) (float-vector 9.2399999499320984e+01 4.4464501552283764e+00 -4.1099399328231812e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2408299446105957e+01 3.6649398505687714e+01 -1.9086899235844612e+01) (float-vector 9.3900002539157867e+01 2.5806499645113945e+01 -3.1690601259469986e+01) (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 9.2399902641773224e+01 -8.7499996880069375e-02 4.2800001800060272e+01) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00) (float-vector 9.2399902641773224e+01 1.8794899806380272e+01 3.8409598171710968e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2414796352386475e+01 -4.1516300290822983e+01 -5.2713998593389988e-01) (float-vector 9.2390097677707672e+01 -3.3803198486566544e+01 2.3915499448776245e+01) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666699571534991e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666699571534991e+00) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01) (float-vector 9.2391498386859894e+01 -3.7257999181747437e+01 -1.8208600580692291e+01) (float-vector 9.2414796352386475e+01 -4.1516300290822983e+01 -5.2713998593389988e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.3900002539157867e+01 2.5806499645113945e+01 -3.1690601259469986e+01) (float-vector -2.4499999359250069e+01 2.8756500687450171e+00 -6.9424300454556942e+00) (float-vector 9.2399999499320984e+01 4.4464501552283764e+00 -4.1099399328231812e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 2.8756500687450171e+00 -6.9424300454556942e+00) (float-vector -2.4499999359250069e+01 7.5144302099943161e+00 -1.6653300536188148e-15) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 -5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 2.8756500687450171e+00 -6.9424300454556942e+00) (float-vector 9.3900002539157867e+01 2.5806499645113945e+01 -3.1690601259469986e+01) (float-vector 9.2408299446105957e+01 3.6649398505687714e+01 -1.9086899235844612e+01) (float-vector -2.4499999359250069e+01 7.5144302099943161e+00 -1.6653300536188148e-15))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.4499999359250069e+01 2.8756500687450171e+00 -6.9424300454556942e+00) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 -5.3135100752115250e+00) (float-vector 9.2419296503067017e+01 -8.8318502530455589e+00 -4.0474899113178253e+01) (float-vector 9.2399999499320984e+01 4.4464501552283764e+00 -4.1099399328231812e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01) (float-vector 9.2399902641773224e+01 1.8794899806380272e+01 3.8409598171710968e+01) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01) (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 9.2399902641773224e+01 1.8794899806380272e+01 3.8409598171710968e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 9.2399902641773224e+01 -8.7499996880069375e-02 4.2800001800060272e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2399902641773224e+01 -8.7499996880069375e-02 4.2800001800060272e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01) (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666699571534991e+00) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01) (float-vector 9.2389598488807678e+01 4.1256599128246307e+01 -9.2630402650684118e-01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_forearm_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_l_finger_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 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-6.7966331481933594e+01)(1.2227606201171875e+02 2.1726520061492920e+00 -6.7260620117187500e+01)(1.2317126464843750e+02 -6.0609078407287598e-01 -6.7000274658203125e+01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 2988 -> 23 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 -6.6029660403728485e+01 2.7869276702404022e+01) (float-vector 1.3836999237537384e+02 -2.9887001961469650e+01 6.5454557538032532e+01) (float-vector 1.4036999642848969e+02 -2.5872744619846344e+01 6.4999997615814209e+01) (float-vector 1.4036999642848969e+02 -2.7887001633644104e+01 -6.4158231019973755e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.4036999642848969e+02 -2.7887001633644104e+01 -6.4158231019973755e+01) (float-vector 1.2137000262737274e+02 -5.6568507105112076e+01 -4.4058218598365784e+01) (float-vector 1.2137000262737274e+02 -6.6029660403728485e+01 2.7869276702404022e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 -5.6568507105112076e+01 -4.4058218598365784e+01) (float-vector 1.1736999452114105e+02 -5.8990295976400375e+01 2.3230178281664848e+01) (float-vector 1.2137000262737274e+02 -6.6029660403728485e+01 2.7869276702404022e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01) (float-vector 1.3836999237537384e+02 3.0102998018264771e+01 -6.5454497933387756e+01) (float-vector 1.2137000262737274e+02 6.1707302927970886e+01 -3.7386111915111542e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2136999517679214e+02 -4.2364656925201416e+01 5.8364491909742355e+01) (float-vector 1.2137000262737274e+02 -6.6029660403728485e+01 2.7869276702404022e+01) (float-vector 1.1736999452114105e+02 -5.8990295976400375e+01 2.3230178281664848e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2136999517679214e+02 -4.2364656925201416e+01 5.8364491909742355e+01) (float-vector 1.3836999237537384e+02 -2.9887001961469650e+01 6.5454557538032532e+01) (float-vector 1.2137000262737274e+02 -6.6029660403728485e+01 2.7869276702404022e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 -2.0458962768316269e+01 6.8999998271465302e+01) (float-vector 1.3836999237537384e+02 -2.9887001961469650e+01 6.5454557538032532e+01) (float-vector 1.2136999517679214e+02 -4.2364656925201416e+01 5.8364491909742355e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999756097794e+02 -2.7524860575795174e+01 -6.6491514444351196e+01) (float-vector 1.3836999237537384e+02 -2.6259034872055054e+01 -6.7000001668930054e+01) (float-vector 1.1886998265981674e+02 -3.8841786590637639e-02 -7.2086624801158905e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.3836999237537384e+02 -2.6259034872055054e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -2.7524860575795174e+01 -6.6491514444351196e+01) (float-vector 1.1887000501155853e+02 -4.7454215586185455e+01 -5.4153099656105042e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.4036999642848969e+02 -2.7887001633644104e+01 -6.4158231019973755e+01) (float-vector 1.3836999237537384e+02 -2.6259034872055054e+01 -6.7000001668930054e+01) (float-vector 1.1887000501155853e+02 -4.7454215586185455e+01 -5.4153099656105042e+01) (float-vector 1.2137000262737274e+02 -5.6568507105112076e+01 -4.4058218598365784e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01) (float-vector 1.1887000501155853e+02 2.1601686254143715e+01 -6.8827778100967407e+01) (float-vector 1.3836999237537384e+02 3.0102998018264771e+01 -6.5454497933387756e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1887000501155853e+02 -4.7454215586185455e+01 -5.4153099656105042e+01) (float-vector 1.1886999756097794e+02 -2.7524860575795174e+01 -6.6491514444351196e+01) (float-vector 1.1886998265981674e+02 -3.8841786590637639e-02 -7.2086624801158905e+01) (float-vector 1.1887000501155853e+02 2.1601686254143715e+01 -6.8827778100967407e+01) (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01) (float-vector 1.1736999452114105e+02 -5.8990295976400375e+01 2.3230178281664848e+01) (float-vector 1.2137000262737274e+02 -5.6568507105112076e+01 -4.4058218598365784e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1887000501155853e+02 2.1601686254143715e+01 -6.8827778100967407e+01) (float-vector 1.1886998265981674e+02 -3.8841786590637639e-02 -7.2086624801158905e+01) (float-vector 1.3836999237537384e+02 -2.6259034872055054e+01 -6.7000001668930054e+01) (float-vector 1.3836999237537384e+02 3.0102998018264771e+01 -6.5454497933387756e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.3836999237537384e+02 2.6475032791495323e+01 6.7000001668930054e+01) (float-vector 1.2137000262737274e+02 2.0674964413046837e+01 6.8999998271465302e+01) (float-vector 1.1886999011039734e+02 3.8424689322710037e+01 6.1056748032569885e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.4036999642848969e+02 -2.7887001633644104e+01 -6.4158231019973755e+01) (float-vector 1.4036999642848969e+02 -2.5872744619846344e+01 6.4999997615814209e+01) (float-vector 1.3836999237537384e+02 2.6475032791495323e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158231019973755e+01) (float-vector 1.3836999237537384e+02 3.0102998018264771e+01 -6.5454497933387756e+01) (float-vector 1.3836999237537384e+02 -2.6259034872055054e+01 -6.7000001668930054e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 -2.0458962768316269e+01 6.8999998271465302e+01) (float-vector 1.1887000501155853e+02 1.7722427146509290e+00 7.2045788168907166e+01) (float-vector 1.2137000262737274e+02 2.0674964413046837e+01 6.8999998271465302e+01) (float-vector 1.3836999237537384e+02 2.6475032791495323e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 -2.5872744619846344e+01 6.4999997615814209e+01) (float-vector 1.3836999237537384e+02 -2.9887001961469650e+01 6.5454557538032532e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 6.1707302927970886e+01 -3.7386111915111542e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210855390181384e-14) (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015513196587563e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210855390181384e-14) (float-vector 1.2137000262737274e+02 6.1707302927970886e+01 -3.7386111915111542e+01) (float-vector 1.3836999237537384e+02 3.0102998018264771e+01 -6.5454497933387756e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158231019973755e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999011039734e+02 5.6136455386877060e+01 4.5345362275838852e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158231019973755e+01) (float-vector 1.3836999237537384e+02 2.6475032791495323e+01 6.7000001668930054e+01) (float-vector 1.1886999011039734e+02 3.8424689322710037e+01 6.1056748032569885e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999011039734e+02 5.6136455386877060e+01 4.5345362275838852e+01) (float-vector 1.1886999011039734e+02 3.8424689322710037e+01 6.1056748032569885e+01) (float-vector 1.2137000262737274e+02 2.0674964413046837e+01 6.8999998271465302e+01) (float-vector 1.1887000501155853e+02 1.7722427146509290e+00 7.2045788168907166e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999011039734e+02 6.8511754274368286e+01 2.2576270624995232e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210855390181384e-14) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015513196587563e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999011039734e+02 5.6136455386877060e+01 4.5345362275838852e+01) (float-vector 1.1886999011039734e+02 6.8511754274368286e+01 2.2576270624995232e+01) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015513196587563e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158231019973755e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210855390181384e-14) (float-vector 1.1886999011039734e+02 6.8511754274368286e+01 2.2576270624995232e+01) (float-vector 1.1886999011039734e+02 5.6136455386877060e+01 4.5345362275838852e+01) (float-vector 1.1887000501155853e+02 1.7722427146509290e+00 7.2045788168907166e+01) (float-vector 1.2137000262737274e+02 -2.0458962768316269e+01 6.8999998271465302e+01) (float-vector 1.2136999517679214e+02 -4.2364656925201416e+01 5.8364491909742355e+01) (float-vector 1.1736999452114105e+02 -5.8990295976400375e+01 2.3230178281664848e+01) (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_upper_arm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_upper_arm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/upper_arm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 856 1 0 953 856 0 477 0 484 0 34 484 2 34 0 953 0 477 2 147 33 34 2 33 2 1 147 33 30 34 34 32 484 34 30 32 477 484 32 30 31 32 476 477 32 476 32 486 486 32 31 485 476 486 718 850 476 485 718 476 476 850 477 902 485 486 902 718 485 902 486 717 31 844 486 486 844 717 902 717 718 717 646 718 717 778 646 717 844 778 778 844 647 31 290 844 844 290 647 778 647 646 646 647 620 4 718 646 620 4 646 620 647 36 290 36 647 290 37 36 31 37 290 35 36 37 620 36 396 36 35 396 4 620 396 395 4 396 35 481 396 396 481 546 546 395 396 35 37 481 37 472 481 37 31 470 472 37 470 546 481 545 481 472 923 481 923 545 545 483 546 597 395 546 546 483 597 545 923 483 923 472 483 469 472 470 483 472 469 478 483 469 483 478 597 597 478 543 543 395 597 468 478 469 478 468 479 543 478 479 468 469 470 468 38 466 468 466 479 468 470 38 479 466 480 479 480 543 466 38 467 466 467 471 466 471 480 543 480 688 689 480 471 688 480 689 471 467 734 689 471 690 690 471 734 38 22 467 467 22 734 406 733 734 21 734 22 406 734 21 733 690 734 688 689 690 733 688 690 543 688 408 733 408 688 406 408 733 406 407 408 407 406 21 21 22 23 21 23 407 38 491 22 22 491 23 23 748 407 23 491 489 748 23 489 408 407 832 832 407 791 748 791 407 748 489 853 748 853 791 488 489 490 488 853 489 489 491 490 853 488 791 791 792 148 148 832 791 791 488 792 792 488 490 490 491 896 740 490 896 740 792 490 148 792 740 149 148 740 684 740 896 684 149 740 465 464 896 465 896 491 684 896 464 683 684 464 684 69 149 70 684 683 69 684 70 463 464 465 464 463 683 470 463 39 31 683 463 463 465 39 470 31 463 470 39 38 38 39 40 465 40 39 40 491 38 491 40 465 30 487 31 487 458 31 31 458 683 487 680 458 19 680 487 19 487 473 473 487 30 458 459 216 216 593 458 680 459 458 458 593 683 64 459 680 64 680 19 459 499 216 64 493 459 493 499 459 216 217 218 216 218 593 216 499 217 593 316 683 593 218 316 259 218 260 316 218 259 218 68 70 260 218 70 218 217 68 316 259 683 259 260 683 260 70 683 68 69 70 68 217 272 68 272 69 272 217 232 777 686 217 217 686 232 497 217 499 217 497 777 231 183 232 232 686 231 183 272 232 682 686 777 682 231 686 456 777 497 682 777 456 681 682 456 682 681 231 231 681 183 456 367 681 849 681 367 183 681 849 456 361 457 456 457 367 456 497 361 361 362 191 497 362 361 457 361 191 367 457 191 365 366 367 367 191 365 818 849 367 745 367 366 818 367 528 367 745 528 528 745 529 366 529 745 528 529 530 528 530 963 963 818 528 530 529 366 963 530 859 859 530 366 859 366 860 366 365 860 859 860 381 963 859 381 818 963 381 381 365 190 818 381 190 860 365 381 190 191 192 192 631 190 631 892 190 190 892 818 365 191 190 362 138 191 192 191 178 178 191 138 192 178 736 736 631 192 892 631 736 178 735 736 735 171 736 171 892 736 169 170 171 171 735 169 170 892 171 297 169 298 169 297 752 170 169 752 169 735 829 169 829 298 170 752 818 170 818 892 181 183 818 818 183 849 818 752 181 181 182 183 181 752 182 267 183 182 272 183 267 182 269 267 182 752 269 269 270 267 270 269 879 269 752 879 271 268 270 268 267 270 271 270 301 270 879 301 301 879 373 373 879 752 752 122 373 752 297 122 120 121 122 300 373 122 120 122 297 122 121 300 297 298 120 120 298 732 972 120 732 120 972 121 300 121 49 121 972 47 121 47 49 919 47 972 732 735 972 972 735 919 732 298 829 829 735 732 178 180 735 735 716 919 180 715 735 715 716 735 178 179 180 138 137 178 137 913 178 913 179 178 179 715 180 715 433 716 284 433 715 179 284 715 179 283 284 283 996 284 996 433 284 179 433 283 283 433 996 538 433 179 538 179 913 913 795 914 913 137 795 538 913 914 537 434 538 538 956 537 433 538 434 914 956 538 914 795 797 956 914 797 795 796 797 795 340 796 795 137 340 796 387 797 956 797 387 537 956 387 387 388 250 537 387 311 387 250 311 410 388 387 410 387 796 340 411 796 411 410 796 388 410 411 388 411 342 340 342 411 340 341 342 342 341 898 388 342 802 802 342 898 898 341 769 994 898 769 898 994 802 388 802 803 803 802 651 802 994 651 994 426 425 994 425 651 426 994 769 768 426 769 769 341 194 194 768 769 424 425 426 424 426 867 426 768 867 651 425 652 652 425 494 425 424 494 424 820 494 424 867 820 495 867 961 867 768 961 820 867 495 494 820 495 494 495 496 495 554 496 495 961 554 961 934 549 934 961 768 961 549 554 496 554 275 554 276 275 549 999 554 554 999 276 494 496 932 932 496 275 275 276 277 932 275 883 275 277 883 277 276 326 935 326 276 935 276 999 999 549 935 326 935 327 935 551 327 549 551 935 326 327 328 572 277 326 326 328 572 650 328 327 551 648 327 648 650 327 549 550 551 551 766 648 550 766 551 648 649 650 767 649 648 648 766 767 765 766 550 765 767 766 550 934 765 934 550 549 765 934 193 765 930 767 930 765 193 930 931 767 936 649 767 931 936 767 1001 931 930 1001 930 193 193 194 195 934 194 193 195 1001 193 768 194 934 194 341 195 341 492 195 492 1000 195 1000 1001 195 1000 776 1001 776 931 1001 775 776 1000 492 775 1000 340 775 492 492 341 340 775 504 776 775 137 504 340 137 775 504 927 776 931 776 927 503 504 358 504 503 927 504 137 358 136 137 138 136 358 137 358 359 360 358 136 742 358 360 503 359 358 742 138 116 136 116 117 136 136 117 742 254 138 413 362 413 138 138 254 116 116 28 117 116 254 29 116 29 28 117 28 720 117 720 955 742 117 955 27 28 29 28 114 720 28 27 114 113 114 115 114 595 115 114 27 595 720 114 113 113 115 414 113 414 724 724 888 113 113 888 720 595 414 115 737 595 364 595 642 414 595 737 642 364 595 27 414 642 643 414 643 724 724 980 888 643 988 724 724 988 980 84 887 980 84 980 377 980 887 888 377 980 988 988 565 377 643 565 988 376 84 377 376 377 565 564 565 566 565 212 566 643 212 565 565 564 376 376 320 322 564 320 376 880 84 376 322 880 376 320 564 321 321 564 817 564 566 817 566 629 817 629 566 212 629 624 817 817 624 321 320 321 322 624 53 321 869 321 53 321 869 322 880 322 357 357 322 869 868 869 870 868 357 869 53 870 869 868 976 355 976 868 870 868 355 357 53 55 870 242 870 55 242 976 870 976 838 355 976 242 838 355 356 357 838 452 355 355 452 356 452 838 154 242 619 838 155 838 619 838 155 154 241 242 55 619 242 241 241 243 619 54 835 241 835 404 241 241 404 243 241 55 54 53 54 55 118 54 119 119 54 53 118 835 54 612 835 118 612 404 835 118 119 997 118 997 986 612 118 986 119 53 624 119 624 630 997 119 630 174 997 959 997 630 959 986 997 174 612 986 173 173 986 174 172 173 174 174 289 247 172 174 247 289 174 959 288 111 289 111 247 289 288 289 959 111 246 247 247 246 172 110 111 112 111 288 112 246 111 110 959 808 288 112 288 846 808 846 288 307 112 569 107 110 112 307 107 112 569 112 846 109 246 110 107 109 110 107 108 109 306 107 307 786 108 107 107 306 786 92 306 307 569 92 307 809 569 846 569 809 92 809 846 808 808 783 809 809 813 824 809 824 92 783 813 809 783 18 813 813 20 824 18 20 813 75 824 20 824 75 92 18 19 20 74 75 20 482 74 20 20 19 473 20 473 482 74 739 75 739 92 75 482 596 74 596 739 74 482 473 475 948 596 482 948 482 475 473 474 475 474 473 30 695 475 474 948 475 695 948 695 596 596 695 336 336 695 219 695 474 220 219 695 220 474 30 922 220 474 922 922 30 544 544 30 33 220 922 146 146 922 544 219 220 146 145 336 219 145 219 146 336 1 596 145 1 336 145 146 147 147 1 145 147 146 544 33 147 544 3 1 4 1 516 764 525 516 1 764 93 1 1 856 4 525 1 841 596 1 93 841 1 3 596 93 739 92 93 94 94 93 764 93 92 739 516 94 764 94 516 291 94 291 92 415 92 291 306 92 415 293 306 415 291 293 415 293 435 306 786 306 435 291 292 293 292 435 293 374 375 292 5 374 292 435 292 375 5 292 291 5 640 374 374 438 375 438 374 640 437 435 375 438 437 375 436 437 438 346 438 508 727 436 438 727 438 346 508 438 640 436 227 226 727 330 436 436 226 437 436 330 227 346 330 727 346 347 60 346 60 330 346 508 347 508 640 641 508 641 347 746 747 641 641 640 746 861 347 641 747 906 641 906 861 641 746 843 747 843 906 747 843 905 906 907 861 906 906 905 907 907 905 908 908 702 907 713 861 907 713 907 714 907 702 714 908 954 702 905 671 908 908 671 954 702 703 704 702 704 714 954 703 702 982 954 671 982 703 954 598 671 672 672 671 905 598 982 671 598 80 599 675 598 599 80 598 672 675 982 598 672 72 80 905 72 672 991 72 905 843 991 905 71 72 73 73 72 964 72 71 80 964 72 991 964 991 843 238 842 843 842 964 843 238 843 746 73 964 82 964 842 82 79 71 73 73 82 81 79 73 81 79 80 71 79 599 80 599 79 738 81 738 79 901 675 599 599 738 901 901 738 400 901 982 675 982 901 400 703 982 399 399 982 400 399 43 703 703 43 704 399 400 210 399 210 441 399 441 43 41 42 43 441 41 43 704 43 14 14 43 42 714 704 14 12 13 14 42 12 14 13 714 14 666 713 714 13 666 714 665 666 13 52 773 13 12 52 13 13 773 665 368 52 12 12 42 368 50 51 52 51 335 52 368 50 52 335 773 52 899 666 773 773 666 665 773 335 899 899 335 91 741 666 899 741 899 90 899 91 90 90 91 46 91 335 527 46 91 527 223 501 90 741 90 501 46 223 90 713 741 501 713 666 741 713 501 861 501 502 15 501 942 502 501 15 861 223 942 501 861 15 347 15 16 17 502 939 15 939 16 15 347 15 17 939 502 942 939 942 513 223 943 942 943 513 942 513 16 939 513 331 16 513 248 331 943 248 513 249 943 223 249 248 943 45 222 223 222 249 223 45 223 46 248 249 224 224 249 222 45 224 222 44 45 46 45 248 224 44 248 45 526 46 527 526 44 46 335 44 526 44 712 248 44 385 712 385 44 335 526 527 335 335 384 385 51 839 335 335 839 384 712 385 710 385 384 987 710 385 987 710 711 712 710 987 744 710 744 711 811 810 987 384 811 987 987 810 744 744 265 711 744 144 265 744 810 821 744 821 144 810 811 812 812 821 810 811 993 812 811 628 993 384 628 811 993 627 812 993 628 627 626 627 628 836 837 628 626 628 837 384 836 628 836 384 839 951 837 836 836 839 951 951 839 583 839 51 353 583 839 353 837 951 583 837 305 304 583 950 837 626 837 304 950 305 837 25 950 583 305 950 25 24 25 26 26 25 583 24 305 25 26 789 24 789 305 24 790 789 26 790 26 582 582 26 583 165 789 790 789 165 430 789 430 305 163 165 790 790 804 163 804 790 582 581 582 583 582 581 721 804 582 721 379 378 581 581 805 721 581 378 805 379 581 583 379 583 616 353 616 583 353 615 616 150 379 616 616 615 150 353 50 354 353 51 50 615 353 354 354 50 368 706 615 354 706 354 368 368 42 369 706 368 826 826 368 369 705 615 706 826 705 706 826 832 705 705 832 148 615 705 148 408 832 826 543 408 395 4 395 408 408 826 806 408 806 4 856 718 4 4 806 3 850 856 953 718 856 850 850 953 477 806 78 3 605 841 3 78 605 3 841 605 523 523 525 841 523 524 525 523 918 971 990 918 523 605 990 523 523 971 524 525 524 516 291 516 517 516 524 517 8 291 9 291 8 6 5 291 6 291 517 9 517 524 693 693 9 517 8 9 10 10 9 693 8 11 6 8 10 11 5 6 7 6 11 7 746 640 5 746 5 239 5 7 239 240 239 7 67 7 11 67 240 7 11 890 67 10 890 11 65 66 67 67 66 970 890 65 67 67 970 240 238 239 240 240 970 238 239 238 746 238 970 842 970 66 83 83 842 970 842 83 82 81 82 83 900 81 83 236 83 66 236 900 83 236 237 81 237 738 81 900 236 81 237 236 66 875 738 237 875 237 66 886 738 884 738 610 884 886 400 738 610 738 875 884 885 886 885 400 886 884 209 885 210 884 610 210 209 884 885 208 400 885 209 208 400 208 210 208 209 210 847 441 210 623 847 210 610 623 210 187 847 188 698 847 623 188 847 698 187 441 847 187 41 441 187 188 189 42 187 369 42 41 187 369 187 189 825 826 189 826 369 189 189 188 825 826 825 806 825 188 806 188 944 806 806 944 78 188 697 944 944 607 992 944 992 78 697 607 944 76 77 78 992 76 78 78 77 605 607 76 992 606 607 608 76 607 606 607 697 608 418 76 606 606 416 418 606 608 416 697 416 608 416 417 418 416 696 417 697 696 416 417 609 418 623 417 696 623 609 417 696 697 698 698 623 696 610 609 623 151 609 610 609 151 418 610 875 962 151 610 962 874 875 655 962 875 874 653 655 875 653 875 66 962 874 655 151 962 655 653 654 655 655 654 151 65 653 66 654 653 398 398 653 65 654 398 918 654 723 152 918 723 654 151 654 152 918 398 971 918 990 723 722 723 670 723 722 152 990 670 723 151 152 153 152 722 153 418 151 153 153 722 670 673 153 670 673 418 153 605 604 670 670 604 673 990 605 670 673 604 76 418 673 76 77 604 605 76 604 77 971 398 524 65 397 398 524 398 693 397 10 398 398 10 693 397 65 890 397 890 10 188 698 697 148 149 150 615 148 150 989 150 149 149 69 989 130 150 989 995 833 150 833 379 150 130 995 150 130 989 69 130 131 132 132 380 130 130 380 995 131 130 69 833 995 380 833 380 379 378 379 380 132 533 380 533 378 380 132 429 533 131 427 132 427 429 132 533 534 535 534 533 429 533 535 805 533 805 378 427 428 429 429 428 534 761 762 427 427 762 428 761 427 131 428 603 534 985 603 428 428 762 985 985 762 622 622 762 761 985 622 973 985 973 603 48 622 49 622 590 317 973 622 317 761 49 622 48 590 622 319 587 973 319 973 317 587 603 973 317 318 319 402 317 591 318 317 402 317 590 591 590 542 591 48 542 590 699 402 591 591 893 699 542 893 591 401 318 402 402 699 845 401 402 845 318 401 319 575 401 573 891 401 845 573 401 891 319 401 575 573 574 575 575 574 586 319 575 586 574 573 876 876 573 891 891 845 161 897 876 891 161 897 891 574 876 877 897 799 876 877 876 894 876 799 894 338 574 877 338 586 574 338 877 339 877 894 339 894 799 895 894 895 371 894 371 678 339 894 678 337 338 339 339 677 337 339 678 677 586 338 601 338 337 601 512 511 337 324 337 677 512 337 324 601 337 511 676 677 678 677 676 325 324 677 325 323 324 325 512 324 594 324 323 594 325 676 323 938 323 676 938 676 678 105 594 323 323 106 105 938 106 323 512 594 105 104 105 106 409 105 104 512 105 409 370 104 106 370 106 938 938 678 370 370 678 371 370 371 372 104 370 351 351 370 372 372 371 957 351 372 957 371 782 585 895 952 371 371 952 782 371 585 957 957 958 657 957 585 958 351 957 657 584 446 585 584 585 782 585 446 958 799 584 782 952 799 782 895 799 952 447 799 800 799 460 462 500 799 897 799 462 800 799 447 584 460 799 500 446 584 447 445 446 447 958 446 445 445 532 531 445 447 915 445 915 532 958 445 531 134 531 532 531 657 958 134 657 531 133 134 135 352 134 133 135 134 865 865 134 532 352 657 134 351 657 352 350 351 352 350 352 133 350 133 983 133 135 983 135 865 780 780 983 135 865 532 866 865 866 781 781 780 865 779 780 781 793 780 794 793 983 780 779 794 780 350 983 793 793 848 350 793 345 848 793 343 345 794 343 793 779 580 794 580 343 794 580 779 685 781 685 779 578 579 580 578 580 600 685 600 580 579 343 580 343 344 345 579 547 343 547 344 343 344 848 345 344 409 104 450 449 344 344 200 199 344 199 848 344 104 200 409 344 294 449 294 344 547 450 344 200 104 201 201 104 351 199 200 201 199 201 848 848 201 350 201 351 350 449 450 451 450 547 548 156 450 917 451 450 156 917 450 548 548 547 579 518 548 56 548 579 56 917 548 518 452 154 917 58 917 518 452 917 58 154 156 917 518 56 519 518 519 58 56 57 58 58 57 731 519 56 58 731 452 58 56 578 57 56 579 578 731 57 830 749 831 57 578 749 57 57 831 830 555 452 731 555 731 830 555 830 831 831 726 815 831 725 726 555 831 815 725 831 749 555 556 452 555 814 556 555 815 814 175 556 658 556 175 452 975 658 556 814 975 556 452 175 356 175 176 177 356 175 177 175 658 176 176 658 656 975 656 658 514 975 814 558 656 975 514 558 975 86 656 123 656 85 176 85 656 86 558 123 656 177 176 880 880 176 85 84 85 86 880 85 84 357 947 880 947 177 880 356 177 357 357 177 947 887 84 86 887 728 888 887 86 728 728 729 720 729 728 431 86 431 728 728 720 888 729 390 955 720 729 955 621 390 729 621 729 431 86 63 431 621 431 63 86 123 63 61 62 63 63 389 621 63 123 61 389 63 62 389 390 621 389 386 390 62 785 389 785 386 389 360 359 386 770 360 386 359 390 386 770 386 785 62 771 785 785 771 770 660 770 771 770 503 360 660 503 770 771 570 709 771 62 570 709 660 771 650 660 709 570 650 709 659 503 660 649 659 660 650 649 660 927 503 659 936 927 659 649 936 659 936 931 927 650 570 328 572 328 570 570 571 572 571 277 572 570 644 571 571 881 277 644 61 571 571 61 969 571 969 881 277 881 883 881 882 883 279 881 969 881 279 929 882 881 929 61 754 969 279 969 754 61 753 754 753 280 754 279 754 280 753 514 419 280 753 540 61 558 753 558 514 753 540 753 419 278 279 280 540 278 280 540 419 925 540 925 576 577 278 540 576 577 540 278 577 279 279 577 974 279 974 929 933 928 974 974 928 929 974 577 933 928 882 929 634 928 632 932 928 634 632 928 933 882 928 932 882 932 883 634 494 932 632 633 634 633 494 634 632 730 633 912 632 933 912 730 632 633 281 652 633 652 494 730 281 633 707 708 730 708 282 730 281 730 282 912 707 730 567 912 933 567 707 912 707 204 708 204 707 567 203 708 204 439 708 203 439 282 708 281 282 251 439 440 282 251 282 440 439 203 635 439 635 440 202 203 204 635 203 636 203 202 636 635 636 637 252 635 637 252 440 635 251 440 252 250 251 252 872 281 251 251 250 872 872 250 862 872 862 281 949 803 250 388 949 250 803 862 250 252 311 250 803 651 862 281 862 652 862 651 652 949 388 803 311 252 312 312 537 311 432 537 312 312 645 432 541 645 312 312 252 541 432 434 537 432 433 434 454 432 645 432 878 433 432 454 878 645 541 455 455 454 645 453 454 455 878 454 852 852 454 453 716 878 852 878 716 433 851 852 453 919 852 851 716 852 919 48 453 455 453 48 851 455 541 542 542 48 455 47 48 49 851 48 47 851 47 919 49 299 300 761 299 49 552 299 816 300 299 552 816 299 761 300 552 553 553 373 300 816 855 552 855 553 552 855 816 274 131 274 816 816 761 131 553 855 274 553 274 373 69 274 131 373 274 69 272 266 69 266 373 69 272 267 273 273 266 272 266 267 268 273 267 266 266 268 373 373 268 271 271 301 373 541 893 542 541 252 864 541 864 893 864 252 893 252 699 893 162 252 637 827 252 162 252 827 845 252 845 699 160 161 162 160 162 637 827 162 161 636 160 637 460 500 160 160 500 161 636 460 160 845 827 161 161 500 897 460 461 462 636 461 460 636 202 461 461 663 662 461 998 462 461 202 663 662 998 461 979 800 462 998 979 462 998 662 979 661 662 663 979 662 871 662 310 871 310 662 661 871 915 979 979 915 447 447 800 979 871 310 98 539 915 871 871 98 539 532 915 539 100 539 98 100 99 539 866 539 442 532 539 866 539 99 442 98 99 100 442 99 443 99 725 443 99 98 725 442 443 444 685 442 444 781 442 685 866 442 781 443 749 444 443 725 749 725 98 726 310 726 98 815 726 383 383 726 310 308 309 310 310 309 383 308 310 661 382 383 309 382 815 383 515 814 815 420 515 815 420 815 382 382 664 420 309 308 382 308 664 382 661 664 308 663 664 661 421 664 694 664 663 694 420 664 421 419 420 421 515 420 419 514 515 419 514 814 515 925 419 421 694 921 421 921 925 421 924 576 925 925 921 924 332 924 921 694 941 921 941 332 921 334 576 924 334 924 332 576 334 577 332 333 334 568 577 334 334 333 568 772 926 332 772 332 941 926 333 332 694 772 941 694 204 772 772 204 926 926 204 333 333 567 568 333 204 567 937 568 567 937 577 568 937 933 577 937 567 933 694 202 204 694 663 202 749 600 444 749 578 600 685 444 600 558 61 123 62 61 644 62 909 570 644 909 62 570 909 644 390 359 742 742 955 390 154 155 156 451 156 155 155 618 451 618 155 619 449 451 294 294 451 828 618 828 451 295 618 619 828 618 295 245 619 243 295 619 245 294 295 296 295 245 296 828 295 294 405 409 294 405 294 296 296 403 405 244 296 245 296 244 403 243 244 245 243 404 403 243 403 244 403 404 405 405 404 409 409 404 612 611 612 613 611 409 612 613 612 173 261 409 611 262 611 613 261 611 262 639 613 173 639 262 613 422 173 423 172 423 173 639 173 422 422 638 639 638 262 639 261 262 263 263 262 638 984 409 261 984 261 263 233 920 263 263 834 233 920 984 263 638 834 263 920 409 984 920 589 409 589 512 409 946 589 920 946 920 233 946 233 235 946 235 589 588 510 589 589 592 588 589 510 512 592 589 235 510 511 512 602 511 510 588 602 510 592 535 588 602 588 534 534 588 535 592 234 535 234 592 235 233 234 235 617 234 233 234 804 535 617 804 234 535 804 805 163 804 617 805 804 721 163 164 165 163 617 759 164 163 759 164 314 165 314 164 315 315 164 674 674 164 759 165 314 430 313 314 315 509 314 313 509 430 314 313 315 784 674 945 315 784 315 945 758 945 674 758 674 759 916 945 758 916 784 945 285 784 916 562 313 784 784 285 562 561 313 562 509 313 561 561 562 563 563 562 285 285 286 287 916 286 285 788 285 287 788 563 285 916 758 286 286 873 823 758 873 286 286 823 287 788 287 394 287 823 394 822 394 823 822 823 873 422 873 758 172 873 423 822 873 172 423 873 422 822 172 246 109 822 246 822 109 394 109 108 801 801 394 109 108 394 801 108 393 394 700 701 108 87 89 108 701 87 108 786 700 108 89 393 108 89 788 393 393 788 394 87 88 89 88 788 89 787 788 129 787 563 788 129 788 88 87 129 88 127 128 129 127 129 87 819 129 128 129 819 787 561 563 787 561 787 819 614 303 819 303 509 819 911 819 128 614 819 911 819 509 561 302 303 304 302 430 303 303 430 509 614 304 303 304 305 302 305 430 302 614 854 304 854 812 304 304 812 626 614 142 854 812 854 142 812 142 821 626 812 627 142 143 144 614 143 142 821 142 144 144 264 265 264 144 967 143 967 144 265 264 141 139 264 967 264 139 141 265 141 711 774 711 141 774 712 711 712 774 965 141 966 774 965 774 966 712 965 248 248 965 557 965 966 557 966 559 557 141 560 966 966 560 559 559 560 140 559 140 391 557 559 391 141 140 560 139 140 141 140 139 96 391 140 95 140 96 95 391 392 205 391 95 392 205 557 391 95 96 97 392 95 960 960 95 97 96 139 968 97 96 968 968 139 967 968 967 143 97 968 798 968 143 978 978 798 968 97 798 412 960 97 412 412 807 960 807 392 960 253 412 128 798 128 412 412 253 807 798 978 128 911 128 978 143 911 978 143 614 911 127 253 128 253 127 87 253 87 807 87 701 807 392 807 349 701 349 807 700 349 701 348 206 349 392 349 206 700 348 349 392 206 205 205 206 207 348 700 206 206 700 207 786 207 700 205 207 940 435 207 786 435 940 207 205 940 557 940 763 557 437 940 435 940 437 763 248 557 448 557 763 448 226 763 437 448 763 719 226 719 763 248 448 331 331 448 329 329 448 719 329 719 226 225 226 227 329 226 225 329 330 331 225 330 329 330 16 331 225 227 330 16 330 60 59 16 60 17 16 59 59 60 347 347 17 59 638 422 760 422 758 760 638 760 757 638 757 834 760 758 757 757 758 759 834 757 617 617 757 759 233 834 617 603 602 534 601 602 603 586 603 587 586 601 603 602 601 511 319 586 587 19 18 64 18 667 669 18 507 667 783 507 18 101 18 669 18 101 64 101 103 64 103 493 64 101 102 103 102 101 669 103 213 221 102 213 103 221 493 103 213 102 215 669 215 102 230 215 669 213 215 230 229 214 230 214 213 230 669 229 230 229 625 228 229 669 625 214 229 228 213 214 197 197 214 198 198 214 228 198 228 166 228 625 166 166 167 168 166 840 167 166 168 198 840 166 625 168 167 157 840 158 167 167 158 157 168 157 863 198 168 981 981 168 863 157 158 159 27 157 159 863 157 27 158 625 159 840 625 158 159 625 364 364 27 159 27 29 863 863 29 692 981 863 692 692 679 981 981 679 198 691 679 692 29 691 692 29 254 691 254 258 691 521 679 691 258 521 691 257 258 256 257 521 258 256 258 254 687 257 256 687 521 257 520 521 522 185 679 521 185 521 520 522 521 687 255 522 687 687 256 255 254 255 256 185 520 255 520 522 255 255 186 185 255 254 186 184 185 186 185 184 679 857 679 184 186 857 184 679 857 198 857 858 198 858 857 536 536 857 186 196 197 198 196 198 858 858 536 196 213 197 196 213 196 536 756 904 536 213 536 221 756 536 186 904 221 536 755 756 743 743 756 186 903 904 756 903 756 755 904 493 221 904 903 977 904 977 493 903 755 977 755 743 910 755 910 977 493 977 910 493 910 497 493 497 499 910 743 497 413 497 498 498 497 743 497 413 362 413 498 254 254 498 889 889 498 743 889 186 254 889 743 186 363 125 364 125 737 364 625 363 364 737 643 642 125 643 737 643 125 212 125 211 212 211 629 212 750 211 751 211 750 629 505 211 125 211 505 751 624 629 630 629 750 630 959 630 750 783 750 751 750 783 808 750 808 959 507 783 751 751 505 507 505 506 507 667 507 506 506 668 667 506 126 668 506 124 126 506 505 124 667 668 669 363 669 668 126 363 668 124 125 126 126 125 363 505 125 124 625 669 363)) + (list :vertices (let ((mat (make-matrix 1002 3))) (fvector-replace (array-entity mat) #f(-1.2468999862670898e+01 -3.9723799228668213e+00 6.4992804527282715e+00 -1.2259700775146484e+01 -4.8232102394104004e+00 9.5915098190307617e+00 -1.2469099998474121e+01 -3.9723799228668213e+00 7.7372398376464844e+00 -1.1248499870300293e+01 -5.1348104476928711e+00 6.3296699523925781e+00 -1.2259700775146484e+01 -4.8232197761535645e+00 1.8234599828720093e+00 4.5199198722839355e+00 -9.9936399459838867e+00 1.2656300544738770e+01 1.0525900125503540e+00 -8.9252195358276367e+00 1.2656300544738770e+01 1.6549700498580933e+00 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:transform-vector v)) + (nreverse (list (float-vector -8.5030399262905121e+01 -1.3849199749529362e+01 2.5683199986815453e+01) (float-vector -8.3054102957248688e+01 1.3700299896299839e+01 2.5666899979114532e+01) (float-vector -7.8688301146030426e+01 1.7159899696707726e+01 2.7824800461530685e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01) (float-vector -2.9883800074458122e+01 -3.6574599798768759e+00 2.7899699285626411e+01) (float-vector -7.7796399593353271e+01 -1.8792200833559036e+01 2.6459200307726860e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.8688301146030426e+01 1.7159899696707726e+01 2.7824800461530685e+01) (float-vector -7.1587897837162018e+01 3.3174499869346619e+01 2.1689999848604202e+01) (float-vector -6.3738003373146057e+01 3.5578601062297821e+01 1.9171899184584618e+01) (float-vector -3.0364299193024635e+01 2.8519000858068466e+01 2.1515799686312675e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 8.2847904413938522e+00 1.5479099936783314e+01 1.1488700285553932e+01) (float-vector 1.8429599702358246e+01 -4.6149399131536484e+00 1.0229799896478653e+01) (float-vector 1.4841400086879730e+01 -6.6712498664855957e+00 1.3026099652051926e+01) (float-vector -2.9883800074458122e+01 -3.6574599798768759e+00 2.7899699285626411e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01) (float-vector -3.0364299193024635e+01 2.8519000858068466e+01 2.1515799686312675e+01) (float-vector -3.6160200834274292e+00 2.4537000805139542e+01 1.1019499972462654e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_l_finger_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_l_finger_tip_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 9.1370000000000005e+01 4.9500000000000002e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 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- :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_elbow_flex_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 5 8 0 2 5 8 26 0 0 28 1 26 28 0 2 3 4 2 1 3 2 4 5 3 1 7 3 19 4 19 3 7 4 19 5 18 19 20 19 21 20 19 7 21 5 19 24 24 19 18 18 30 24 31 30 18 20 31 18 20 36 31 20 37 36 21 37 20 7 22 21 21 61 37 22 61 21 38 37 39 37 38 36 37 60 39 37 61 60 22 62 61 62 268 61 268 271 61 61 271 60 23 22 7 23 62 22 23 268 62 6 23 7 63 23 6 63 267 23 267 268 23 6 7 1 1 28 6 6 28 63 57 28 58 27 58 28 27 28 26 63 28 57 55 57 56 57 58 56 55 63 57 56 58 50 49 50 58 49 58 27 55 56 54 54 56 52 52 56 50 53 55 54 53 63 55 53 54 52 51 52 50 51 53 52 48 50 49 48 51 50 51 264 53 48 264 51 264 63 53 264 267 63 261 264 260 261 265 264 264 268 267 265 268 264 260 264 48 259 260 254 259 261 260 254 260 48 258 259 255 255 259 254 258 261 259 247 251 254 251 255 254 48 247 254 252 255 251 255 252 256 256 258 255 257 258 256 257 261 258 252 59 256 59 257 256 41 257 59 41 90 257 257 262 261 90 262 257 262 265 261 90 263 262 262 266 265 263 266 262 265 269 268 266 269 265 263 86 266 266 86 84 266 270 269 84 270 266 88 263 90 88 86 263 84 86 85 86 87 85 86 88 87 81 84 83 84 85 83 84 81 270 270 271 269 270 272 271 81 272 270 80 39 81 81 83 80 272 81 39 83 290 80 83 293 290 83 85 293 80 82 39 290 286 80 80 286 82 39 82 38 60 272 39 271 272 60 269 271 268 79 36 38 38 82 79 82 286 79 78 36 79 79 286 78 29 36 78 31 36 29 32 78 77 29 78 32 286 287 78 78 287 77 29 30 31 32 30 29 11 30 9 32 9 30 34 30 11 30 34 24 9 10 11 10 12 11 11 12 13 13 34 11 14 10 9 14 9 32 14 15 10 15 16 10 10 16 12 12 16 17 12 25 13 12 17 25 5 13 25 5 34 13 25 8 5 24 34 5 8 27 26 27 8 25 25 65 27 65 66 27 27 232 49 66 232 27 65 67 66 65 273 67 25 273 65 67 68 66 68 232 66 67 69 68 67 273 69 69 70 68 70 232 68 69 73 70 69 273 73 73 74 70 74 232 70 72 74 73 74 284 285 74 285 232 72 284 74 284 72 277 285 284 276 276 284 277 232 285 282 282 285 274 274 285 276 274 276 73 276 277 73 73 277 71 71 277 278 277 72 278 71 72 73 278 279 71 71 279 72 278 72 279 273 274 73 274 273 275 275 282 274 129 273 25 280 281 273 273 281 275 129 280 273 281 427 275 275 427 282 128 427 281 128 281 280 128 280 129 126 128 127 128 129 127 310 432 128 432 427 128 309 310 128 126 297 128 128 297 309 423 432 431 426 432 423 426 427 432 431 432 310 423 424 247 247 426 423 423 431 424 424 431 430 430 431 310 424 425 247 424 430 425 425 430 429 429 430 310 425 421 247 425 429 421 421 429 428 315 429 310 428 429 315 314 315 308 308 315 310 315 314 116 116 428 315 310 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311 99 311 96 305 311 99 96 311 40 40 41 42 42 96 40 41 59 42 42 97 96 42 59 97 97 98 96 98 99 96 98 100 99 304 99 100 304 305 99 306 305 304 304 100 101 101 103 304 103 312 304 304 312 306 98 101 100 98 102 101 102 103 101 102 104 103 236 102 249 104 102 236 102 250 249 98 250 102 104 105 103 104 106 105 236 237 104 104 237 106 234 235 236 235 237 236 236 249 234 235 106 237 106 107 105 235 243 106 243 244 106 106 244 107 239 235 234 239 243 235 238 239 234 234 249 248 234 248 238 242 239 238 242 245 239 239 245 243 245 246 243 243 246 244 245 417 246 242 417 245 241 242 238 242 418 417 242 419 418 241 419 242 246 417 416 416 417 414 417 418 414 244 246 46 246 416 46 46 416 44 44 416 231 416 414 231 43 46 44 43 109 46 109 244 46 107 244 109 107 109 108 43 110 109 109 110 108 107 108 105 108 319 105 110 319 108 110 321 319 43 321 110 316 319 318 103 319 316 105 319 103 319 321 318 318 321 320 320 321 111 111 321 43 312 318 317 316 318 312 318 320 317 103 316 312 312 313 306 312 317 313 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458 373 458 459 460 458 466 459 470 484 458 458 484 466 459 466 467 459 467 460 463 467 466 466 482 463 484 482 466 485 482 484 463 482 464 482 469 464 482 483 469 485 486 482 482 486 483 485 494 486 486 494 483 469 483 465 465 483 360 464 469 354 465 354 469 355 464 354 463 464 355 352 353 354 354 353 355 176 178 354 354 178 352 354 465 176 360 361 465 465 361 176 177 360 348 361 360 177 176 361 177 174 176 177 178 176 174 177 173 174 177 348 173 348 339 173 348 454 339 165 168 173 174 173 168 165 173 339 168 178 174 168 165 167 167 178 168 165 166 167 166 183 167 167 183 178 184 183 166 352 183 184 178 183 352 182 184 166 352 184 353 184 362 353 182 362 184 181 182 155 155 182 153 153 182 166 182 181 362 353 362 356 364 357 362 362 357 356 362 181 364 353 356 355 355 356 349 356 357 349 349 357 350 357 358 350 363 357 364 363 358 357 181 180 364 364 180 363 359 358 363 180 179 363 363 388 359 363 195 388 179 195 363 358 359 350 359 388 393 359 393 350 388 193 389 195 193 388 388 389 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336 344 337 171 335 201 342 335 171 342 171 172 172 343 342 344 342 343 344 343 345 344 345 337 345 343 341 347 343 172 347 341 343 345 453 337 346 345 341 453 345 346 341 175 340 341 340 346 341 347 175 175 347 163 347 172 163 163 170 175 175 170 165 165 340 175 165 339 340 346 340 339 165 170 166 169 166 170 170 163 169 161 160 163 169 163 160 161 163 172 154 169 160 153 169 154 166 169 153 153 154 155 154 157 155 157 154 160 159 155 157 159 181 155 156 157 158 159 157 156 158 157 160 156 179 159 179 180 159 180 181 159 156 200 194 158 200 156 156 194 179 164 158 160 198 200 158 164 198 158 162 164 160 196 198 164 162 196 164 160 161 162 171 162 172 162 161 172 171 196 162 171 201 196 339 454 346 456 346 454 437 454 435 456 454 437 456 453 346 440 456 437 453 456 440 435 436 437 436 438 437 438 440 437 441 440 438 442 440 441 442 452 440 452 453 440 455 337 453 455 453 452 443 452 330 330 452 442 443 455 452 338 337 455 338 455 443 223 337 221 221 337 219 337 338 219 136 338 329 219 338 136 329 338 443 329 443 330 136 329 134 329 330 134 330 331 134 442 331 330 134 135 136 134 137 135 134 149 137 134 331 149 222 219 136 135 222 136 135 130 132 137 130 135 132 222 135 137 138 130 149 138 137 149 150 138 149 331 150 150 151 138 138 133 130 138 143 133 138 151 143 130 131 132 133 131 130 216 222 132 131 216 132 139 131 140 133 140 131 131 217 216 139 217 131 143 140 133 143 144 140 151 144 143 145 140 144 140 145 139 147 144 151 144 325 145 326 325 144 147 327 144 327 326 144 145 142 139 325 324 145 325 326 396 327 399 326 399 396 326 328 327 147 328 398 327 398 399 327 400 399 398 413 396 399 400 413 399 406 400 398 406 398 328 406 407 400 407 413 400 411 413 407 406 473 407 473 474 407 474 475 407 407 475 411 328 472 406 472 473 406 473 499 474 491 473 472 491 499 473 474 499 475 411 475 410 490 499 491 478 491 472 434 472 328 434 478 472 333 478 434 449 478 333 446 478 449 333 434 328 146 328 147 146 333 328 146 147 148 148 333 146 148 334 333 448 333 334 448 449 333 449 448 446 444 445 446 444 446 448 444 448 447 447 448 334 444 447 441 438 444 441 438 445 444 436 445 438 441 447 442 447 334 450 447 450 442 442 450 331 332 450 334 331 450 332 331 332 150 150 332 334 152 151 150 150 334 152 152 334 148 148 151 152 148 147 151 141 139 142 139 212 217 141 212 139 142 185 141 141 185 212 380 185 142 185 187 212 214 187 215 212 187 214 214 210 212 210 214 213 213 214 215 213 215 209 210 213 211 205 213 209 205 211 213 210 211 212 226 218 211 226 211 205 211 218 212 226 205 224 220 226 224 216 226 220 216 218 226 216 217 218 217 212 218 222 216 220 219 220 221 222 220 219 220 223 221 220 224 223 240 241 238 238 247 240 238 248 247 248 251 247 47 247 48 47 426 247 248 252 251 249 252 248 249 253 252 253 59 252 250 253 249 250 98 253 98 97 253 97 59 253 47 283 426 283 427 426 282 283 233 233 283 47 282 427 283 232 282 233 47 232 233 47 48 49 49 232 47 288 289 500 288 500 295 17 64 25 64 129 25)) + (list :vertices (let ((mat (make-matrix 502 3))) 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-1.1026800155639648e+01 -1.0180800437927246e+01 -9.3028099060058594e+01 -1.0487699508666992e+01 -9.0319404602050781e+00 -9.4236503601074219e+01 -1.0865900039672852e+01 -9.0648107528686523e+00 -9.4712402343750000e+01 -1.1336700439453125e+01 -9.3568792343139648e+00 -9.4869003295898438e+01 -1.1888800621032715e+01 -9.8110904693603516e+00 -9.5405403137207031e+01 -1.1966600418090820e+01 -8.9950094223022461e+00 -9.2892494201660156e+01 -1.1598400115966797e+01 -1.0732900619506836e+01 -9.3836395263671875e+01 -1.1336400032043457e+01 -1.0169199943542480e+01 -9.2781700134277344e+01 -1.1079999923706055e+01 -1.0256199836730957e+01 -9.3148902893066406e+01 -1.0728499412536621e+01 -9.6660299301147461e+00 -9.4224105834960938e+01 -1.2082500457763672e+01 -1.0541100502014160e+01 -9.3492004394531250e+01 -1.1953700065612793e+01 -1.0825699806213379e+01 -9.2700401306152344e+01 -1.2215199470520020e+01 -1.1101500511169434e+01 -9.4969200134277344e+01 -1.2548900604248047e+01 -1.0146300315856934e+01 -9.4030799865722656e+01 1.4237500190734863e+01 -8.9692401885986328e+00 -9.3823699951171875e+01 1.4584000587463379e+01 -8.7680501937866211e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 14 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00) (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00) (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00) (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00) (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_l_finger_tip_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_motor_accelerometer_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 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-2.3780800402164459e+01) (float-vector -7.9878799617290497e+01 -1.7469700425863266e+01 2.8254000935703516e+00) (float-vector -7.5303696095943451e+01 -1.7469700425863266e+01 2.6794800534844398e+01) (float-vector -6.7217603325843811e+01 -1.7469700425863266e+01 4.3248202651739120e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_forearm_roll_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_forearm_roll_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/forearm_roll.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 0.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 4 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_motor_accelerometer_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_palm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 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(float-vector -2.4499999359250069e+01 -1.4432899617912056e-15 -7.5144348666071892e+00) (float-vector 9.2378921806812286e+01 2.2726861760020256e+01 -3.4521084278821945e+01) (float-vector 9.2408321797847748e+01 3.6649439483880997e+01 -1.9086934626102448e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0650000721216202e+02 3.5912498831748962e+01 -1.5500000678002834e+01) (float-vector 9.2408321797847748e+01 3.6649439483880997e+01 -1.9086934626102448e+01) (float-vector 9.2378921806812286e+01 2.2726861760020256e+01 -3.4521084278821945e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.2399865388870239e+01 -8.7499996880069375e-02 4.2800001800060272e+01) (float-vector -2.4499999359250069e+01 -2.8756498359143734e+00 6.9424333050847054e+00) (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4499999359250069e+01 -1.4432899617912056e-15 -7.5144348666071892e+00) (float-vector -2.4499999359250069e+01 6.9424333050847054e+00 -2.8756498359143734e+00) (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector -2.4499999359250069e+01 -2.8756498359143734e+00 6.9424333050847054e+00) (float-vector -2.4499999359250069e+01 -6.9424333050847054e+00 2.8756498359143734e+00) (float-vector -2.4499999359250069e+01 -5.3135082125663757e+00 -5.3135082125663757e+00)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector -2.4499999359250069e+01 6.9424333050847054e+00 -2.8756498359143734e+00) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0650000721216202e+02 3.5912498831748962e+01 -1.5500000678002834e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01) (float-vector 9.2408321797847748e+01 3.6649439483880997e+01 -1.9086934626102448e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01) (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 1.0650000721216202e+02 3.5912498831748962e+01 -1.5500000678002834e+01) (float-vector 1.0650538653135300e+02 -3.7295877933502197e+01 -1.5036994591355324e+01) (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666666975244880e+00) (float-vector 1.0650000721216202e+02 -1.8749265000224113e+01 3.7960883229970932e+01) (float-vector 1.0599999874830246e+02 -1.1087501421570778e+01 4.1289184242486954e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01) (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_forearm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_forearm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/forearm_v0/forearm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.400000 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 65 66 0 1 0 205 2 105 0 257 65 0 205 0 66 0 105 257 209 66 65 209 442 66 205 66 442 232 442 209 206 205 442 206 442 232 214 232 233 206 232 214 232 382 233 382 232 209 212 213 214 212 214 242 213 206 214 242 214 233 372 233 230 242 233 372 233 382 230 209 230 382 73 230 209 372 230 373 373 230 413 73 413 230 371 372 373 372 371 385 242 372 385 373 393 371 393 373 413 391 393 413 73 308 413 308 391 413 391 392 393 23 159 393 393 392 23 159 371 393 159 71 371 385 371 71 242 385 396 396 385 71 357 358 242 396 357 242 242 358 212 358 357 395 395 357 396 358 395 473 212 358 473 212 434 435 213 212 435 434 212 473 473 479 434 473 426 427 473 395 426 427 479 473 313 395 396 395 313 426 10 426 11 313 11 426 10 427 426 427 491 277 491 427 10 427 277 479 9 10 11 9 356 10 10 264 491 356 264 10 11 70 9 313 315 11 315 70 11 355 356 9 355 9 72 70 72 9 264 356 474 355 474 356 8 264 265 265 264 474 491 264 8 355 24 474 24 265 474 265 345 363 8 265 363 265 24 345 363 6 8 345 6 363 6 7 8 8 7 277 277 491 8 6 345 346 346 468 6 6 468 7 468 161 7 277 7 479 7 161 479 467 468 346 160 468 467 468 160 161 444 346 345 467 346 444 444 471 467 467 471 490 490 160 467 160 55 161 160 376 55 160 490 376 376 490 471 203 376 97 376 56 55 340 56 376 376 471 97 376 203 340 54 55 56 54 161 55 56 434 54 54 434 479 161 54 479 435 434 56 404 435 56 435 404 213 404 56 339 157 213 404 404 339 157 206 213 157 205 206 207 156 206 157 156 365 206 365 207 206 205 364 1 205 207 364 364 207 365 364 365 366 365 158 408 156 158 365 365 408 366 156 157 158 168 158 169 169 158 157 408 158 168 168 282 408 169 472 168 472 282 168 169 359 472 157 360 169 169 360 359 282 472 301 301 472 359 359 360 361 301 359 361 360 157 164 164 361 360 361 192 191 301 361 220 361 191 220 192 361 164 301 281 282 301 220 281 219 220 191 220 153 136 220 136 281 153 220 219 191 192 193 191 193 219 227 219 193 219 227 430 219 154 153 430 154 219 153 154 152 155 153 152 136 153 155 154 150 152 430 150 154 152 150 149 155 152 149 149 150 151 430 151 150 15 149 151 15 17 149 155 149 489 34 489 149 17 34 149 429 151 430 15 151 429 15 16 17 15 91 16 15 429 91 33 34 17 17 16 184 17 184 33 33 428 34 489 34 428 489 87 155 489 428 87 33 319 428 87 428 319 184 319 33 117 319 184 117 184 16 85 319 117 87 319 85 85 86 87 87 86 155 155 86 135 136 155 135 135 46 136 135 86 46 374 375 86 374 86 119 85 119 86 86 375 46 119 85 117 117 118 119 374 119 134 118 134 119 375 374 134 118 133 134 375 134 133 118 379 380 117 89 118 118 89 379 380 133 118 375 133 459 459 133 380 414 380 379 380 367 459 380 414 367 459 367 375 367 368 369 367 417 368 367 414 417 375 367 466 466 367 369 368 255 369 386 368 417 386 255 368 106 369 255 466 369 106 46 466 106 466 46 375 46 106 44 269 44 106 441 106 255 269 106 441 44 45 46 46 45 136 282 45 44 282 44 269 408 282 269 269 441 408 441 254 408 254 441 255 408 254 366 121 253 254 255 256 254 254 270 121 256 270 254 253 366 254 364 366 253 253 121 120 253 129 364 253 120 129 364 129 1 1 129 2 129 120 2 120 121 122 120 122 231 231 2 120 59 105 2 2 231 59 122 272 231 272 341 231 59 231 433 341 433 231 122 139 272 341 272 494 272 457 494 139 457 272 494 457 341 341 432 433 457 348 341 348 432 341 139 138 457 457 138 348 348 138 337 432 348 433 348 337 433 137 138 139 138 304 337 137 140 138 138 140 304 141 137 370 137 141 140 139 370 137 140 141 142 140 142 305 140 305 304 304 305 81 81 80 304 337 304 80 305 483 81 305 326 483 305 142 326 79 80 81 79 81 483 79 14 80 337 80 14 266 267 79 79 483 266 267 50 79 79 50 14 126 483 326 266 483 126 389 406 266 406 267 266 266 126 389 406 244 267 50 267 244 14 50 18 243 50 244 50 243 18 406 407 244 244 407 377 243 244 377 389 229 406 407 406 229 496 407 228 407 229 228 377 407 496 377 378 243 98 377 22 98 378 377 496 22 377 21 308 378 378 98 21 378 308 307 307 243 378 98 22 21 21 22 23 22 159 23 22 496 201 159 22 201 392 21 23 308 21 392 75 307 308 308 73 75 308 392 391 307 75 243 166 243 75 18 243 12 166 215 243 243 215 12 165 166 167 166 257 167 165 215 166 166 75 257 99 13 215 215 13 12 165 99 215 12 13 14 12 14 18 99 100 13 100 101 13 13 101 14 100 99 284 284 99 495 165 495 99 167 495 165 284 495 167 58 283 284 284 283 36 284 167 58 36 100 284 35 100 36 35 101 100 202 101 35 101 202 14 35 36 37 132 35 37 202 35 132 306 37 36 306 36 283 57 283 58 283 57 306 190 37 306 57 190 306 190 189 37 37 189 132 188 189 190 57 433 190 433 188 190 57 58 59 433 57 59 337 188 433 188 337 132 132 189 188 14 132 337 14 202 132 167 59 58 105 59 257 167 257 59 257 75 65 73 74 75 65 75 74 65 74 209 73 209 74 146 72 201 159 201 71 201 72 71 146 201 496 70 71 72 72 146 355 71 464 396 70 465 71 464 71 465 70 315 465 314 464 465 314 465 315 488 396 464 488 464 314 488 497 396 497 313 396 313 488 314 313 497 488 313 314 315 24 355 53 148 355 146 355 148 53 51 52 53 51 53 148 52 24 53 146 147 148 148 180 51 148 147 180 146 496 147 180 147 228 228 147 496 228 229 180 180 229 389 389 128 180 389 126 128 126 127 128 128 179 180 127 179 128 127 126 326 127 326 327 127 327 179 327 218 179 180 179 218 327 334 335 342 40 327 335 342 327 327 40 39 327 39 218 327 326 334 326 142 334 478 142 141 142 492 334 82 142 478 142 124 492 82 124 142 478 141 370 248 83 478 478 370 248 478 83 82 370 249 248 249 370 139 248 249 247 83 248 247 82 83 84 83 247 246 83 237 84 246 237 83 246 247 121 122 247 249 122 121 247 122 249 139 271 121 270 121 271 463 463 246 121 431 246 463 246 431 237 236 84 237 431 236 237 383 240 431 431 240 236 463 383 431 463 271 383 271 256 383 270 256 271 383 256 454 454 240 383 236 240 241 454 296 240 241 240 296 108 453 454 453 296 454 454 256 108 108 256 317 317 256 255 107 69 108 108 69 453 107 108 317 296 453 69 69 295 296 241 296 295 241 295 236 236 295 217 68 295 69 131 217 295 131 295 68 67 68 69 107 200 69 200 67 69 107 317 200 67 200 297 317 318 200 297 200 318 312 420 67 68 67 420 312 67 297 297 311 312 297 318 311 386 311 318 318 255 386 318 317 255 312 311 174 386 416 311 416 174 311 417 416 386 414 415 416 414 416 417 415 174 416 414 379 415 394 415 379 379 89 394 88 394 89 394 335 415 88 335 394 88 89 90 90 89 16 16 89 117 335 88 342 342 88 90 334 415 335 492 501 334 501 415 334 456 492 123 492 456 501 123 492 124 175 501 456 415 501 175 415 175 174 173 174 175 173 175 456 456 362 173 402 362 456 456 123 402 123 124 125 123 125 402 124 82 125 125 130 131 125 131 402 125 82 130 402 131 362 173 362 216 362 131 216 173 216 298 174 173 298 312 174 298 477 312 298 298 216 477 131 68 216 68 477 216 217 131 130 84 217 130 84 130 82 217 84 236 477 68 312 420 312 68 90 16 91 91 235 90 235 342 90 462 316 91 91 429 462 235 91 316 40 235 316 40 342 235 40 316 38 316 462 31 31 38 316 31 462 429 430 31 429 30 31 32 30 221 31 221 38 31 227 32 31 227 31 430 60 61 30 30 61 279 30 279 221 60 30 32 227 28 32 32 28 27 60 32 27 193 226 227 28 227 226 27 28 29 226 484 28 29 28 484 27 29 60 60 29 104 384 29 484 29 384 102 102 104 29 484 338 384 226 338 484 338 226 192 226 193 192 338 162 384 338 192 163 162 338 163 102 384 162 102 103 104 486 103 102 162 486 102 162 163 164 353 162 164 162 353 486 164 163 192 164 401 353 164 157 401 309 353 354 354 353 401 486 353 251 251 353 309 103 486 251 250 251 252 251 309 310 251 250 103 252 251 310 349 323 309 323 310 309 309 354 349 310 323 194 194 252 310 250 252 278 252 194 278 194 195 196 195 194 323 194 196 278 278 196 250 208 196 195 196 347 250 196 208 347 323 324 195 347 208 195 195 436 347 195 324 436 436 423 347 347 423 103 347 103 250 423 436 114 436 475 114 436 476 475 476 436 324 324 323 498 324 498 476 475 476 447 476 485 447 438 476 498 485 476 438 498 323 437 438 498 437 437 323 349 437 110 438 349 111 437 111 110 437 458 485 438 110 458 438 109 110 111 110 109 48 325 458 110 325 110 48 111 349 94 111 94 109 349 354 94 92 93 94 94 76 109 354 92 94 93 76 94 76 48 109 76 77 78 76 268 77 76 78 451 76 93 268 451 48 76 92 268 93 268 439 77 92 157 268 268 157 439 439 381 77 381 78 77 260 451 78 260 78 452 78 381 452 451 260 450 451 450 48 258 259 260 260 452 258 450 260 259 302 452 381 452 302 258 204 302 381 439 204 381 204 210 302 302 210 299 258 302 299 289 322 258 322 259 258 289 258 299 259 322 321 259 321 450 320 321 322 288 320 322 289 288 322 288 289 290 294 290 289 294 289 299 288 499 320 288 290 352 352 424 288 288 424 499 290 351 352 387 290 294 387 351 290 351 387 388 351 197 399 351 388 197 352 351 399 294 469 387 388 387 198 198 387 469 197 388 198 197 198 199 199 399 197 352 399 333 199 333 399 238 199 239 238 333 199 199 198 239 410 333 238 352 333 410 410 238 411 238 239 411 410 411 448 410 448 352 352 331 424 352 448 331 239 448 411 239 331 448 331 332 303 331 239 332 424 331 303 424 303 425 425 461 424 461 499 424 41 143 303 42 303 332 303 143 425 303 42 41 332 239 42 41 42 43 42 198 43 198 42 239 20 143 41 41 43 20 4 19 20 20 329 4 43 336 20 336 329 20 143 20 19 19 291 183 183 143 19 19 3 291 3 19 4 291 403 397 397 287 291 3 403 291 183 291 287 181 182 183 181 183 287 143 183 182 274 287 275 287 397 398 181 287 274 287 398 275 274 275 25 181 274 25 275 345 26 25 275 26 449 345 275 449 275 398 398 397 449 449 444 345 449 397 444 24 26 345 24 25 26 52 181 25 52 25 24 52 51 181 343 182 181 51 343 181 343 51 344 344 405 343 144 343 405 182 343 144 182 144 143 143 144 145 144 405 145 344 263 405 405 263 145 425 143 145 425 145 461 145 263 461 261 262 263 461 263 262 344 261 263 461 262 499 480 499 262 481 480 262 481 262 261 320 499 480 480 481 390 390 320 480 481 445 390 481 261 445 321 320 390 482 390 445 47 390 482 321 390 47 445 446 447 445 447 485 445 261 446 485 482 445 47 482 325 458 325 482 485 458 482 325 48 47 47 48 49 47 49 321 48 450 49 450 321 49 446 409 344 446 261 409 460 446 51 446 344 51 446 460 447 261 344 409 460 475 447 460 51 115 460 115 475 180 218 51 51 116 115 51 218 116 114 115 116 115 114 475 116 218 112 116 279 280 114 116 280 112 279 116 218 39 113 112 218 113 112 113 38 112 38 221 279 112 221 280 279 61 423 114 280 280 61 104 104 423 280 104 61 60 104 103 423 38 39 40 113 39 38 397 443 444 471 444 443 403 443 397 403 471 443 178 471 403 471 178 95 97 471 95 403 3 178 3 4 5 5 178 3 328 4 329 5 4 171 500 171 4 4 328 500 328 329 330 500 328 400 328 330 400 336 330 329 43 330 336 43 400 330 43 455 400 500 400 455 171 500 455 172 455 43 172 171 455 170 171 172 171 170 5 43 273 172 172 273 170 43 419 273 43 225 419 198 225 43 418 273 419 170 273 418 170 418 5 419 276 418 5 418 276 419 245 276 245 419 225 5 276 178 178 276 245 225 62 245 64 178 245 245 62 64 64 95 178 95 96 97 95 64 96 176 96 177 64 177 96 203 96 176 96 203 97 222 223 177 234 222 177 64 234 177 177 223 176 223 222 286 286 222 198 222 224 198 234 224 222 176 223 211 223 286 211 285 211 286 286 186 350 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(float-vector 8.3322003483772278e+01 -3.8958899676799774e+01 -2.4240799248218536e+01) (float-vector 5.1347099244594574e+01 -3.2749600708484650e+01 -2.3373899981379509e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9454100877046585e+01 -1.8656300380825996e+01 1.0724600404500961e+01) (float-vector 6.1553798615932465e+01 -4.4041901826858521e+01 2.0580099895596504e+01) (float-vector 7.2027698159217834e+01 -5.0115499645471573e+01 1.6612600535154343e+01) (float-vector 6.1970800161361694e+01 -4.6539399772882462e+01 -1.7511000856757164e+01) (float-vector 2.9450099915266037e+01 -2.1184900775551796e+01 -3.6931799259036779e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_palm_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_r_finger_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 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-1.5972599387168884e+01 2.7999799698591232e+01) (float-vector -8.5145100951194763e+01 -5.5757798254489899e+00 2.5662200525403023e+01) (float-vector -8.5344798862934113e+01 1.3159300200641155e+01 2.5675499811768532e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0604399032890797e+00 1.3875300064682961e+01 1.0187500156462193e+01) (float-vector 1.6372600570321083e+01 8.1343604251742363e+00 1.0082700289785862e+01) (float-vector 1.5431400388479233e+01 4.6149399131536484e+00 1.3162500225007534e+01) (float-vector -3.2659899443387985e+01 6.2573798932135105e+00 2.7959700673818588e+01) (float-vector -7.4860200285911560e+01 1.8286399543285370e+01 2.6814900338649750e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.7796399593353271e+01 1.8792200833559036e+01 -2.6459200307726860e+01) (float-vector -7.4860200285911560e+01 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-7.8688301146030426e+01 -1.7159899696707726e+01 -2.7824800461530685e+01) (float-vector -7.1587897837162018e+01 -3.3174499869346619e+01 -2.1689999848604202e+01) (float-vector -6.3738003373146057e+01 -3.5578601062297821e+01 -1.9171899184584618e+01) (float-vector -3.0364299193024635e+01 -2.8519000858068466e+01 -2.1515799686312675e+01) (float-vector -3.2878100872039795e+01 -9.3289101496338844e+00 -2.7645900845527649e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 8.2847904413938522e+00 -1.5479099936783314e+01 -1.1488700285553932e+01) (float-vector 1.8429599702358246e+01 4.6149399131536484e+00 -1.0229799896478653e+01) (float-vector 1.4841400086879730e+01 6.6712498664855957e+00 -1.3026099652051926e+01) (float-vector -2.9883800074458122e+01 3.6574599798768759e+00 -2.7899699285626411e+01) (float-vector -3.2878100872039795e+01 -9.3289101496338844e+00 -2.7645900845527649e+01) (float-vector -3.0364299193024635e+01 -2.8519000858068466e+01 -2.1515799686312675e+01) (float-vector -3.6160200834274292e+00 -2.4537000805139542e+01 -1.1019499972462654e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_r_finger_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_gripper_r_finger_tip_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 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1.1818919330835342e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -3.4929234534502029e+01 -1.9224440678954124e+01 1.3314728625118732e+01) (float-vector -3.4732185304164886e+01 -1.9215250387787819e+01 -1.3810032978653908e+01) (float-vector -3.5801675170660019e+01 1.9170306622982025e+01 -1.0743774473667145e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector -3.5478774458169937e+01 1.9249994307756424e+01 1.1818919330835342e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 2.3546332493424416e+01 -2.0954167470335960e+01 -3.6376867443323135e+01) (float-vector 2.7568558230996132e+01 -1.9761357456445694e+01 -2.8140518814325333e+01) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector -3.5801675170660019e+01 1.9170306622982025e+01 -1.0743774473667145e+01) (float-vector -2.8527449816465378e+01 1.9592283293604851e+01 -2.4081531912088394e+01) (float-vector -1.8373213708400726e+01 1.8953559920191765e+01 -3.2561089843511581e+01) (float-vector 1.9646016880869865e+01 1.9679244607686996e+01 -4.0253248065710068e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 1.9646016880869865e+01 1.9679244607686996e+01 -4.0253248065710068e+01) (float-vector 1.4390984550118446e+01 -1.9584203138947487e+01 -4.0665831416845322e+01) (float-vector 2.3546332493424416e+01 -2.0954167470335960e+01 -3.6376867443323135e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_wrist_roll_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_wrist_roll_link_geom0 - (:init (&key (name "package://pr2_description/meshes/forearm_v0/wrist_roll.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 5 8 0 2 5 8 26 0 0 28 1 26 28 0 2 3 4 2 1 3 2 4 5 3 1 7 3 19 4 19 3 7 4 19 5 18 19 20 19 21 20 19 7 21 5 19 24 24 19 18 18 30 24 31 30 18 20 31 18 20 36 31 20 37 36 21 37 20 7 22 21 21 61 37 22 61 21 38 37 39 37 38 36 37 60 39 37 61 60 22 62 61 62 268 61 268 271 61 61 271 60 23 22 7 23 62 22 23 268 62 6 23 7 63 23 6 63 267 23 267 268 23 6 7 1 1 28 6 6 28 63 57 28 58 27 58 28 27 28 26 63 28 57 55 57 56 57 58 56 55 63 57 56 58 50 49 50 58 49 58 27 55 56 54 54 56 52 52 56 50 53 55 54 53 63 55 53 54 52 51 52 50 51 53 52 48 50 49 48 51 50 51 264 53 48 264 51 264 63 53 264 267 63 261 264 260 261 265 264 264 268 267 265 268 264 260 264 48 259 260 254 259 261 260 254 260 48 258 259 255 255 259 254 258 261 259 247 251 254 251 255 254 48 247 254 252 255 251 255 252 256 256 258 255 257 258 256 257 261 258 252 59 256 59 257 256 41 257 59 41 90 257 257 262 261 90 262 257 262 265 261 90 263 262 262 266 265 263 266 262 265 269 268 266 269 265 263 86 266 266 86 84 266 270 269 84 270 266 88 263 90 88 86 263 84 86 85 86 87 85 86 88 87 81 84 83 84 85 83 84 81 270 270 271 269 270 272 271 81 272 270 80 39 81 81 83 80 272 81 39 83 290 80 83 293 290 83 85 293 80 82 39 290 286 80 80 286 82 39 82 38 60 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423 423 431 424 424 431 430 430 431 310 424 425 247 424 430 425 425 430 429 429 430 310 425 421 247 425 429 421 421 429 428 315 429 310 428 429 315 314 315 308 308 315 310 315 314 116 116 428 315 310 309 308 308 307 306 308 309 307 306 314 308 309 299 307 299 309 297 306 307 305 307 94 305 307 299 94 297 298 299 298 94 299 297 296 298 291 296 297 126 291 297 298 301 95 298 296 301 95 94 298 295 296 288 288 296 291 296 295 301 291 292 288 292 291 126 124 126 125 126 127 125 124 292 126 288 292 122 122 292 124 122 124 123 124 125 123 125 127 118 121 125 118 123 125 121 127 129 64 118 127 64 64 16 118 16 119 118 119 120 118 120 121 118 120 122 121 122 123 121 120 288 122 119 288 120 76 119 16 76 288 119 16 64 17 16 35 76 15 35 16 75 76 35 75 288 76 35 15 33 33 75 35 32 33 15 14 32 15 32 77 33 75 33 77 77 287 75 75 287 288 289 287 286 289 288 287 290 289 286 289 290 294 290 293 294 303 294 293 289 294 303 85 302 293 293 302 303 289 303 501 302 501 303 301 302 85 301 295 302 289 501 302 289 302 500 295 500 302 87 300 85 301 85 300 95 301 300 89 300 87 95 300 89 88 89 87 88 90 89 90 91 89 93 89 91 93 95 89 94 95 93 92 93 91 92 94 93 90 41 91 91 41 40 40 92 91 40 311 92 311 94 92 305 94 311 99 311 96 305 311 99 96 311 40 40 41 42 42 96 40 41 59 42 42 97 96 42 59 97 97 98 96 98 99 96 98 100 99 304 99 100 304 305 99 306 305 304 304 100 101 101 103 304 103 312 304 304 312 306 98 101 100 98 102 101 102 103 101 102 104 103 236 102 249 104 102 236 102 250 249 98 250 102 104 105 103 104 106 105 236 237 104 104 237 106 234 235 236 235 237 236 236 249 234 235 106 237 106 107 105 235 243 106 243 244 106 106 244 107 239 235 234 239 243 235 238 239 234 234 249 248 234 248 238 242 239 238 242 245 239 239 245 243 245 246 243 243 246 244 245 417 246 242 417 245 241 242 238 242 418 417 242 419 418 241 419 242 246 417 416 416 417 414 417 418 414 244 246 46 246 416 46 46 416 44 44 416 231 416 414 231 43 46 44 43 109 46 109 244 46 107 244 109 107 109 108 43 110 109 109 110 108 107 108 105 108 319 105 110 319 108 110 321 319 43 321 110 316 319 318 103 319 316 105 319 103 319 321 318 318 321 320 320 321 111 111 321 43 312 318 317 316 318 312 318 320 317 103 316 312 312 313 306 312 317 313 313 317 314 317 115 314 317 320 115 115 320 111 114 115 113 113 115 111 116 115 114 314 115 116 313 314 306 116 114 117 117 428 116 229 114 113 229 117 114 111 112 113 229 113 228 228 113 112 111 43 112 43 45 112 228 112 45 45 231 228 360 229 228 348 360 228 231 348 228 43 44 45 44 231 45 348 231 414 348 414 454 457 454 414 418 477 414 457 414 439 414 477 439 435 457 439 454 457 435 436 435 439 439 481 436 420 481 439 477 420 439 418 419 477 477 419 415 415 420 477 420 421 422 415 421 420 422 433 420 433 481 420 240 415 241 415 419 241 240 421 415 247 421 240 421 428 422 428 433 422 117 433 428 230 433 117 433 229 481 230 229 433 229 230 117 360 483 229 483 487 229 487 481 229 436 481 451 481 480 451 487 480 481 487 488 480 487 495 488 495 487 483 480 479 451 479 480 488 451 445 436 446 445 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374 379 376 379 383 376 368 375 371 366 375 368 371 375 378 371 378 377 373 368 371 367 368 369 369 368 373 367 366 368 365 366 367 365 374 366 367 460 365 369 460 367 373 458 369 458 460 369 470 458 373 458 459 460 458 466 459 470 484 458 458 484 466 459 466 467 459 467 460 463 467 466 466 482 463 484 482 466 485 482 484 463 482 464 482 469 464 482 483 469 485 486 482 482 486 483 485 494 486 486 494 483 469 483 465 465 483 360 464 469 354 465 354 469 355 464 354 463 464 355 352 353 354 354 353 355 176 178 354 354 178 352 354 465 176 360 361 465 465 361 176 177 360 348 361 360 177 176 361 177 174 176 177 178 176 174 177 173 174 177 348 173 348 339 173 348 454 339 165 168 173 174 173 168 165 173 339 168 178 174 168 165 167 167 178 168 165 166 167 166 183 167 167 183 178 184 183 166 352 183 184 178 183 352 182 184 166 352 184 353 184 362 353 182 362 184 181 182 155 155 182 153 153 182 166 182 181 362 353 362 356 364 357 362 362 357 356 362 181 364 353 356 355 355 356 349 356 357 349 349 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-9.4030799865722656e+01 -1.4237500190734863e+01 8.9692401885986328e+00 -9.3823699951171875e+01 -1.4584000587463379e+01 8.7680501937866211e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 14 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00) (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00) (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00) (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00) (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_gripper_r_finger_tip_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_shoulder_lift_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 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-2.0250000953674316e+00 -1.8791204452514648e+01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 2994 -> 18 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01) (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01) (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_palm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_palm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/gripper_palm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 200 100 0 100 1 0 2 200 0 100 70 1 1 70 369 2 1 361 369 361 1 99 70 100 99 100 117 217 117 100 100 200 217 343 99 117 217 258 117 117 258 343 105 342 343 343 338 340 99 343 340 342 356 343 343 356 338 343 258 408 408 106 343 105 343 106 338 339 340 340 442 99 442 340 339 339 441 442 442 223 225 442 446 223 99 442 225 441 446 442 225 451 99 99 451 70 223 224 225 258 225 224 225 258 424 451 225 424 330 224 223 330 223 446 312 224 330 312 258 224 311 258 312 258 311 408 217 424 258 216 424 217 424 216 191 451 424 191 49 216 217 217 200 85 84 217 85 49 217 84 49 192 216 191 216 192 191 192 193 48 359 192 48 192 49 280 192 359 193 192 280 166 193 280 166 295 193 295 414 193 414 191 193 359 166 280 359 91 360 359 48 91 360 166 359 2 166 167 166 2 295 167 166 360 360 233 289 91 233 360 167 360 289 91 48 50 110 91 50 233 91 110 289 233 290 341 290 233 233 110 341 156 110 50 156 157 110 157 341 110 156 406 157 50 406 156 406 341 157 406 50 407 407 341 406 399 407 390 341 407 399 391 407 98 98 407 50 390 407 391 341 399 400 400 399 418 390 484 399 418 399 484 390 391 175 390 175 484 391 98 97 391 97 175 50 97 98 49 97 50 175 97 372 84 97 49 97 279 372 279 97 84 48 49 50 83 84 85 279 84 405 405 84 83 278 146 279 279 146 372 279 405 278 153 146 278 153 278 405 405 484 175 405 83 418 153 405 175 484 405 418 153 154 155 154 153 175 155 152 153 153 152 146 155 154 331 154 175 331 331 175 332 140 332 175 140 175 372 332 155 331 145 155 332 152 155 145 152 141 146 145 141 152 140 139 145 140 145 332 139 141 145 139 140 141 140 146 141 140 372 146 418 83 419 302 400 418 419 302 418 85 301 83 419 83 303 83 301 303 303 302 419 301 302 303 341 302 290 400 302 341 301 290 302 85 289 301 289 290 301 200 289 85 200 167 289 200 2 167 2 361 295 361 362 363 361 402 362 295 361 363 369 402 361 363 414 295 438 414 363 438 363 362 438 439 414 414 439 191 305 439 438 362 490 438 490 305 438 451 439 305 191 439 451 305 307 451 70 451 307 305 306 307 378 71 307 468 378 307 307 306 468 307 71 70 69 70 71 69 369 70 71 364 69 378 364 71 364 378 379 387 69 364 387 364 379 386 170 387 387 170 287 386 387 379 287 69 387 168 170 386 168 386 379 168 169 170 168 379 4 4 174 168 174 169 168 173 169 174 170 169 173 226 173 174 174 4 226 3 4 5 4 3 7 4 379 5 226 4 7 173 226 7 6 170 173 7 6 173 6 7 8 3 8 7 6 8 3 5 6 3 379 6 5 378 6 379 6 378 170 286 287 170 468 286 170 378 468 170 368 423 286 423 287 286 368 286 468 287 423 416 69 287 416 416 423 472 368 472 423 69 416 417 417 416 434 434 416 472 69 402 369 487 486 69 402 69 486 69 417 487 487 417 434 486 487 488 488 487 434 434 382 469 472 382 434 469 488 434 472 368 382 305 367 368 368 367 382 306 305 368 368 468 306 367 305 383 383 305 490 382 367 383 362 382 383 362 383 490 402 382 362 382 402 403 403 402 486 382 403 469 469 403 486 469 486 488 408 311 445 408 445 443 408 443 106 445 311 312 445 312 330 445 330 444 443 445 444 352 443 444 352 106 443 446 447 444 447 352 444 444 330 446 339 106 352 339 352 447 441 447 446 339 447 441 221 339 338 339 221 106 106 221 104 338 461 221 221 461 104 356 342 338 208 338 342 461 338 208 437 461 321 461 208 321 461 179 104 179 461 437 104 105 106 105 104 179 199 105 179 199 179 206 437 323 179 179 323 206 321 323 437 321 322 323 323 232 206 323 429 232 429 323 322 206 207 208 206 232 207 199 206 208 208 342 199 105 199 342 321 208 207 207 232 242 244 207 242 244 321 207 321 243 401 401 429 321 244 243 321 321 429 322 243 244 245 288 245 244 288 244 425 242 425 244 242 232 425 232 231 425 231 288 425 463 245 288 231 463 288 463 52 245 52 63 245 63 243 245 231 462 463 462 52 463 230 231 232 230 462 231 429 230 232 230 429 401 230 320 291 401 320 230 65 230 63 230 65 462 230 291 63 320 243 291 401 243 320 291 243 63 63 64 65 64 63 46 46 63 47 47 63 52 459 64 46 64 459 108 64 108 65 459 46 241 241 10 459 459 33 108 10 33 459 241 46 11 10 241 11 9 10 11 9 448 10 448 33 10 11 46 45 45 9 11 9 40 39 51 448 9 9 39 51 40 9 45 51 33 448 51 39 52 33 51 52 39 40 41 47 39 41 39 47 52 45 41 40 45 46 47 45 47 41 52 462 33 65 34 462 462 34 33 33 34 35 108 33 35 433 35 34 433 435 35 309 35 435 108 35 309 107 108 109 109 108 309 65 108 485 485 108 107 347 431 309 435 347 309 309 431 109 347 435 433 347 433 346 34 346 433 346 235 347 235 432 347 347 432 431 431 432 75 431 485 107 109 431 107 431 75 485 75 65 485 34 75 76 131 75 432 65 75 34 76 75 131 131 432 497 497 432 235 80 131 81 131 308 81 76 131 80 131 497 308 497 235 265 497 265 308 308 73 72 265 73 308 72 81 308 80 81 82 81 72 82 72 73 74 236 72 375 236 82 72 375 72 74 264 304 73 264 73 265 304 74 73 344 74 304 344 375 74 236 375 234 264 375 344 436 375 264 375 436 234 263 264 265 304 264 344 436 264 263 235 436 263 235 234 436 76 234 235 236 234 237 234 76 237 235 263 265 346 76 235 76 80 237 34 76 346 237 269 240 237 80 269 236 237 240 316 80 129 269 80 316 129 80 82 315 316 317 394 316 315 316 394 269 316 129 317 82 128 129 129 128 317 236 128 82 236 240 239 236 239 128 128 176 317 239 176 128 315 317 176 394 315 176 270 394 247 394 270 269 394 176 178 394 178 247 176 177 178 318 176 239 177 176 318 178 246 247 177 246 178 389 247 246 270 247 470 470 247 389 395 246 177 395 389 246 420 177 318 420 395 177 409 410 395 409 395 420 68 395 410 68 389 395 420 318 421 409 420 491 470 491 420 420 421 470 270 470 421 421 318 270 269 270 271 271 270 318 269 319 238 319 269 271 238 240 269 318 319 271 318 239 319 238 319 239 238 239 240 470 389 336 470 336 491 389 67 336 67 389 68 66 67 68 67 66 133 67 133 336 410 66 68 410 493 66 493 133 66 479 480 410 479 410 409 410 480 493 480 133 493 427 480 428 371 480 427 480 479 428 371 133 480 494 132 479 479 409 494 132 428 479 491 492 409 337 494 409 492 337 409 494 337 132 336 132 337 336 337 492 491 336 492 336 133 132 132 133 134 134 133 371 427 134 371 132 134 92 92 134 328 326 134 427 134 326 328 326 327 328 327 92 328 351 215 326 326 215 327 326 427 351 94 427 428 427 94 351 94 215 351 114 215 94 327 215 313 215 116 313 116 215 114 93 92 327 313 93 327 313 165 93 313 116 165 163 164 165 165 116 59 59 388 165 165 164 93 163 165 257 257 165 388 252 93 164 163 15 164 15 252 164 251 185 252 115 114 252 252 181 354 252 185 115 93 252 114 15 181 252 251 252 354 114 115 116 93 114 94 92 93 94 92 94 329 94 428 329 132 92 329 132 329 428 458 116 404 115 404 116 458 59 116 204 115 205 115 185 205 204 404 115 415 298 204 204 54 404 415 204 205 298 54 204 187 186 205 205 186 415 185 187 205 185 186 187 186 185 251 251 78 186 186 370 392 392 415 186 78 370 186 182 251 354 79 251 182 78 251 79 77 78 79 77 267 78 267 370 78 392 370 393 370 267 393 392 393 38 415 392 38 36 38 393 393 267 36 36 37 38 267 37 36 60 267 77 37 267 62 62 267 60 37 374 210 37 210 38 374 37 62 60 61 62 373 374 62 474 62 61 62 474 373 374 373 411 374 411 456 374 456 210 373 118 111 450 373 474 450 118 373 373 111 411 474 61 365 474 457 450 365 457 474 449 248 450 457 449 450 467 118 450 450 248 467 385 384 457 385 457 366 457 365 366 457 384 449 365 260 366 260 365 61 212 366 262 385 366 212 260 262 366 212 384 385 26 25 212 26 212 476 412 384 212 476 212 498 299 300 212 483 212 300 498 212 262 25 299 212 412 212 483 498 261 476 26 476 284 261 284 476 262 261 498 260 261 262 358 136 261 136 284 261 261 260 358 357 358 260 136 358 460 460 358 357 135 86 136 135 136 102 136 86 284 102 136 460 87 86 135 87 135 102 13 86 87 86 159 284 159 86 13 266 87 102 266 13 87 101 102 103 101 266 102 103 102 460 16 266 180 14 13 266 180 266 101 266 16 14 17 180 181 180 101 181 180 17 16 15 16 17 15 17 181 14 16 53 53 16 32 16 15 32 12 13 14 12 14 53 53 32 31 501 12 53 31 501 53 30 31 32 15 314 32 32 314 30 314 15 163 163 142 314 314 142 30 142 283 30 283 31 30 142 143 144 257 143 142 142 144 283 163 257 142 283 253 31 283 144 253 159 158 253 254 253 277 254 159 253 228 277 253 144 228 253 31 253 158 158 159 13 159 254 284 158 501 31 158 13 501 13 12 501 284 130 26 284 254 29 284 29 130 24 25 26 345 138 26 26 130 345 26 138 24 137 24 138 24 137 25 299 25 43 25 137 43 137 345 43 137 138 345 345 130 198 465 345 198 465 477 345 477 43 345 130 197 198 197 465 198 454 465 353 471 465 454 477 465 471 465 197 353 43 477 44 44 477 464 477 471 464 471 454 464 44 464 95 453 464 454 464 453 95 42 43 44 95 96 44 44 96 42 42 482 43 42 96 482 426 195 43 426 43 482 43 195 299 495 426 482 482 96 201 201 495 482 397 426 495 495 201 397 196 195 426 426 335 196 335 426 397 397 203 398 201 203 397 398 335 397 201 202 203 201 478 202 96 478 201 203 202 285 285 202 478 478 96 190 190 143 478 143 285 478 190 96 95 95 143 190 259 143 95 143 257 285 143 259 144 388 203 285 257 388 285 203 388 58 59 58 388 203 273 398 58 273 203 57 58 59 58 272 273 57 496 58 496 272 58 57 59 458 376 57 377 57 458 452 376 496 57 57 452 377 348 458 404 350 458 348 452 458 350 377 452 220 452 350 220 220 333 377 333 376 377 333 496 376 333 222 162 334 333 162 222 333 220 333 334 499 333 499 496 219 222 220 219 162 222 218 219 220 219 218 276 249 219 276 219 160 162 219 249 160 274 276 218 274 218 220 274 275 276 350 349 274 350 274 220 275 274 349 55 275 56 276 275 455 455 275 55 56 275 349 348 349 350 54 349 404 404 349 348 56 349 54 54 55 56 54 298 209 54 209 500 55 54 500 209 210 211 209 298 210 209 211 500 310 500 21 21 500 211 500 324 55 324 500 310 310 21 255 324 310 325 489 325 310 489 310 255 297 324 325 297 55 324 296 55 297 296 455 55 250 296 297 325 250 297 489 250 325 489 256 250 489 255 256 255 21 256 213 118 256 213 256 21 118 467 256 467 250 256 248 249 250 250 249 296 248 250 467 449 249 248 449 160 249 276 296 249 384 160 449 160 161 162 160 384 413 161 160 413 412 413 384 422 413 412 396 161 413 396 413 422 162 161 396 334 162 396 300 194 396 300 396 483 396 194 334 483 396 422 412 483 422 334 196 335 196 334 194 335 499 334 194 195 196 195 194 300 299 195 300 496 499 273 499 335 273 398 273 335 272 496 273 276 455 296 112 118 119 118 213 214 430 119 118 111 118 112 214 430 118 292 293 119 430 292 119 119 293 112 292 430 214 214 121 292 211 293 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-1.0244999825954437e+02) (float-vector -6.0083199292421341e+01 -7.4892103672027588e+01 -1.2084499746561050e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.7712200060486794e+01 4.4143297709524632e+00 1.0767900198698044e+02) (float-vector 2.0015299320220947e+01 2.0527599379420280e+01 9.4154201447963715e+01) (float-vector 1.8666300922632217e+01 -1.3005300424993038e+01 1.0204400122165680e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 2.9799200594425201e+01) (float-vector 2.0015299320220947e+01 2.0527599379420280e+01 9.4154201447963715e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 4.9149498343467712e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 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-1.6650600731372833e+02 -7.4891202151775360e+01 1.0909699648618698e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.1289101839065552e+01 7.5108602643013000e+01 -1.2114699929952621e+02) (float-vector -8.4987301379442215e+00 7.5107999145984650e+01 -8.8191501796245575e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 -4.9149498343467712e+01) (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 -2.9799200594425201e+01) (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 2.9799200594425201e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 4.9149498343467712e+01) (float-vector 4.7304001636803150e+00 7.5107596814632416e+01 7.3345899581909180e+01) (float-vector -2.2786399349570274e+01 7.5107596814632416e+01 1.0112799704074860e+02) (float-vector -4.9926400184631348e+01 7.5107701122760773e+01 1.1721199750900269e+02) (float-vector -1.0668999701738358e+02 7.5107999145984650e+01 1.2682299315929413e+02) (float-vector -1.4044199883937836e+02 7.5107298791408539e+01 1.2067499756813049e+02) (float-vector -1.6432400047779083e+02 7.5107298791408539e+01 1.0962100327014923e+02) (float-vector -1.8569199740886688e+02 7.5104802846908569e+01 9.3923203647136688e+01) (float-vector -2.0411199331283569e+02 7.5104497373104095e+01 7.3148198425769806e+01) (float-vector -2.1466100215911865e+02 7.5107999145984650e+01 5.4784100502729416e+01) (float-vector -2.2446300089359283e+02 7.5106300413608551e+01 2.6909999549388885e+01) (float-vector -2.2709099948406219e+02 7.5107701122760773e+01 1.7232199752470478e-02) (float-vector -2.2515299916267395e+02 7.5107298791408539e+01 -2.2557400166988373e+01) (float-vector -2.1504299342632294e+02 7.5107000768184662e+01 -5.4824199527502060e+01) (float-vector -1.9633899629116058e+02 7.5105696916580200e+01 -8.3057902753353119e+01) (float-vector -1.7139400541782379e+02 7.5105503201484680e+01 -1.0562600195407867e+02) (float-vector 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(float-vector 0.0000000000000000e+00 1.8800000000000000e+02 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.800000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 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(nreverse (list (float-vector 5.3492899984121323e+01 3.1628798693418503e+01 -2.4233700707554817e+01) (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 2.9450101777911186e+01 1.2137399986386299e+01 -1.7715699970722198e+01) (float-vector 2.9449999332427979e+01 -2.4709999561309814e+00 -2.1323399618268013e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 6.1490204185247421e+01 4.6300001442432404e+01 -1.7233300954103470e+01) (float-vector 2.9450198635458946e+01 2.0599601790308952e+01 -6.0919001698493958e+00) (float-vector 2.9450101777911186e+01 1.2137399986386299e+01 -1.7715699970722198e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 5.3492899984121323e+01 3.1628798693418503e+01 -2.4233700707554817e+01) (float-vector 6.7597299814224243e+01 4.6218499541282654e+01 -2.0792800933122635e+01) (float-vector 6.1490204185247421e+01 4.6300001442432404e+01 -1.7233300954103470e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_l_finger_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_l_finger_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 3 1 0 2 14 0 14 168 0 169 0 168 173 174 0 0 169 175 175 173 0 0 174 3 169 168 170 14 170 168 177 170 14 177 202 170 202 169 170 177 203 202 203 177 372 177 379 372 177 422 379 177 14 422 161 179 202 202 203 161 169 202 179 178 169 179 179 161 160 179 205 178 402 179 160 205 179 402 169 176 175 169 178 176 176 173 175 172 174 173 173 176 172 171 3 172 172 3 174 176 171 172 3 171 5 5 171 176 4 1 3 5 4 3 5 6 4 15 4 6 4 469 1 469 4 15 1 467 2 1 469 467 467 417 421 467 468 417 467 469 468 420 467 421 2 467 420 14 2 420 420 421 416 412 420 416 412 419 420 419 422 420 422 14 420 416 421 417 376 412 416 376 416 409 415 409 416 417 415 416 377 411 412 412 376 377 419 412 411 411 379 419 422 419 379 378 411 377 378 379 411 373 375 377 375 378 377 373 377 376 375 371 378 378 371 372 372 379 378 369 371 375 375 373 366 366 369 375 366 373 368 373 376 368 368 367 366 374 367 368 376 374 368 376 409 374 374 409 410 367 374 480 410 452 374 374 452 480 413 410 409 413 409 414 409 415 414 413 453 410 453 452 410 452 453 454 466 452 454 480 452 466 480 466 367 465 466 454 501 466 481 501 367 466 481 466 465 465 454 462 462 479 465 465 479 481 457 462 454 462 457 447 450 479 462 462 447 450 479 450 481 449 450 446 446 450 447 449 481 450 446 447 448 448 447 457 455 456 457 454 455 457 456 448 457 451 446 448 459 448 456 460 448 459 451 448 460 456 455 458 458 459 456 461 460 459 458 463 459 463 461 459 490 460 461 451 460 490 464 461 463 464 490 461 414 418 463 458 414 463 463 418 464 455 413 458 414 458 413 417 418 414 415 417 414 468 418 417 470 418 468 470 471 418 464 418 471 468 469 470 470 469 472 470 472 471 434 471 495 471 472 495 471 434 491 464 471 491 496 495 472 472 469 496 434 495 435 435 495 496 434 435 433 433 491 434 435 436 433 435 437 436 437 435 496 433 436 428 436 431 428 438 436 437 436 438 431 437 440 438 437 441 440 437 496 441 440 431 438 431 393 428 431 439 396 393 431 396 440 439 431 442 439 440 440 441 442 47 442 441 441 405 47 441 496 405 59 439 442 58 59 442 47 58 442 439 59 396 50 59 58 50 61 59 61 129 59 129 23 59 23 156 59 396 59 395 156 395 59 319 156 23 319 321 156 156 321 336 336 395 156 352 395 336 388 395 352 388 396 395 336 321 337 336 351 352 337 351 336 338 337 321 319 338 321 351 337 353 338 355 337 337 355 353 351 354 352 351 333 354 351 334 333 353 334 351 355 334 353 338 356 355 356 331 355 334 355 331 331 333 334 331 332 333 333 332 354 354 332 386 354 386 352 386 332 387 386 387 388 388 352 386 389 388 387 335 389 387 332 335 387 389 393 388 393 396 388 335 392 389 392 393 389 394 393 392 428 393 394 335 391 392 391 397 392 394 392 397 397 426 394 428 394 426 429 428 426 433 428 429 426 433 429 397 427 426 427 430 426 426 430 432 432 433 426 397 391 494 397 494 427 427 483 430 494 483 427 485 430 483 430 485 432 485 488 432 488 491 432 491 433 432 487 488 485 487 491 488 483 484 485 486 485 484 485 489 487 486 489 485 483 492 484 483 494 492 391 492 494 492 493 486 492 486 484 499 493 492 499 492 391 486 446 489 486 449 446 486 493 449 489 446 451 451 487 489 451 490 487 490 491 487 490 464 491 476 449 475 449 476 481 449 493 475 475 443 476 443 445 476 476 445 482 476 482 481 501 481 482 445 477 482 482 500 501 500 482 477 443 444 445 445 444 474 474 477 445 474 478 477 477 478 500 384 500 385 385 500 478 384 501 500 384 367 501 286 384 385 367 384 286 367 286 366 285 286 277 286 285 366 286 385 277 366 285 365 369 366 365 280 285 277 295 285 280 295 365 285 295 294 365 365 294 369 294 370 369 370 371 369 294 295 289 287 370 294 289 287 294 295 296 289 296 295 280 289 288 287 289 293 288 293 289 296 287 270 203 287 288 270 287 203 370 288 292 270 288 293 292 296 284 293 293 284 278 297 293 278 293 297 292 284 296 280 284 280 278 278 276 279 276 278 280 278 279 297 297 298 292 279 298 297 292 291 270 292 298 291 279 276 298 291 298 302 298 313 302 315 313 298 276 315 298 270 291 290 291 302 290 268 203 270 290 268 270 268 290 299 302 299 290 268 299 300 299 301 300 302 301 299 300 271 268 300 303 271 301 308 300 308 303 300 302 314 301 301 314 316 308 301 316 308 309 303 316 317 308 308 317 309 272 316 314 272 317 316 313 314 302 313 275 314 272 314 275 272 273 274 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30 20 30 29 20 141 23 129 141 30 23 319 23 320 320 341 319 343 341 320 339 340 319 319 340 338 341 342 319 342 339 319 343 346 341 341 350 342 346 350 341 339 342 345 342 350 345 345 340 339 340 357 338 345 357 340 357 356 338 358 357 345 357 328 356 357 358 364 357 364 328 360 358 345 350 360 345 364 358 326 326 358 327 327 358 360 328 364 326 326 327 325 325 328 326 325 327 360 325 360 350 28 325 324 28 328 325 361 325 350 361 324 325 322 28 324 322 324 349 349 324 361 349 361 350 349 350 346 346 359 349 322 349 359 28 322 323 362 322 359 323 322 362 347 359 346 362 359 347 347 346 343 363 323 362 28 323 329 329 323 363 329 27 28 328 28 330 283 277 28 277 330 28 331 328 332 330 332 328 331 356 328 330 335 332 390 391 335 335 400 390 330 400 335 391 390 498 400 498 390 499 391 498 498 497 475 475 499 498 498 400 497 399 400 330 399 497 400 443 497 473 473 497 399 443 475 497 475 493 499 443 473 444 444 473 474 385 473 399 474 473 385 385 399 330 385 330 277 478 474 385 276 277 273 277 276 280 275 276 273 276 313 315 275 313 276 423 29 30 30 141 423 424 423 141 130 423 424 402 423 130 129 140 141 141 140 424 139 424 140 130 424 139 139 140 129 129 61 130 130 139 129 50 60 61 61 60 128 130 61 128 45 60 52 45 56 60 52 60 50 60 56 128 56 131 128 128 131 130 69 131 56 132 131 69 130 131 135 131 132 135 135 144 130 402 130 144 135 132 144 132 142 144 142 145 144 145 425 144 425 402 144 132 134 142 134 137 142 142 137 145 137 143 145 143 153 145 145 153 425 148 402 425 153 152 425 152 148 425 153 143 152 152 143 148 143 105 148 148 105 146 146 151 148 154 402 148 151 154 148 108 146 105 147 146 108 147 149 146 146 149 151 151 149 150 151 150 122 122 154 151 147 123 149 149 123 150 109 147 106 108 106 147 123 147 109 106 108 105 83 106 85 83 86 106 106 105 85 106 86 109 86 107 109 109 107 123 107 114 123 114 150 123 86 84 107 84 114 107 82 84 86 82 86 83 81 84 82 81 100 84 100 110 84 111 84 110 84 111 114 111 122 114 122 150 114 111 110 122 110 100 115 115 120 110 120 121 110 122 110 121 121 127 122 122 127 154 119 121 112 112 121 120 119 125 121 125 127 121 112 120 115 115 100 112 112 102 113 112 100 95 95 102 112 112 113 119 113 116 119 116 125 119 124 125 116 124 127 125 97 103 116 116 102 97 102 116 113 103 118 116 118 124 116 95 101 102 101 97 102 94 97 96 94 98 97 96 97 101 103 97 98 103 117 118 98 99 103 103 99 117 117 126 118 118 126 124 99 227 117 117 227 240 117 240 126 94 99 98 94 93 99 93 224 99 99 224 227 227 224 225 228 227 225 240 227 228 228 241 240 240 241 242 240 242 126 226 228 225 239 228 226 239 241 228 223 225 224 226 225 223 223 224 12 93 12 224 12 221 223 221 226 223 229 226 221 239 226 229 229 234 239 243 241 239 239 234 243 231 229 221 231 234 229 213 221 12 222 221 213 222 231 221 231 233 234 232 231 222 232 233 231 233 244 234 244 243 234 233 232 236 238 233 236 250 233 238 250 244 233 230 232 222 236 232 230 230 222 213 219 230 213 230 219 235 235 236 230 235 238 236 237 238 235 258 238 237 250 238 258 262 244 250 258 264 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190 187 189 190 191 187 190 193 191 193 192 191 191 192 187 184 187 183 184 189 187 192 183 187 180 189 184 176 184 183 184 176 188 180 184 188 183 5 176 185 5 183 192 185 183 178 188 176 181 180 188 181 188 178 182 178 204 182 181 178 180 181 182 5 185 7 186 7 185 201 186 185 6 5 7 8 6 7 186 8 7 211 8 186 214 186 201 211 186 214 246 214 201 246 201 210 214 217 211 214 246 217 255 217 246 252 246 210 255 246 252 254 255 252 255 254 217 217 247 211 217 249 247 217 253 249 254 253 217 254 251 253 254 252 251 252 219 251 251 219 248 251 248 253 253 248 249 249 220 247 249 248 220 247 215 211 247 220 215 219 218 220 220 218 215 220 248 219 219 213 218 212 218 213 215 218 212 215 212 216 211 215 216 211 11 8 212 11 211 216 212 211 11 212 9 212 213 9 213 10 9 213 12 10 9 10 11 11 6 8 11 15 6 10 15 11 12 13 10 13 15 10 12 17 13 17 12 93 13 16 15 17 16 13 469 15 16 79 16 81 81 16 17 79 403 16 469 16 403 496 469 407 469 403 407 79 404 403 407 403 404 404 406 407 406 408 407 496 407 408 496 408 405 405 408 44 44 408 406 53 406 404 41 406 53 41 44 406 53 54 55 42 53 55 42 41 53 54 53 404 41 42 43 41 43 44 43 42 45 45 42 56 56 42 55 44 43 45 34 44 45 45 46 34 45 52 46 34 46 52 34 52 50 40 50 49 40 34 50 51 49 50 51 50 58 39 34 40 40 49 39 39 49 48 51 48 49 48 51 58 58 47 48 48 47 39 36 34 39 36 39 47 405 35 47 36 47 35 35 34 36 33 34 35 35 37 33 35 405 37 405 44 37 33 37 34 34 37 38 37 44 38 38 44 34 54 57 55 56 55 62 65 62 55 55 57 65 73 54 74 54 73 57 54 404 74 57 73 104 73 74 105 73 105 104 57 104 72 136 72 104 104 105 143 136 104 143 78 105 74 78 85 105 77 78 76 76 78 74 77 85 78 83 85 77 75 77 76 75 80 77 80 83 77 75 76 74 75 79 80 75 74 79 79 81 80 80 81 82 80 82 83 74 404 79 87 88 81 88 90 81 81 90 100 81 92 87 92 81 17 89 90 88 88 87 89 89 95 90 90 95 100 89 87 91 89 91 95 95 91 96 96 101 95 17 91 87 91 17 96 87 92 17 17 93 94 96 17 94 138 143 137 138 136 143 137 136 138 136 137 72 72 137 134 57 72 71 72 133 71 72 134 133 133 134 132 70 133 132 71 133 70 66 57 71 66 71 70 65 57 66 66 67 65 67 66 70 68 70 69 70 68 67 69 70 132 67 63 65 67 68 63 62 65 63 62 63 64 63 68 64 64 68 56 68 69 56 62 64 56 455 453 413 455 454 453)) + (list :vertices (let ((mat (make-matrix 502 3))) (fvector-replace (array-entity mat) #f(-2.0386199951171875e+01 -3.1374200439453125e+02 -4.8366799926757812e+02 -2.3539199829101562e+01 -3.0677099609375000e+02 -4.9085400390625000e+02 1.5101799964904785e+00 -3.1135202026367188e+02 -4.8928500366210938e+02 -4.4597099304199219e+01 -3.0689001464843750e+02 -4.8414599609375000e+02 -5.7018898010253906e+01 -2.9444598388671875e+02 -4.9092501831054688e+02 -6.3879600524902344e+01 -2.9806900024414062e+02 -4.8355401611328125e+02 -7.9504402160644531e+01 -2.8077099609375000e+02 -4.9013098144531250e+02 -8.7696296691894531e+01 -2.8020599365234375e+02 -4.8369500732421875e+02 -9.8202201843261719e+01 -2.6863900756835938e+02 -4.8480700683593750e+02 -1.1751300048828125e+02 -2.3654499816894531e+02 -4.8154602050781250e+02 -1.2229100036621094e+02 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glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_upper_arm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 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(nreverse (list (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 9.4160303473472595e+01 6.8083005025982857e+00 -1.2399986386299133e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_l_finger_tip_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_l_finger_tip_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 202 203 0 215 0 2 609 0 607 215 698 0 202 0 698 0 609 1 0 203 607 457 458 215 458 698 215 457 215 2 698 458 122 122 434 698 434 202 698 120 458 457 458 120 122 457 658 120 658 457 2 120 658 161 466 658 678 161 658 466 678 658 768 658 2 768 768 2 704 2 1 704 768 704 785 678 768 785 466 678 237 238 678 785 237 678 238 634 785 584 704 347 785 347 584 785 238 785 634 1 537 704 537 347 704 1 609 72 1 72 537 537 71 348 72 71 537 347 537 348 346 347 348 346 584 347 348 71 446 446 346 348 534 346 445 346 446 445 346 534 584 445 26 534 171 584 534 26 694 534 694 171 534 445 446 27 27 26 445 26 27 28 694 26 28 171 694 583 694 28 195 195 594 694 594 583 694 446 28 27 195 28 683 683 28 446 683 446 305 683 305 307 683 447 195 307 447 683 306 305 446 306 446 71 305 306 307 307 645 447 414 307 306 307 414 645 415 306 71 415 414 306 70 71 72 71 410 415 70 410 71 414 415 409 409 415 410 414 628 645 409 628 414 409 410 411 628 409 411 410 38 411 410 642 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207 92 421 422 135 421 207 422 303 135 134 303 421 135 208 207 421 421 303 208 207 208 14 208 303 304 208 12 14 208 735 755 12 208 755 304 735 208 12 13 14 12 755 13 13 755 756 272 755 734 756 755 272 734 755 735 297 734 735 297 735 304 297 296 734 294 272 734 296 294 734 255 296 297 297 800 255 800 297 304 294 296 255 272 294 295 295 294 69 254 69 294 294 255 254 253 254 255 742 253 255 255 800 742 542 254 253 743 69 254 254 542 743 275 274 253 253 274 542 275 253 742 344 275 742 633 344 742 742 800 633 228 274 275 228 275 345 344 345 275 542 274 132 274 133 132 133 274 228 133 228 229 229 228 247 345 247 228 344 247 345 245 246 247 247 344 651 245 247 651 246 229 247 246 245 574 651 575 245 574 245 575 246 574 601 657 229 246 246 601 657 573 574 575 574 573 391 574 687 601 574 391 687 575 651 526 413 573 575 526 413 575 412 573 413 573 412 391 315 412 413 526 527 413 413 196 360 527 196 413 360 315 413 389 412 315 412 389 391 389 390 391 390 389 300 300 389 315 390 233 391 234 390 300 234 233 390 300 301 302 301 300 315 302 234 300 233 234 235 87 235 234 234 302 87 302 301 88 87 302 88 87 88 89 89 235 87 235 638 233 581 235 89 235 581 638 44 89 748 36 89 44 89 88 748 89 36 581 343 88 301 748 88 343 44 748 342 748 343 342 44 45 37 44 342 45 36 44 37 35 36 37 36 35 571 581 36 571 35 37 505 37 45 505 35 289 288 571 35 288 289 35 505 581 571 632 690 632 571 288 775 571 775 690 571 288 289 290 290 775 288 775 499 692 565 775 290 775 565 499 690 775 692 690 731 632 690 692 731 691 692 693 693 692 499 731 692 691 149 439 499 499 565 149 693 499 439 691 693 676 693 439 497 693 497 676 668 691 676 668 731 691 668 639 731 731 639 632 613 668 614 217 614 668 613 639 668 217 668 676 676 497 217 216 217 218 217 10 218 217 216 614 10 217 496 217 497 496 612 613 614 216 686 614 614 686 612 218 701 216 701 686 216 218 10 9 703 218 9 703 701 218 9 10 11 10 496 11 495 496 497 495 11 496 11 393 9 393 11 495 392 9 393 392 703 9 701 703 331 392 331 703 393 479 392 392 479 332 332 331 392 331 332 20 20 229 331 714 701 331 229 714 331 20 21 22 229 20 465 20 332 21 20 22 465 229 440 133 657 714 229 465 440 229 714 657 686 686 701 714 612 657 601 612 686 657 638 613 612 601 638 612 233 601 687 233 638 601 638 639 613 638 632 639 581 632 638 233 687 391 131 133 440 131 440 145 351 145 440 465 351 440 131 132 133 132 131 388 388 387 132 387 542 132 386 387 388 387 67 743 743 542 387 67 387 386 436 61 386 386 163 67 163 386 61 386 388 436 666 436 388 666 617 436 617 61 436 61 62 63 61 63 163 617 616 61 62 61 616 67 163 670 163 726 670 63 726 163 592 726 63 63 62 592 484 62 319 592 62 484 62 616 319 318 592 484 592 318 719 720 592 719 592 720 726 758 670 726 726 720 758 719 472 720 758 720 538 720 539 538 472 539 720 739 670 758 739 758 538 538 539 29 739 538 29 702 29 539 539 472 702 29 30 31 560 29 31 739 29 772 30 29 702 772 29 560 670 739 68 68 739 772 68 67 670 67 68 69 68 772 69 772 560 273 295 69 772 272 772 273 295 772 272 273 560 561 560 31 561 271 272 273 561 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179 41 586 179 42 41 313 313 179 490 178 179 180 179 178 490 586 180 179 180 586 462 462 209 180 257 490 491 490 178 491 55 164 56 149 438 439 478 438 149 752 674 438 752 438 784 438 478 784 438 674 439 439 674 495 439 495 497 495 674 393 558 393 674 674 752 558 637 558 752 784 637 752 478 730 784 380 637 784 730 380 784 636 558 637 637 382 699 637 380 382 637 699 636 380 381 382 380 453 381 380 730 453 381 699 382 282 699 381 669 699 282 699 669 636 381 677 282 281 282 283 281 669 282 282 522 283 282 677 522 281 636 669 557 636 281 767 281 283 767 58 281 281 58 557 557 60 558 58 60 557 557 558 636 58 59 60 354 58 767 58 354 59 283 354 767 354 355 356 354 283 510 59 354 356 354 510 355 60 59 356 158 332 356 159 356 355 158 356 159 356 332 479 60 356 479 158 159 160 158 21 332 158 160 21 262 159 355 595 262 355 165 262 595 595 355 510 510 165 595 166 165 292 165 510 292 596 166 292 291 292 293 283 292 510 596 292 291 292 283 293 659 596 774 291 774 596 660 659 774 660 774 291 370 660 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6.6893897950649261e+01) (float-vector 4.7038099169731140e+02 -4.9879800528287888e+01 4.3316800147294998e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1146498918533325e+02 -5.0028800964355469e+01 8.1623300909996033e+01) (float-vector 4.3329599499702454e+02 -4.9894701689481735e+01 7.5655803084373474e+01) (float-vector 4.4112101197242737e+02 -5.3270898759365082e+01 6.8994700908660889e+01) (float-vector 4.2204600572586060e+02 -5.9998299926519394e+01 6.8907298147678375e+01) (float-vector 4.0339198708534241e+02 -6.0000199824571609e+01 7.2648502886295319e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1280201077461243e+02 5.4773598909378052e+01 7.7729001641273499e+01) (float-vector 4.2645800113677979e+02 4.8638898879289627e+01 7.8525602817535400e+01) (float-vector 4.3329599499702454e+02 -4.9894701689481735e+01 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+ geom)) + (:_make_instance_l_upper_arm_roll_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 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-1.3288900256156921e+01 -1.1481899768114090e+01) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 2.9728999361395836e+01 -5.4750000126659870e+00 3.9615998975932598e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00) (float-vector 2.3922100663185120e+01 -1.4945900999009609e+01 1.0701100341975689e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00) (float-vector -2.4536000564694405e+00 1.9533900544047356e+01 -8.7679997086524963e+00) (float-vector 2.3285299539566040e+01 -1.3288900256156921e+01 -1.1481899768114090e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_motor_accelerometer_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_motor_accelerometer_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 156 0 157 306 1 0 306 0 430 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1.2137000274658203e+02 2.2720699310302734e+01 2.3456800460815430e+01 1.1886999511718750e+02 1.1232599258422852e+01 7.1156005859375000e+01 1.1737000274658203e+02 -4.0975399017333984e+01 1.1754600524902344e+01 1.3837001037597656e+02 -2.9887001037597656e+01 -5.5000000000000000e+01 1.1855300140380859e+02 6.3947097778320312e+01 -3.5793299674987793e+00 1.1886999511718750e+02 -6.5989196777343750e+01 2.8550998687744141e+01 1.1737000274658203e+02 -4.3372997641563416e-01 -3.2841197967529297e+01 1.1886999511718750e+02 -5.5902801513671875e+01 4.5347499847412109e+01 1.1818599700927734e+02 6.1611400604248047e+01 -1.6768699645996094e+01 1.4036999511718750e+02 -2.7886999130249023e+01 -6.0179199218750000e+01 1.2147399902343750e+02 -1.0176099777221680e+01 5.1711101531982422e+01 1.2246699523925781e+02 1.7770599365234375e+01 -5.2830497741699219e+01 1.1737000274658203e+02 -1.9266300201416016e+01 -2.6453399658203125e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 2988 -> 23 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01) (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01) (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01) (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_upper_arm_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_wrist_flex_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.100000 0.100000 0.100000 0.000000)) - (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 24 -> 4 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_r_finger_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_r_finger_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 0 50 229 393 50 0 0 2 324 98 0 229 1 0 98 324 393 0 393 51 50 51 393 324 50 51 52 50 52 291 50 291 229 2 308 51 324 2 51 51 431 52 431 51 308 308 430 431 128 209 308 128 308 2 308 440 430 308 209 440 431 430 52 430 39 38 52 430 38 440 39 430 38 39 40 40 39 412 39 440 412 38 40 52 40 327 52 356 327 40 356 40 191 412 191 40 412 440 191 440 209 439 439 387 440 191 440 387 432 387 439 298 439 209 432 439 298 297 303 387 389 191 387 432 297 387 303 389 387 297 432 298 296 297 298 296 303 297 296 302 303 303 302 389 302 489 389 389 489 191 489 302 499 499 191 489 191 499 500 499 302 500 500 302 492 492 191 500 492 302 487 191 492 487 487 302 192 487 192 191 32 191 192 192 346 347 346 192 302 32 192 347 347 346 423 32 347 423 32 423 201 63 423 346 201 423 63 32 201 202 201 63 202 62 63 64 63 262 64 202 63 339 339 63 62 63 346 262 202 339 247 247 32 202 62 338 339 338 247 339 140 62 64 62 140 338 140 64 73 73 64 71 71 64 262 140 141 142 140 73 141 142 338 140 338 142 245 338 245 247 245 246 247 311 246 245 142 311 245 33 246 269 311 267 246 246 267 269 33 247 246 142 310 311 310 267 311 267 268 269 284 268 267 284 267 22 310 22 267 22 310 142 21 22 23 284 22 21 23 22 99 142 99 22 341 284 21 284 341 268 341 368 268 341 438 174 110 368 341 174 110 341 341 21 438 400 332 368 268 368 436 400 368 110 368 332 436 108 109 110 109 400 110 108 110 174 173 108 174 173 174 438 173 183 108 108 305 109 108 498 305 108 183 498 422 109 304 109 422 400 305 304 109 304 305 241 241 305 9 9 305 498 484 498 183 484 9 498 9 10 11 240 241 9 11 265 9 265 240 9 484 10 9 10 253 11 256 253 10 10 484 256 253 265 11 122 253 256 299 265 253 299 253 122 129 122 256 496 129 256 484 496 256 121 122 123 309 299 122 123 122 129 121 309 122 469 299 309 299 469 265 318 309 121 468 309 318 468 469 309 130 217 121 123 130 121 121 217 318 129 130 123 411 130 129 420 203 130 419 420 130 411 419 130 130 203 217 318 217 205 217 203 205 203 204 205 334 485 203 204 203 485 203 420 334 293 318 205 205 204 293 204 433 293 433 204 485 334 314 485 314 433 485 132 131 433 433 294 293 433 261 294 314 132 433 131 261 433 131 132 133 132 189 133 189 132 314 131 190 261 131 133 190 261 328 294 261 416 328 261 190 416 125 293 294 328 125 294 124 125 126 126 125 328 408 125 124 206 293 125 408 206 125 293 206 318 206 468 318 468 206 469 469 229 265 98 469 206 98 229 469 265 229 266 229 291 292 266 229 292 265 266 240 240 266 279 266 292 279 292 291 279 291 52 279 240 279 241 279 52 327 357 241 279 357 279 327 304 241 357 356 304 357 356 357 327 422 304 356 422 356 332 356 191 332 400 422 332 331 332 333 436 332 331 333 332 191 34 191 32 333 191 34 331 333 34 32 33 34 331 34 33 409 331 33 436 331 269 269 331 409 269 268 436 409 33 269 32 247 33 97 1 98 319 24 98 350 319 98 98 208 348 350 98 348 206 208 98 24 97 98 128 2 1 1 97 128 97 127 128 209 128 127 19 127 20 127 19 298 298 209 127 127 97 20 18 19 20 298 19 434 19 18 474 434 19 474 24 20 97 18 20 24 18 24 25 18 25 212 474 18 212 434 474 475 475 474 212 210 211 212 212 211 475 210 212 25 319 263 25 263 210 25 319 25 24 263 236 210 210 236 460 210 460 211 211 460 470 475 211 470 235 231 460 460 236 235 460 231 470 235 236 237 263 264 236 236 264 237 264 263 336 319 336 263 336 337 264 337 391 264 264 391 237 237 448 235 390 448 237 237 391 390 235 448 231 448 322 231 448 390 322 390 391 392 390 83 322 83 390 437 392 497 390 390 497 437 322 180 231 83 181 322 180 322 181 82 83 84 181 83 82 83 437 84 179 180 181 82 179 181 231 180 232 180 373 232 179 373 180 470 231 232 470 232 475 102 232 163 475 232 102 232 373 163 163 373 316 316 373 179 316 179 82 316 82 317 316 197 163 316 317 197 103 163 164 164 163 197 102 163 103 164 197 72 317 78 197 197 78 72 262 164 71 262 103 164 71 164 72 102 103 104 346 103 262 346 104 103 302 296 104 434 104 296 102 104 434 302 104 346 434 296 298 434 475 102 71 72 73 77 72 78 73 72 77 141 73 77 77 78 463 141 77 463 463 78 429 429 78 317 141 463 377 463 429 377 142 141 358 377 358 141 377 85 358 429 85 377 317 86 429 429 86 85 317 82 426 317 426 86 85 86 87 87 86 426 85 115 358 67 85 87 67 115 85 87 426 84 84 53 87 53 323 87 87 323 67 84 426 82 84 437 53 53 54 55 53 55 323 437 54 53 323 55 483 323 65 67 323 483 65 74 483 75 75 483 55 483 74 65 65 66 67 74 66 65 74 75 76 76 66 74 75 55 175 351 75 447 75 175 447 75 351 76 76 351 353 66 76 353 67 66 115 358 66 353 115 66 358 351 352 353 353 272 358 352 270 353 353 270 272 142 358 272 99 142 272 23 99 69 99 146 69 99 274 105 105 107 99 345 99 272 99 154 90 379 466 99 90 146 99 239 379 99 154 99 466 107 239 99 274 99 345 154 88 90 466 275 154 275 88 154 466 467 276 379 467 466 276 275 466 151 275 276 425 88 275 151 425 275 88 89 90 425 89 88 222 425 453 454 425 151 453 425 454 89 425 222 221 89 222 221 90 89 221 222 223 80 223 222 80 222 453 476 453 454 80 453 476 454 150 476 150 454 151 81 80 476 476 150 81 79 80 81 80 79 223 100 101 81 81 150 187 81 187 100 79 81 101 150 151 152 187 150 152 187 188 100 187 152 371 187 371 188 152 151 493 152 493 371 493 151 276 371 493 372 372 493 276 188 371 372 450 188 372 450 375 188 375 100 188 406 372 467 372 276 467 450 372 406 450 406 252 354 375 450 354 450 252 248 406 379 252 406 248 379 406 467 238 91 252 91 354 252 238 252 248 374 375 354 374 354 91 91 92 93 378 374 91 378 91 93 91 238 92 107 238 239 238 248 239 92 238 107 239 248 379 105 106 107 106 92 107 106 93 92 93 106 290 289 378 93 289 93 290 289 374 378 375 374 289 288 289 290 289 288 375 177 176 290 176 288 290 106 177 290 176 177 178 456 177 106 456 490 177 178 177 490 277 176 278 176 178 278 176 277 288 278 178 8 8 178 12 178 490 12 490 13 12 404 13 490 404 490 456 274 404 456 456 106 274 345 403 404 404 254 13 345 404 274 404 403 254 12 13 14 13 254 14 139 44 254 254 403 139 44 14 254 344 403 345 403 457 139 457 403 344 272 344 345 272 376 344 376 457 344 369 457 376 139 457 137 137 457 369 376 272 271 113 369 376 376 271 113 270 271 272 270 113 271 111 112 113 111 113 477 369 113 112 270 477 113 270 352 477 446 111 477 352 446 477 116 111 386 116 112 111 111 446 386 112 116 117 117 369 112 320 116 386 117 116 320 320 321 117 321 138 117 369 117 138 137 369 138 137 138 139 139 167 44 329 139 138 139 329 167 44 45 46 45 44 167 424 14 44 44 46 424 166 95 45 167 166 45 46 45 95 46 95 94 424 46 94 193 424 295 193 14 424 295 424 94 193 12 14 8 12 193 8 193 295 381 295 94 295 6 8 295 381 6 94 95 96 96 381 94 380 234 381 381 234 405 381 405 6 96 380 381 6 7 8 6 405 7 8 7 278 278 7 158 405 158 7 234 233 405 405 233 158 58 233 234 58 234 227 227 234 380 96 227 380 227 96 228 49 227 228 58 227 48 48 227 49 200 255 228 228 255 49 481 228 96 200 228 481 47 48 49 49 255 47 48 47 162 162 58 48 367 59 47 255 367 47 59 162 47 255 200 199 367 255 199 367 60 59 367 199 60 198 199 200 168 199 213 213 199 198 199 168 60 59 60 61 60 169 61 60 168 169 168 28 169 26 28 168 26 168 213 26 27 28 169 28 27 218 300 169 472 61 169 169 300 472 27 218 169 218 27 482 27 26 482 482 26 326 26 213 326 479 219 482 218 482 219 326 479 482 213 325 326 325 479 326 479 243 219 175 479 325 175 55 479 55 243 479 218 219 220 220 219 243 444 220 462 444 218 220 462 220 471 220 243 471 300 444 445 300 218 444 444 462 459 445 444 459 462 242 459 462 471 242 471 243 242 242 243 244 242 391 459 242 244 391 458 445 459 459 391 337 459 337 336 459 336 458 392 391 244 243 340 244 54 244 340 54 392 244 497 392 54 437 497 54 54 340 55 340 243 55 370 445 458 336 370 458 370 336 319 370 319 455 455 445 370 300 445 455 455 319 350 61 472 455 472 300 455 350 61 455 59 61 350 59 225 413 59 350 225 162 59 413 56 162 413 225 56 413 3 5 225 465 3 225 5 56 225 465 225 350 56 57 58 56 5 57 56 58 162 3 4 5 4 488 5 57 5 488 465 4 3 465 382 4 382 465 350 382 43 4 359 488 4 4 43 359 57 488 159 361 159 488 488 359 361 359 360 361 359 43 42 42 360 359 160 159 361 360 288 361 160 361 288 158 159 160 233 57 159 158 233 159 277 158 160 277 160 288 288 100 375 288 442 100 442 288 360 101 100 155 100 136 155 100 442 136 360 42 442 442 41 136 41 442 42 134 135 136 136 135 155 136 41 134 41 42 43 41 43 134 153 147 134 280 135 134 147 280 134 134 43 153 135 301 286 286 155 135 280 301 135 149 301 280 147 149 280 147 148 149 396 147 153 396 148 147 149 461 301 148 461 149 301 287 286 301 461 287 148 452 461 461 452 287 478 148 208 148 396 208 478 452 148 208 396 348 348 396 153 206 207 208 207 452 208 452 478 208 287 452 449 449 452 207 415 449 207 415 207 206 414 415 206 206 408 414 285 449 415 415 282 285 282 415 414 285 287 449 285 286 287 285 282 365 286 285 473 285 494 473 285 365 494 155 286 473 473 435 155 473 494 435 155 156 157 435 156 155 155 157 101 435 494 156 383 118 156 156 118 157 156 494 383 120 101 157 118 120 157 120 143 101 101 143 79 118 119 120 119 143 120 383 119 118 119 383 384 383 494 281 384 383 281 144 119 384 144 143 119 364 384 281 464 144 384 464 384 364 281 282 283 281 283 364 282 281 494 365 282 494 283 282 414 283 414 407 364 283 407 414 408 407 407 408 124 364 407 362 407 366 362 407 124 366 366 124 126 366 363 362 363 366 395 126 395 366 362 363 364 363 395 37 36 363 37 36 464 363 363 464 364 395 126 328 328 37 395 35 36 37 328 35 37 36 417 418 36 35 417 36 418 464 144 464 441 418 441 464 260 441 418 260 418 394 418 417 394 417 35 394 17 260 394 15 17 394 35 451 394 394 451 15 15 16 17 17 259 260 17 388 259 17 16 388 185 16 15 15 451 185 451 401 185 401 451 416 416 451 35 185 186 16 185 401 257 186 185 257 257 258 186 258 161 186 186 161 16 401 402 257 258 257 402 402 250 249 402 249 258 421 402 401 402 421 315 402 315 250 249 250 251 250 315 251 258 249 251 196 195 258 195 68 258 68 161 258 196 258 251 194 195 196 196 251 194 230 195 194 230 273 195 114 68 195 273 114 195 68 69 70 114 69 68 68 70 161 443 69 114 216 114 273 443 114 216 216 273 397 397 273 230 214 215 216 397 214 216 215 443 216 171 443 215 69 443 23 23 443 171 69 146 70 161 70 146 90 29 146 146 388 161 146 29 388 29 90 30 30 90 221 29 30 31 388 29 31 161 388 16 259 388 31 31 307 259 355 307 31 31 30 355 30 221 355 223 342 221 355 221 342 355 306 307 355 342 343 355 343 306 306 260 307 307 260 259 343 145 306 306 441 260 306 145 441 342 223 343 223 143 343 343 143 145 223 79 143 143 144 145 144 441 145 170 171 172 170 23 171 172 171 215 224 21 170 170 21 23 170 172 224 172 226 182 172 182 224 215 226 172 215 214 226 427 428 226 214 427 226 226 428 182 182 183 173 224 182 173 428 183 182 427 496 428 428 496 484 428 484 183 410 427 486 214 486 427 427 410 496 496 410 129 410 411 129 411 410 486 480 411 486 214 480 486 480 419 411 397 480 214 313 419 480 397 313 480 419 313 420 230 312 313 397 230 313 335 495 313 312 335 313 420 313 495 495 334 420 334 495 335 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1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5434898734092712e+02 1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01) (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01) (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.4229499101638794e+02 1.9781699404120445e+01 -3.0575700104236603e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01) (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.5434898734092712e+02 1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.4229499101638794e+02 1.9781699404120445e+01 -3.0575700104236603e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01) (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_wrist_flex_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_l_wrist_roll_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 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-8.9134005829691887e+00 -2.5915445759892464e+01) (float-vector -7.8704003244638443e+00 -3.4827000927180052e+00 -2.6805736124515533e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.4031798839569092e+01 1.9328899681568146e+01 2.7645906433463097e+01) (float-vector 4.6545699238777161e+01 3.8518901914358139e+01 2.1515727043151855e+01) (float-vector 7.8674905002117157e+01 3.1988602131605148e+01 1.0890045203268528e+01) (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01) (float-vector 9.1751299798488617e+01 3.3287000842392445e+00 1.3026015833020210e+01) (float-vector 4.7026101499795914e+01 6.3424999825656414e+00 2.7899639680981636e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 7.8674905002117157e+01 3.1988602131605148e+01 1.0890045203268528e+01) (float-vector 7.5959801673889160e+01 3.3519700169563293e+01 -1.0229793377220631e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 9.4160303473472595e+01 6.8083005025982857e+00 -1.2399986386299133e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_l_gripper_r_finger_tip_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_l_gripper_r_finger_tip_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 3 4 0 4 72 0 72 248 0 0 2 3 1 0 248 1 270 2 270 410 2 2 410 3 4 3 294 410 294 3 294 410 454 410 324 454 270 325 410 324 410 325 269 270 1 270 269 79 79 325 270 324 325 20 325 79 21 20 325 21 21 79 23 79 318 23 79 269 318 318 269 407 318 407 23 407 194 196 407 148 23 269 194 407 194 195 196 194 338 195 269 445 194 329 338 194 445 329 194 445 269 1 72 329 445 248 72 445 248 445 1 329 330 331 72 330 329 329 331 338 72 4 330 444 330 4 331 330 444 331 337 338 494 337 331 331 444 494 494 444 4 494 4 273 337 494 273 338 337 311 273 311 337 96 272 273 273 272 311 96 273 4 310 311 149 149 311 317 311 272 317 310 338 311 338 310 447 338 447 195 310 149 195 310 195 447 147 148 149 195 149 148 317 124 149 147 149 124 148 147 403 147 464 403 124 464 147 473 148 474 474 148 403 23 148 473 474 403 464 467 473 474 467 474 95 95 474 464 467 23 473 21 23 24 24 23 467 95 24 467 462 24 95 21 24 462 141 462 202 462 95 203 203 202 462 462 141 21 201 202 203 396 141 202 201 396 202 197 201 203 197 203 95 396 201 197 396 197 414 141 396 475 396 414 475 197 95 189 414 197 189 476 414 369 369 414 189 475 414 476 142 475 476 141 475 142 142 476 369 80 142 369 402 369 189 402 80 369 80 141 142 381 21 141 441 141 39 141 80 39 381 141 441 380 381 382 380 21 381 381 441 382 38 382 441 39 38 441 38 39 40 39 80 40 38 40 466 466 306 38 382 38 306 306 380 382 380 379 21 380 306 379 21 379 326 379 306 326 326 327 22 326 22 21 326 306 327 20 21 22 22 327 20 70 71 20 327 70 20 71 324 20 70 327 339 71 70 339 71 295 294 71 294 324 71 159 295 339 159 71 294 454 324 294 295 296 294 296 4 296 295 302 158 302 295 159 158 295 296 302 4 96 4 97 97 4 302 97 302 303 303 302 158 158 159 160 158 160 328 328 303 158 303 317 272 272 97 303 328 317 303 96 97 272 328 6 317 125 317 144 317 5 144 317 6 5 317 125 124 6 328 160 5 6 7 73 6 160 6 73 7 73 74 7 74 264 7 7 264 5 73 313 74 74 313 214 264 74 214 214 5 264 214 215 5 408 215 214 214 313 408 73 257 313 313 257 409 313 409 408 408 409 191 408 191 215 409 257 261 409 261 191 261 257 262 261 314 191 261 262 314 262 256 314 257 256 262 314 256 461 314 461 191 255 256 257 256 255 461 255 104 461 191 461 104 274 255 257 255 109 104 274 109 255 274 85 109 452 274 257 452 85 274 109 110 104 85 84 109 110 109 84 83 84 85 497 85 452 85 497 83 84 453 110 84 496 453 84 83 496 497 496 83 489 496 497 99 489 497 452 99 497 496 489 453 489 260 453 260 319 453 453 319 110 489 99 258 260 489 258 99 11 100 99 100 258 99 452 11 258 259 260 100 259 258 260 259 319 259 100 319 100 11 55 54 100 55 100 54 319 54 55 56 55 389 56 55 11 389 319 54 304 54 56 304 56 389 46 56 46 304 44 46 389 389 64 44 11 64 389 44 45 46 46 45 304 63 44 64 44 63 45 11 293 64 293 63 64 478 288 63 288 45 63 478 63 293 293 13 478 11 13 293 288 478 289 478 13 289 11 12 13 78 13 12 13 78 493 13 493 289 288 289 69 289 493 69 493 68 69 493 78 68 68 60 69 60 288 69 78 35 68 35 60 68 35 36 37 60 35 37 78 36 35 36 107 108 108 440 36 36 440 37 211 107 36 211 36 78 440 120 37 60 37 120 440 108 120 108 14 120 107 213 108 108 213 14 211 213 107 211 212 213 463 65 211 211 65 212 211 78 463 213 212 14 198 212 65 14 212 198 65 66 67 463 66 65 65 67 198 198 92 14 198 67 92 32 67 263 67 66 263 67 32 92 463 263 66 263 33 32 263 463 33 32 33 34 32 34 92 33 457 458 34 33 487 487 33 458 463 457 33 34 487 92 487 458 89 487 89 92 458 90 89 458 457 90 89 90 91 91 90 457 250 251 89 91 316 89 250 89 460 460 89 57 251 92 89 316 57 89 250 459 477 251 250 477 250 460 459 251 477 145 92 251 145 145 146 92 15 92 206 92 15 14 92 146 206 146 145 477 146 477 115 115 477 459 459 460 435 459 435 115 400 404 435 57 400 435 435 292 115 435 404 292 460 57 435 57 59 400 404 400 59 59 58 404 58 292 404 57 58 59 376 374 58 58 57 376 58 374 292 372 373 374 374 290 372 373 292 374 374 376 290 290 87 372 373 372 87 373 87 86 292 373 86 86 87 88 266 87 290 88 87 266 266 290 291 376 291 290 265 266 267 265 88 266 266 291 267 88 265 86 265 267 137 265 137 86 284 285 267 267 285 76 434 267 291 76 137 267 434 284 267 392 393 284 434 392 284 285 284 393 76 285 77 492 285 393 492 77 285 42 436 393 393 436 492 392 42 393 42 392 442 434 442 392 291 442 434 442 308 42 308 442 291 41 42 43 42 308 43 436 42 41 43 308 309 309 308 376 291 376 308 309 53 43 376 53 309 53 376 51 438 51 376 438 376 57 51 52 53 43 53 52 51 438 52 315 411 438 315 438 57 438 488 52 438 411 488 316 315 57 315 316 91 411 315 91 411 91 412 411 412 488 412 52 488 412 43 52 91 43 412 457 43 91 41 43 47 47 43 413 43 457 413 413 457 463 413 78 12 413 463 78 102 413 161 413 12 161 47 413 102 101 102 103 47 102 164 161 163 102 102 101 164 163 103 102 161 162 163 450 162 161 161 12 450 419 163 162 163 323 103 419 322 163 323 163 322 450 419 162 12 351 450 352 419 450 450 351 352 246 322 419 352 246 419 322 10 323 246 10 322 103 323 443 10 115 323 323 115 443 103 443 220 443 115 220 220 101 103 101 220 165 165 220 114 115 114 220 164 101 165 164 165 166 423 165 114 166 165 423 114 115 116 423 114 424 424 114 116 166 423 271 271 423 424 164 166 271 47 164 271 177 271 178 271 175 178 175 271 424 271 177 448 448 47 271 175 424 176 424 116 176 174 175 176 178 175 174 177 178 174 484 177 174 448 177 484 395 448 181 41 47 448 448 395 41 181 448 484 433 181 484 433 484 174 432 433 174 174 176 486 486 432 174 179 433 432 179 181 433 179 180 181 395 181 180 336 179 432 180 179 336 486 336 432 486 292 336 292 486 176 335 336 86 335 425 336 425 180 336 292 86 336 425 226 180 395 180 226 425 426 224 426 425 335 224 226 425 429 335 86 429 426 335 429 428 426 428 224 426 224 225 226 49 224 427 427 224 428 49 225 224 395 226 225 225 41 395 41 225 49 98 41 49 41 98 436 169 98 48 48 98 49 169 306 98 98 306 436 386 436 306 386 77 436 492 436 77 386 387 388 75 386 388 386 75 77 387 386 306 75 76 77 437 81 75 75 81 76 388 437 75 387 437 388 306 341 387 377 437 387 387 341 377 81 437 377 81 377 378 341 378 377 340 341 306 341 340 378 340 81 378 340 490 81 306 490 340 82 490 491 490 466 491 490 306 466 490 82 81 80 81 82 82 40 80 82 491 40 40 491 466 199 200 80 80 200 394 80 402 199 394 81 80 312 199 189 189 199 402 200 199 312 200 312 394 470 394 287 312 287 394 470 81 394 312 189 286 287 312 286 286 254 287 287 254 136 495 470 287 495 287 136 135 81 470 135 470 495 136 135 495 135 136 17 17 136 254 17 254 18 286 189 254 18 254 189 17 18 19 25 17 19 135 17 25 398 135 399 398 81 135 25 399 135 399 25 19 19 18 397 397 399 19 397 18 189 397 398 399 130 397 131 130 398 397 131 397 189 130 81 398 81 130 76 129 130 131 76 130 129 137 129 131 137 131 189 129 137 76 137 189 86 344 86 189 429 86 344 344 170 345 173 344 189 173 170 344 345 429 344 345 428 429 170 421 345 345 421 428 170 171 172 173 171 170 170 172 421 171 173 189 223 342 171 171 342 172 223 171 189 342 48 172 172 347 421 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218 356 354 355 356 356 355 416 417 356 416 356 417 333 218 354 356 218 217 354 354 217 355 153 355 217 355 152 244 355 244 416 152 355 153 244 431 416 431 417 416 152 230 244 230 431 244 151 152 153 152 151 230 151 229 230 229 238 230 238 431 230 238 430 431 431 430 417 237 238 229 237 480 238 480 430 238 350 237 229 151 350 229 350 155 237 155 480 237 155 481 480 480 481 430 430 481 417 154 481 155 481 154 417 154 155 156 155 350 156 156 350 348 154 156 157 348 157 156 348 320 485 157 348 485 320 297 321 485 320 321 485 321 157 119 321 117 119 157 321 297 117 321 297 276 301 297 277 276 297 301 117 117 118 119 117 301 118 119 353 157 353 119 118 118 227 228 227 118 301 118 228 353 301 276 227 360 361 227 360 227 276 227 361 228 353 228 268 228 361 268 247 353 268 247 157 353 154 157 247 154 247 268 123 154 268 332 154 134 154 113 333 113 154 332 417 154 333 134 154 205 205 154 210 123 210 154 205 132 134 209 205 210 209 132 205 208 209 210 208 210 401 401 210 123 319 132 209 208 319 209 132 133 134 132 304 133 304 132 319 122 110 319 208 122 319 122 208 401 122 401 123 122 123 110 105 110 150 471 110 123 150 110 469 105 104 110 471 469 110 471 123 268 268 469 471 268 105 469 150 469 105 104 105 106 105 299 106 299 105 268 104 106 371 191 104 371 106 299 298 106 298 371 298 299 300 300 299 268 93 268 361 268 93 300 232 93 361 232 361 360 231 186 232 232 240 93 186 240 232 231 232 360 275 231 360 275 360 276 187 186 231 187 231 275 185 186 187 185 240 186 482 187 275 482 185 187 275 276 277 275 277 482 482 483 239 239 185 482 357 482 277 482 357 483 239 240 185 420 240 239 483 420 239 483 359 420 357 359 483 357 358 359 357 279 465 358 357 465 357 277 279 358 94 359 94 420 359 94 240 420 93 94 95 240 94 93 383 95 94 358 384 94 383 94 384 384 358 465 383 384 385 384 465 439 385 384 439 27 383 385 27 26 383 383 26 95 29 385 439 27 385 29 439 30 29 439 465 30 29 30 31 29 31 28 27 29 28 26 27 28 26 28 219 219 283 26 283 95 26 31 343 28 343 219 28 31 30 233 343 31 233 343 422 219 233 422 343 283 219 422 282 95 283 242 282 283 242 283 422 189 95 190 282 190 95 95 464 93 282 242 222 241 182 242 242 182 222 422 241 242 233 241 422 241 183 182 233 183 241 233 30 183 465 279 30 300 93 127 93 464 127 140 298 300 138 140 300 367 300 127 138 300 367 138 139 140 370 140 192 140 139 192 140 370 298 370 371 298 192 371 370 191 192 193 191 371 192 192 139 193 139 215 193 215 139 138 215 191 193 215 138 368 5 215 498 368 498 215 367 368 138 368 367 498 127 498 367 498 127 5 127 128 5 144 5 128 446 127 126 128 127 446 464 126 127 143 144 128 143 128 446 143 125 144 143 126 125 446 126 143 124 125 126 124 126 464 304 305 133 304 112 305 45 112 304 305 204 133 332 204 305 112 111 305 305 111 332 133 204 134 204 332 134 111 113 332 111 112 113 112 45 406 112 406 113 113 406 365 365 333 113 45 365 406 365 366 333 365 45 366 288 366 45 366 363 333 366 364 363 288 364 366 333 249 10 363 362 333 333 362 249 362 363 364 362 364 375 456 375 364 364 288 456 288 60 456 455 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1.2685899734497070e+01 -3.7877101898193359e+00 2.9450099945068359e+01 3.6273798942565918e+00 1.2736200332641602e+01 3.3152999877929688e+01 -1.2918499708175659e+00 -1.3188100814819336e+01 4.1700000762939453e+01 -1.3868299722671509e+00 -1.3184299468994141e+01 2.9449998855590820e+01 -7.9923000335693359e+00 -1.0569299697875977e+01 4.1182701110839844e+01 -8.4638795852661133e+00 -1.0191899299621582e+01 4.1700000762939453e+01 -3.5744600296020508e+00 1.2749499320983887e+01 2.4800001144409180e+01 1.5480299949645996e+01 1.0846799850463867e+01 2.8154001235961914e+01 3.1742300987243652e+00 3.8707301616668701e+00 3.5253799438476562e+01 4.7997798919677734e+00 1.3912599086761475e+00 4.1451499938964844e+01 4.7997798919677734e+00 1.3912599086761475e+00 2.4800001144409180e+01 2.2216498851776123e+00 -4.4787802696228027e+00 2.5370800018310547e+01 1.8058999776840210e+00 -4.6614503860473633e+00 3.1703498840332031e+01 -3.6103398799896240e+00 3.4666299819946289e+00 2.5545600891113281e+01 4.9625401496887207e+00 -6.2990200519561768e-01 4.1699802398681641e+01 -3.5861799716949463e+00 3.4918401241302490e+00 2.9449998855590820e+01 -4.7791500091552734e+00 1.8292701721191406e+01 2.4800001144409180e+01 -1.2024999618530273e+01 1.4586599349975586e+01 2.4800001144409180e+01 1.8845800399780273e+01 -1.5313301086425781e+00 2.4800001144409180e+01 -1.6155099868774414e+01 -9.8147907257080078e+00 2.7458200454711914e+01 -1.5312899589538574e+01 -1.1099900245666504e+01 2.6681098937988281e+01 -1.8815999984741211e+01 1.8006500005722046e+00 2.4800001144409180e+01 1.2838600158691406e+01 1.3878400802612305e+01 2.7960899353027344e+01 1.4763799905776978e+00 -1.4887000083923340e+01 3.0511400222778320e+01 -1.2600000381469727e+01 -4.0787100791931152e+00 2.4800001144409180e+01 1.8584499359130859e+01 -3.4542100429534912e+00 2.4800001144409180e+01 1.7056200027465820e+01 -4.6083002090454102e+00 3.0997098922729492e+01 6.7090201377868652e+00 -1.1416500091552734e+01 4.1700000762939453e+01 9.4161397218704224e-01 1.3219099998474121e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 2994 -> 16 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00) (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00) (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01) (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01) (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "l_wrist_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_laser_tilt_mount_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 9.8930000000000007e+01 0.0000000000000000e+00 2.2700000000000000e+02)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 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(float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00) (float-vector 2.3922100663185120e+01 -1.4945900999009609e+01 1.0701100341975689e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00) (float-vector -2.4536000564694405e+00 1.9533900544047356e+01 -8.7679997086524963e+00) (float-vector 2.3285299539566040e+01 -1.3288900256156921e+01 -1.1481899768114090e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_laser_tilt_mount_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_laser_tilt_mount_link_geom0 - (:init (&key (name "package://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.400000 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 18 140 0 2 19 0 19 18 0 347 1 140 347 0 18 19 20 18 131 132 20 131 18 140 18 132 140 132 344 347 140 344 347 344 144 347 144 1 144 344 145 344 183 145 344 132 183 132 131 183 20 135 131 135 355 131 131 355 183 181 182 183 145 183 182 183 238 181 183 355 238 144 145 146 146 145 182 255 146 396 144 146 255 396 146 182 1 144 255 255 396 129 129 1 255 182 330 396 330 129 396 280 129 330 280 330 182 279 129 280 282 279 280 280 182 282 279 315 129 175 315 279 282 237 279 175 279 237 181 281 282 281 237 282 282 182 181 236 237 238 236 175 237 238 237 281 238 281 181 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-2.1829099655151367e+01 -2.1639900207519531e+02 -1.1268099975585938e+02 -1.9607799530029297e+01 -2.0532099914550781e+02 -1.2292599487304688e+02 -1.4513500928878784e+00 -2.0603700256347656e+02 -7.8505302429199219e+01 -1.2261099815368652e+01 -2.0392799377441406e+02 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 17 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.2467300146818161e+02 -8.1499896943569183e+01 -2.7726998925209045e+02) (float-vector -9.8930001258850098e+01 -8.1500001251697540e+01 -2.8331801295280457e+02) (float-vector -9.0691298246383667e+01 8.1500001251697540e+01 -2.8287398815155029e+02) (float-vector -1.2025699764490128e+02 8.1500001251697540e+01 -2.7926999330520630e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.2467300146818161e+02 -8.1499896943569183e+01 -2.7726998925209045e+02) (float-vector -1.2025699764490128e+02 8.1500001251697540e+01 -2.7926999330520630e+02) (float-vector -1.4869700372219086e+02 8.1500001251697540e+01 -2.5605601072311401e+02) (float-vector -1.4945200085639954e+02 -8.1499800086021423e+01 -2.5488099455833435e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.2633499950170517e+01 8.1500001251697540e+01 -2.2544300556182861e+02) (float-vector -4.5388899743556976e+01 8.1500001251697540e+01 -2.4449299275875092e+02) (float-vector -4.6146698296070099e+01 -8.1500001251697540e+01 -2.4665099382400513e+02) (float-vector -4.2633399367332458e+01 -8.1500001251697540e+01 -2.2544300556182861e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.6146698296070099e+01 -8.1500001251697540e+01 -2.4665099382400513e+02) (float-vector -4.5388899743556976e+01 8.1500001251697540e+01 -2.4449299275875092e+02) (float-vector -5.5631801486015320e+01 8.1500001251697540e+01 -2.6306599378585815e+02) (float-vector -5.7999998331069946e+01 -8.1500001251697540e+01 -2.6569199562072754e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.5485300123691559e+02 -8.1500001251697540e+01 -2.4548299610614777e+02) (float-vector -1.4945200085639954e+02 -8.1499800086021423e+01 -2.5488099455833435e+02) (float-vector -1.4869700372219086e+02 8.1500001251697540e+01 -2.5605601072311401e+02) (float-vector -1.5614299476146698e+02 8.1500001251697540e+01 -2.4241399765014648e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.5947200357913971e+02 -8.1500001251697540e+01 -2.2048400342464447e+02) (float-vector -1.5485300123691559e+02 -8.1500001251697540e+01 -2.4548299610614777e+02) (float-vector -1.5614299476146698e+02 8.1500001251697540e+01 -2.4241399765014648e+02) (float-vector -1.5964500606060028e+02 8.1500098109245300e+01 -2.1404999494552612e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.3172499835491180e+02 -8.1500001251697540e+01 -1.7232200503349304e+02) (float-vector -1.1837299913167953e+02 -8.1500001251697540e+01 -1.6613599658012390e+02) (float-vector -1.0047399997711182e+02 -8.1500098109245300e+01 -1.6314400732517242e+02) (float-vector -7.4774198234081268e+01 -8.1500098109245300e+01 -1.6789199411869049e+02) (float-vector -6.4097099006175995e+01 -8.1500299274921417e+01 -1.7428499460220337e+02) (float-vector -4.2633399367332458e+01 -8.1500001251697540e+01 -2.2544300556182861e+02) (float-vector -4.6146698296070099e+01 -8.1500001251697540e+01 -2.4665099382400513e+02) (float-vector -5.7999998331069946e+01 -8.1500001251697540e+01 -2.6569199562072754e+02) (float-vector -7.7714398503303528e+01 -8.1500001251697540e+01 -2.7928400039672852e+02) (float-vector -9.8930001258850098e+01 -8.1500001251697540e+01 -2.8331801295280457e+02) (float-vector -1.2467300146818161e+02 -8.1499896943569183e+01 -2.7726998925209045e+02) (float-vector -1.4945200085639954e+02 -8.1499800086021423e+01 -2.5488099455833435e+02) (float-vector -1.5485300123691559e+02 -8.1500001251697540e+01 -2.4548299610614777e+02) (float-vector -1.5947200357913971e+02 -8.1500001251697540e+01 -2.2048400342464447e+02) (float-vector -1.5328299999237061e+02 -8.1500001251697540e+01 -1.9368599355220795e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.5262598693370819e+01 8.1499896943569183e+01 -2.7824500203132629e+02) (float-vector -7.7714398503303528e+01 -8.1500001251697540e+01 -2.7928400039672852e+02) (float-vector -5.7999998331069946e+01 -8.1500001251697540e+01 -2.6569199562072754e+02) (float-vector -5.5631801486015320e+01 8.1500001251697540e+01 -2.6306599378585815e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.7714398503303528e+01 -8.1500001251697540e+01 -2.7928400039672852e+02) (float-vector -7.5262598693370819e+01 8.1499896943569183e+01 -2.7824500203132629e+02) (float-vector -9.0691298246383667e+01 8.1500001251697540e+01 -2.8287398815155029e+02) (float-vector -9.8930001258850098e+01 -8.1500001251697540e+01 -2.8331801295280457e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.2633399367332458e+01 -8.1500001251697540e+01 -2.2544300556182861e+02) (float-vector -6.4097099006175995e+01 -8.1500299274921417e+01 -1.7428499460220337e+02) (float-vector -6.3173003494739532e+01 8.1500001251697540e+01 -1.7575700581073761e+02) (float-vector -4.2633499950170517e+01 8.1500001251697540e+01 -2.2544300556182861e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.5328299999237061e+02 8.1500001251697540e+01 -1.9368599355220795e+02) (float-vector -1.5328299999237061e+02 -8.1500001251697540e+01 -1.9368599355220795e+02) (float-vector -1.5947200357913971e+02 -8.1500001251697540e+01 -2.2048400342464447e+02) (float-vector -1.5964500606060028e+02 8.1500098109245300e+01 -2.1404999494552612e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.4342899620532990e+02 7.8822202980518341e+01 -1.8122400343418121e+02) (float-vector -1.3172499835491180e+02 -8.1500001251697540e+01 -1.7232200503349304e+02) (float-vector -1.5328299999237061e+02 -8.1500001251697540e+01 -1.9368599355220795e+02) (float-vector -1.5328299999237061e+02 8.1500001251697540e+01 -1.9368599355220795e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1593099683523178e+02 8.1500001251697540e+01 -1.6553799808025360e+02) (float-vector -1.1837299913167953e+02 -8.1500001251697540e+01 -1.6613599658012390e+02) (float-vector -1.3172499835491180e+02 -8.1500001251697540e+01 -1.7232200503349304e+02) (float-vector -1.4342899620532990e+02 7.8822202980518341e+01 -1.8122400343418121e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.0047399997711182e+02 -8.1500098109245300e+01 -1.6314400732517242e+02) (float-vector -1.1837299913167953e+02 -8.1500001251697540e+01 -1.6613599658012390e+02) (float-vector -1.1593099683523178e+02 8.1500001251697540e+01 -1.6553799808025360e+02) (float-vector -8.9665599167346954e+01 8.1499896943569183e+01 -1.6382899880409241e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.2025699764490128e+02 8.1500001251697540e+01 -2.7926999330520630e+02) (float-vector -9.0691298246383667e+01 8.1500001251697540e+01 -2.8287398815155029e+02) (float-vector -7.5262598693370819e+01 8.1499896943569183e+01 -2.7824500203132629e+02) (float-vector -5.5631801486015320e+01 8.1500001251697540e+01 -2.6306599378585815e+02) (float-vector -4.5388899743556976e+01 8.1500001251697540e+01 -2.4449299275875092e+02) (float-vector -4.2633499950170517e+01 8.1500001251697540e+01 -2.2544300556182861e+02) (float-vector -6.3173003494739532e+01 8.1500001251697540e+01 -1.7575700581073761e+02) (float-vector -7.6334498822689056e+01 8.1499800086021423e+01 -1.6727699339389801e+02) (float-vector -8.9665599167346954e+01 8.1499896943569183e+01 -1.6382899880409241e+02) (float-vector -1.1593099683523178e+02 8.1500001251697540e+01 -1.6553799808025360e+02) (float-vector -1.4342899620532990e+02 7.8822202980518341e+01 -1.8122400343418121e+02) (float-vector -1.5328299999237061e+02 8.1500001251697540e+01 -1.9368599355220795e+02) (float-vector -1.5964500606060028e+02 8.1500098109245300e+01 -2.1404999494552612e+02) (float-vector -1.5614299476146698e+02 8.1500001251697540e+01 -2.4241399765014648e+02) (float-vector -1.4869700372219086e+02 8.1500001251697540e+01 -2.5605601072311401e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -8.9665599167346954e+01 8.1499896943569183e+01 -1.6382899880409241e+02) (float-vector -7.6334498822689056e+01 8.1499800086021423e+01 -1.6727699339389801e+02) (float-vector -7.4774198234081268e+01 -8.1500098109245300e+01 -1.6789199411869049e+02) (float-vector -1.0047399997711182e+02 -8.1500098109245300e+01 -1.6314400732517242e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.4774198234081268e+01 -8.1500098109245300e+01 -1.6789199411869049e+02) (float-vector -7.6334498822689056e+01 8.1499800086021423e+01 -1.6727699339389801e+02) (float-vector -6.3173003494739532e+01 8.1500001251697540e+01 -1.7575700581073761e+02) (float-vector -6.4097099006175995e+01 -8.1500299274921417e+01 -1.7428499460220337e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "laser_tilt_mount_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_elbow_flex_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 4.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.800000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)) - )) - (list 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) - -(defclass pr2_gkmodel0_r_shoulder_pan_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_shoulder_pan_link_geom0 - (:init (&key (name "package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 0 25 24 0 2 25 24 174 0 174 175 0 0 175 1 23 24 25 25 28 23 25 17 28 2 17 25 12 33 24 23 12 24 24 33 174 12 32 33 174 33 32 174 179 175 174 32 179 175 176 1 175 179 176 176 179 177 177 179 178 179 32 178 29 32 12 178 32 29 177 178 115 115 178 29 29 30 31 30 29 12 29 150 116 29 31 150 115 29 116 115 116 104 104 177 115 116 102 104 116 105 102 116 106 105 150 106 116 150 107 106 31 112 150 150 112 107 106 107 108 105 106 108 107 112 162 162 356 107 107 356 108 35 112 31 112 34 162 35 34 112 34 35 30 35 31 30 36 34 37 37 34 30 34 36 162 92 30 12 92 37 30 36 37 39 88 37 92 39 37 88 4 91 92 4 92 12 88 92 93 91 93 92 40 39 88 88 89 40 88 93 89 89 93 94 94 93 91 3 91 4 3 94 91 94 3 100 100 342 94 342 343 94 94 344 89 343 344 94 100 99 86 86 101 100 3 99 100 101 342 100 86 99 97 97 99 3 86 87 83 86 97 87 83 101 86 85 101 83 85 168 101 101 168 342 83 84 85 83 87 84 84 341 85 87 326 84 341 84 326 329 341 327 341 326 327 329 85 341 326 325 327 325 326 95 96 326 87 326 96 95 328 329 327 331 327 325 328 327 331 95 324 325 331 325 324 95 96 60 60 324 95 60 96 61 96 87 61 59 60 61 59 71 60 71 324 60 340 331 324 69 324 71 340 324 69 70 71 59 69 71 70 65 69 68 68 69 70 338 340 69 65 338 69 338 339 340 339 331 340 336 339 338 336 331 339 330 328 331 330 331 336 330 336 332 332 372 330 330 372 375 375 381 330 330 381 328 328 381 377 328 377 329 377 381 380 381 376 380 376 381 375 375 372 376 380 376 382 382 376 383 376 384 383 376 374 384 372 374 376 383 384 337 338 383 337 382 383 338 384 374 385 335 384 385 337 384 335 335 336 337 337 336 338 67 338 65 173 338 67 173 382 338 65 66 67 20 173 67 20 67 66 65 68 66 21 66 68 20 66 21 21 68 22 22 68 70 20 21 13 13 21 11 21 22 11 22 18 11 22 70 18 18 70 5 70 59 5 11 18 12 18 4 12 5 4 18 8 11 6 6 11 12 8 13 11 23 6 12 6 7 8 7 6 23 7 9 8 9 13 8 10 9 7 23 26 7 7 26 10 28 26 23 26 16 27 28 16 26 10 26 19 26 27 19 19 20 10 10 20 9 20 13 9 19 173 20 27 172 19 19 172 173 16 64 27 27 64 172 172 382 173 64 382 172 62 63 64 15 62 64 15 64 16 63 382 64 63 380 382 62 72 63 72 56 63 379 380 63 56 379 63 72 62 15 57 72 73 57 56 72 14 73 72 14 72 15 56 57 58 58 379 56 73 181 57 57 182 58 181 182 57 1 73 14 180 181 73 180 73 1 2 1 14 14 15 2 1 176 170 170 180 1 170 181 180 168 169 170 170 169 181 365 168 170 177 365 170 170 176 177 169 168 171 171 168 85 342 168 365 169 171 183 169 183 181 183 171 184 184 181 183 181 184 182 171 368 184 368 182 184 182 368 371 182 379 58 371 379 182 368 171 370 371 368 370 370 378 371 371 378 379 378 380 379 377 378 370 377 380 378 369 370 171 369 377 370 329 377 369 329 369 85 85 369 171 366 365 177 342 365 366 177 367 366 342 366 343 366 367 343 104 367 177 357 367 104 343 367 344 344 367 345 345 367 357 102 103 104 103 357 104 102 105 103 105 357 103 355 357 105 345 357 354 354 357 355 89 345 90 89 344 345 354 90 345 89 90 40 90 127 40 127 90 161 90 354 161 38 39 40 38 40 42 42 40 127 127 161 126 42 127 126 126 161 123 161 354 123 126 123 125 42 126 125 38 42 43 42 125 43 123 124 125 43 125 159 159 125 124 123 354 124 159 124 160 124 353 160 354 353 124 160 43 159 43 44 38 44 43 167 167 43 160 353 352 160 160 352 167 354 356 353 353 356 352 355 356 354 108 356 355 358 356 162 352 356 358 167 352 166 352 350 166 352 358 350 166 44 167 149 148 166 148 44 166 166 350 149 122 148 149 149 350 122 44 148 49 122 49 148 44 49 38 38 49 47 49 121 120 122 121 49 47 49 120 350 351 122 122 351 121 121 117 120 121 349 117 121 351 349 120 117 119 47 120 119 117 118 119 117 349 348 117 348 118 349 361 348 351 361 349 350 360 351 360 361 351 350 359 360 350 358 359 360 359 114 114 361 360 109 359 110 359 358 110 114 359 109 110 358 162 109 110 111 162 36 110 110 36 111 109 113 114 111 128 109 109 128 113 36 45 111 111 45 128 36 39 45 41 45 39 41 128 45 113 128 129 128 41 129 113 129 114 114 129 130 129 131 130 129 41 131 39 38 41 38 163 41 41 163 131 130 131 132 131 163 132 130 361 114 132 361 130 132 133 134 132 163 133 362 361 132 134 362 132 163 38 133 134 133 135 133 136 135 133 38 136 363 362 134 135 363 134 347 362 363 348 362 347 348 361 362 137 363 135 137 364 363 363 364 347 135 136 137 46 136 38 136 46 137 137 46 138 138 364 137 46 47 48 46 38 47 138 46 139 46 48 139 138 139 140 140 364 138 140 139 141 139 142 141 139 48 142 140 193 192 141 193 140 192 364 140 141 142 143 143 193 141 151 143 142 55 151 142 55 142 48 151 152 143 195 193 143 152 195 143 153 152 151 55 54 151 54 153 151 48 54 55 51 54 48 54 51 153 153 154 152 153 155 154 153 51 155 152 202 195 154 202 152 154 197 202 155 197 154 51 146 155 199 197 155 146 199 155 196 197 198 197 199 198 196 202 197 195 202 196 195 196 194 196 389 194 198 227 196 227 389 196 199 200 198 200 227 198 199 201 200 146 201 199 80 200 79 79 200 201 234 227 200 80 234 200 79 201 75 75 201 203 145 201 146 145 203 201 74 79 75 79 78 80 78 79 74 74 75 76 75 203 76 76 203 147 147 203 145 144 145 146 144 147 145 156 146 51 156 144 146 157 147 144 51 144 156 144 50 157 50 144 51 157 158 147 147 346 76 158 346 147 50 53 157 157 53 158 48 50 51 48 53 50 48 52 53 158 53 164 53 52 164 164 346 158 164 52 165 347 346 164 165 347 164 47 52 48 47 119 52 165 52 118 118 52 119 348 347 165 118 348 165 347 364 346 204 364 192 206 364 204 346 364 206 192 187 191 192 193 187 191 204 192 188 191 187 191 188 190 190 204 191 188 187 186 188 189 190 186 388 188 388 189 188 189 204 190 205 204 189 189 388 205 388 494 205 388 390 494 389 388 186 389 390 388 185 186 187 185 389 186 194 389 185 227 390 389 227 391 390 494 390 495 390 391 495 226 391 227 226 392 391 391 392 495 494 495 493 493 495 492 495 496 492 495 392 496 233 392 226 233 393 392 392 393 496 492 496 491 496 497 491 393 394 496 496 394 497 225 393 233 225 394 393 225 233 217 217 233 226 221 225 217 221 232 225 232 394 225 232 395 394 394 395 497 231 232 221 231 395 232 231 396 395 497 395 396 229 231 221 229 396 231 229 397 396 497 396 498 396 397 498 224 229 214 214 229 221 224 397 229 224 398 397 498 397 398 498 489 490 490 497 498 489 498 499 498 398 499 228 398 224 228 399 398 398 399 499 489 499 486 486 499 487 499 400 487 499 399 400 230 399 228 230 400 399 210 228 212 212 228 224 210 230 228 223 230 210 223 400 230 223 401 400 487 400 442 442 400 401 222 223 210 222 235 223 235 401 223 235 402 401 401 402 442 487 442 402 279 402 235 279 403 402 402 444 487 402 484 444 402 403 484 222 279 235 220 222 210 220 279 222 209 220 210 209 278 220 220 278 277 277 279 220 208 209 210 208 210 212 209 486 278 209 489 486 208 489 209 277 278 276 278 444 276 486 444 278 486 487 444 443 444 445 444 484 445 276 444 443 275 276 274 276 275 277 276 443 274 273 274 272 275 274 273 274 443 272 282 273 283 283 273 284 275 273 282 273 271 284 272 271 273 281 275 282 282 406 281 282 407 406 283 407 282 283 408 407 284 408 283 284 271 313 284 409 408 313 409 284 446 408 450 450 408 451 446 407 408 408 409 451 406 407 446 281 406 405 445 406 446 445 405 406 280 405 404 281 405 280 404 405 445 443 445 446 484 404 445 312 404 403 280 404 312 484 403 404 280 275 281 312 275 280 279 277 312 312 277 275 312 403 279 446 447 443 448 447 446 448 446 450 272 447 448 272 443 447 449 448 450 268 448 449 272 448 268 450 451 449 451 452 449 449 452 269 268 449 269 268 269 270 271 268 270 271 272 268 270 269 285 285 269 286 269 267 286 269 452 267 271 270 313 313 270 314 314 270 285 313 410 409 314 410 313 314 411 410 285 411 314 451 410 411 451 409 410 285 412 411 451 411 453 411 412 453 451 453 452 453 454 452 453 456 454 453 412 456 287 412 285 287 413 412 412 413 456 455 454 456 456 457 455 456 414 457 456 413 414 288 413 287 288 414 413 285 286 287 287 286 288 286 266 288 288 266 315 315 414 288 315 415 414 414 415 457 315 266 289 289 415 315 266 264 265 267 264 266 266 265 289 286 267 266 289 265 290 289 416 415 290 416 289 457 415 416 290 417 416 457 416 460 416 417 460 290 265 291 291 417 290 291 418 417 417 418 460 265 262 291 291 262 316 316 418 291 316 419 418 460 418 419 316 262 317 317 419 316 317 420 419 460 419 462 419 420 462 262 259 317 317 259 318 318 420 317 318 421 420 462 420 464 420 421 464 318 259 319 319 421 318 319 422 421 421 422 464 464 463 462 464 465 463 466 465 464 464 422 466 320 422 319 320 423 422 422 423 466 259 257 319 319 257 320 320 257 321 321 423 320 321 424 423 423 424 466 467 465 466 469 467 466 466 424 469 292 424 321 292 425 424 424 425 469 257 255 321 321 255 292 292 253 293 292 255 253 293 425 292 293 426 425 425 426 469 293 253 294 294 426 293 294 427 426 469 426 472 426 427 472 294 253 295 295 427 294 295 428 427 472 427 428 471 470 472 473 471 472 469 472 470 472 428 473 296 428 295 296 429 428 428 429 473 295 250 296 253 250 295 296 250 297 297 429 296 297 430 429 429 430 473 297 249 298 250 249 297 298 430 297 250 251 248 253 251 250 248 249 250 252 251 253 255 252 253 251 471 248 251 470 471 252 470 251 248 247 249 248 471 247 474 471 473 247 471 474 246 247 245 247 246 249 247 474 245 473 488 474 474 488 476 245 474 476 473 430 488 488 432 476 430 431 488 488 431 432 475 476 477 476 432 477 245 476 242 242 476 475 478 475 477 478 479 475 242 475 241 475 479 241 432 433 477 433 434 477 477 434 478 322 433 432 300 433 322 300 434 433 301 434 300 301 435 434 434 435 478 300 244 301 322 244 300 299 246 322 322 246 244 322 432 299 298 249 299 249 246 299 299 431 298 299 432 431 244 246 245 244 245 242 242 241 243 242 243 244 241 240 239 241 239 243 241 479 240 244 243 302 302 243 239 301 244 302 302 239 303 302 435 301 302 436 435 303 436 302 303 239 304 303 437 436 304 437 303 478 436 480 478 435 436 436 437 480 304 438 437 437 438 480 304 238 305 304 239 238 305 438 304 305 439 438 480 438 439 305 238 306 306 439 305 306 440 439 480 439 482 439 440 482 306 307 308 306 238 307 308 440 306 308 441 440 482 440 441 482 483 481 483 482 485 481 480 482 482 441 485 481 483 236 236 483 237 483 485 237 480 481 479 479 481 236 479 478 480 240 479 236 236 237 238 239 240 236 239 236 238 237 307 238 308 307 309 307 237 309 309 441 308 310 311 309 309 237 310 386 441 309 311 386 309 485 441 387 387 441 386 385 374 386 386 374 387 334 386 311 385 386 334 310 334 311 310 333 334 334 333 335 335 385 334 332 333 323 335 333 336 323 333 310 332 336 333 323 372 332 237 323 310 237 485 323 323 485 373 323 373 372 372 373 374 387 374 373 373 485 387 298 431 430 470 468 469 252 468 470 468 467 469 254 467 468 254 468 252 254 252 255 254 255 256 256 467 254 256 465 467 257 256 255 257 258 256 258 465 256 463 465 258 259 258 257 260 258 259 260 463 258 461 462 463 260 461 463 261 260 262 262 260 259 261 461 260 461 459 462 261 459 461 459 460 462 459 458 460 263 458 459 263 459 261 263 261 262 263 262 265 264 263 265 264 458 263 457 458 455 460 458 457 264 455 458 267 454 264 264 454 455 452 454 267 211 489 208 211 490 489 211 208 212 213 211 214 214 211 212 213 490 211 213 491 490 491 497 490 213 221 216 214 221 213 216 491 213 212 224 214 216 492 491 215 216 217 216 221 217 215 492 216 215 493 492 215 218 219 215 217 218 219 493 215 217 226 218 81 219 218 226 227 218 218 227 81 207 219 81 207 205 219 205 493 219 205 494 493 207 206 205 205 206 204 81 206 207 76 206 74 74 206 77 77 206 81 76 346 206 74 77 78 77 81 78 78 82 80 78 81 82 81 227 82 82 227 234 80 82 234 187 194 185 193 194 187 193 195 194 108 355 105 17 2 15 15 16 17 17 16 28 3 4 5 5 59 3 59 98 3 3 98 97 61 98 59 97 98 61 87 97 61)) + (list 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(instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.5565599203109741e+02 -1.7630299553275108e+01 5.7318199425935745e+01) (float-vector -4.4579100608825684e+02 1.7054699361324310e+01 6.5511800348758698e+01) (float-vector -4.2405098676681519e+02 1.6744200140237808e+01 7.6272100210189819e+01) (float-vector -4.2405098676681519e+02 -1.7159199342131615e+01 7.6272100210189819e+01) (float-vector -4.3791899085044861e+02 -1.8705800175666809e+01 6.8337298929691315e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.2405098676681519e+02 1.6744200140237808e+01 7.6272100210189819e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -4.2405098676681519e+02 -1.7159199342131615e+01 7.6272100210189819e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.2236000895500183e+02 -4.5622900128364563e+01 8.9496299624443054e+00) (float-vector -3.0809301137924194e+02 -4.4233199208974838e+01 1.3391500338912010e+01) (float-vector -3.0797600746154785e+02 -4.6123798936605453e+01 -2.6660601142793894e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.2405098676681519e+02 -1.7159199342131615e+01 7.6272100210189819e+01) (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -3.0807599425315857e+02 -3.7323299795389175e+01 2.7167100459337234e+01) (float-vector -3.0809301137924194e+02 -4.4233199208974838e+01 1.3391500338912010e+01) (float-vector -3.2236000895500183e+02 -4.5622900128364563e+01 8.9496299624443054e+00) (float-vector -4.3791899085044861e+02 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(float-vector -4.4579100608825684e+02 1.7054699361324310e+01 6.5511800348758698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0769398808479309e+02 1.4874399639666080e+01 4.3229501694440842e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01) (float-vector -3.0810800194740295e+02 3.1050199642777443e+01 3.3764101564884186e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -3.0801001191139221e+02 4.2826101183891296e+01 1.6164800152182579e+01) (float-vector -3.0810800194740295e+02 3.1050199642777443e+01 3.3764101564884186e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.6707299351692200e+02 -1.7500000074505806e+01 -4.3435901403427124e+01) (float-vector -4.4579100608825684e+02 -1.7469700425863266e+01 -6.5511800348758698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.1821500658988953e+02 1.6923200339078903e+01 -7.7839598059654236e+01) (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.4579100608825684e+02 -1.7469700425863266e+01 -6.5511800348758698e+01) (float-vector -4.2535400390625000e+02 -1.8483899533748627e+01 -7.4913397431373596e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.5084100961685181e+02 1.7085000872612000e+01 -6.1648800969123840e+01) (float-vector -4.1821500658988953e+02 1.6923200339078903e+01 -7.7839598059654236e+01) (float-vector -3.9871600270271301e+02 1.6813099384307861e+01 -7.9975098371505737e+01) (float-vector -3.0825400352478027e+02 4.0041800588369370e+01 -2.2384600713849068e+01) (float-vector -3.0751499533653259e+02 4.4803798198699951e+01 -6.9697401486337185e+00) (float-vector -3.2183599472045898e+02 4.6051800251007080e+01 1.7238899599760771e+00) (float-vector -4.7842100262641907e+02 1.7054699361324310e+01 -1.5449600294232368e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.6365299820899963e+02 1.6744200140237808e+01 -4.8416800796985626e+01) (float-vector -4.7842100262641907e+02 1.7054699361324310e+01 -1.5449600294232368e+01) (float-vector -4.7705200314521790e+02 -1.7500000074505806e+01 -2.1174399182200432e+01) (float-vector -4.6707299351692200e+02 -1.7500000074505806e+01 -4.3435901403427124e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0808100104331970e+02 -2.3659000173211098e+01 3.9577201008796692e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.0767300724983215e+02 -7.8517198562622070e+00 4.5116499066352844e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -3.8734599947929382e+02 1.8068399280309677e+01 7.8080900013446808e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0769398808479309e+02 1.4874399639666080e+01 4.3229501694440842e+01) (float-vector -3.0767300724983215e+02 -7.8517198562622070e+00 4.5116499066352844e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.6853298544883728e+02 1.8120000138878822e+01 7.2395898401737213e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.8577499985694885e+02 -1.7314299941062927e+01 7.8681498765945435e+01) (float-vector -3.6847400665283203e+02 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector -3.0808100104331970e+02 -2.3659000173211098e+01 3.9577201008796692e+01) (float-vector -3.0807599425315857e+02 -3.7323299795389175e+01 2.7167100459337234e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_elbow_flex_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_forearm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.800000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 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- (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 3 1 0 2 4 0 0 756 3 0 702 709 702 0 4 706 756 0 709 706 0 1 3 698 698 3 737 3 756 737 737 756 698 756 759 698 759 756 705 705 756 706 636 634 706 706 709 636 706 634 705 636 10 528 634 636 528 10 636 9 636 709 9 528 527 634 527 635 634 634 635 705 527 528 374 528 529 374 10 529 528 527 374 526 526 635 527 637 635 526 635 637 704 704 705 635 374 373 526 526 373 523 523 637 526 638 637 523 704 637 638 703 704 638 703 705 704 759 705 762 703 762 705 703 641 710 703 638 641 762 703 760 710 760 703 524 638 523 524 641 638 520 640 641 520 641 524 710 641 640 523 521 524 524 521 520 520 518 517 520 521 518 517 640 520 519 640 517 642 640 519 710 640 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110 110 205 199 205 315 199 317 315 205 205 473 317 317 473 325 324 315 317 317 325 324 315 316 200 199 315 200 316 315 324 199 200 111 110 199 111 201 111 200 200 202 201 200 254 202 254 200 316 110 111 62 62 111 59 111 112 59 111 201 112 58 110 62 60 110 58 62 59 58 58 59 60 112 113 59 112 201 113 113 201 203 204 113 203 201 202 203 203 202 204 204 202 307 463 306 307 463 307 415 307 202 415 306 311 305 306 463 311 311 312 310 305 311 310 312 311 463 193 310 312 312 463 459 459 461 312 459 460 461 460 459 560 459 463 560 461 460 462 560 561 460 460 587 462 561 587 460 562 563 560 560 563 561 560 463 562 463 415 562 562 416 565 415 416 562 562 565 563 561 563 564 563 566 564 563 565 568 568 566 563 565 416 569 569 570 565 568 565 570 568 573 571 573 568 649 566 568 571 568 570 649 570 569 652 649 570 652 559 569 416 653 652 569 569 559 653 650 649 652 650 652 651 653 651 652 573 649 576 649 650 576 574 650 651 576 650 574 574 651 292 651 550 292 549 651 653 550 651 549 549 653 559 547 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157 248 246 157 158 153 153 155 157 155 248 157 159 160 158 158 160 153 159 158 250 159 250 163 414 163 250 160 159 163 160 154 153 154 160 156 160 163 156 153 154 155 154 152 155 152 248 155 154 156 152 156 150 152 150 156 162 156 163 164 164 165 156 156 165 162 150 151 152 150 161 151 162 243 150 150 243 161 165 243 162 164 253 165 256 165 253 402 243 165 256 402 165 164 252 253 163 252 164 253 254 256 254 253 252 316 256 254 256 316 402 403 243 402 401 403 402 316 401 402 316 324 323 401 316 323 400 401 322 322 401 323 401 400 403 322 323 35 35 323 324 35 324 37 324 325 37 34 33 35 35 47 34 35 37 47 35 33 322 37 53 47 53 34 47 36 37 38 37 36 53 325 38 37 36 34 53 38 42 36 42 34 36 52 42 38 51 42 52 42 40 34 40 42 51 48 51 52 48 40 51 39 40 41 41 40 48 34 40 39 41 48 334 48 336 334 49 39 41 41 334 337 41 337 49 49 50 39 34 39 50 50 122 34 50 49 122 49 212 122 49 331 212 49 337 338 338 331 49 337 358 338 334 477 337 477 358 337 331 338 358 331 330 212 330 331 357 331 358 357 363 364 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455 455 577 456 455 456 453 456 458 453 447 455 453 452 455 447 452 573 455 571 573 452 447 449 452 452 449 571 448 449 447 450 449 448 450 571 449 571 450 572 566 571 572 451 450 448 451 572 450 579 567 572 572 567 566 564 566 567 567 659 655 567 655 564 579 659 567 716 659 579 716 579 645 655 659 656 659 716 714 659 714 656 655 656 654 564 655 561 561 655 654 656 658 654 714 715 656 658 656 715 716 747 714 714 747 748 748 715 714 716 645 747 747 751 752 645 751 747 747 793 748 752 794 747 747 794 793 766 715 748 748 793 766 794 817 793 817 842 793 697 794 752 697 752 751 695 697 751 695 751 645 766 717 715 717 766 771 717 657 715 717 728 657 717 771 728 658 715 657 654 657 588 654 658 657 657 674 588 657 728 674 674 728 671 588 674 673 673 674 671 586 588 583 583 588 594 654 588 586 594 588 673 561 654 586 582 586 583 587 561 586 586 582 587 581 582 583 585 581 583 585 583 594 589 585 594 592 585 589 21 585 592 581 585 21 462 581 21 581 462 584 581 584 582 584 587 582 587 584 462 22 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(replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 171 173 0 1 0 173 0 21 171 2 21 0 2 1 309 1 173 381 309 1 381 171 172 173 172 381 173 381 175 174 308 175 381 381 172 308 381 174 309 13 166 309 174 13 309 2 309 166 124 174 175 174 136 13 233 174 124 233 136 174 136 120 14 136 337 120 13 136 14 136 233 337 233 124 57 337 233 404 404 233 57 337 102 121 337 404 102 102 404 100 404 57 100 100 101 102 120 121 102 101 154 102 154 120 102 274 101 100 274 100 405 57 405 100 274 54 321 101 274 321 405 54 274 54 405 57 53 54 55 89 54 57 53 321 54 55 54 89 91 101 321 91 321 53 90 91 53 101 91 302 91 90 302 90 380 302 53 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214 214 155 213 155 156 79 155 214 156 77 78 79 156 260 79 141 77 79 79 260 141 77 141 150 314 148 150 150 127 314 150 141 143 150 143 127 148 314 127 148 127 256 256 225 148 127 128 129 256 127 129 143 128 127 141 142 143 128 143 142 128 277 278 128 278 129 128 142 277 215 256 129 335 129 278 334 215 129 334 129 335 334 335 278 278 277 357 313 278 357 354 334 278 354 278 313 341 334 354 341 215 334 313 50 354 50 412 354 412 341 354 176 50 313 313 357 176 357 177 176 277 177 357 51 176 177 176 51 50 50 51 52 177 113 51 51 113 52 252 251 52 50 52 251 252 52 113 251 252 43 170 252 113 44 43 252 44 252 170 251 322 50 251 43 322 43 44 45 43 45 322 169 44 170 44 169 208 45 44 208 341 45 212 322 45 341 45 208 212 50 322 412 412 322 341 212 215 341 195 104 212 104 215 212 208 195 212 208 169 362 208 362 195 195 36 104 195 362 36 362 365 34 169 365 362 34 36 362 34 35 36 35 234 36 104 36 234 46 35 34 365 46 34 365 169 192 192 46 365 194 46 192 46 239 35 194 239 46 239 244 35 35 244 234 239 194 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23 22 23 87 87 23 315 144 22 87 22 211 11 72 211 22 144 72 22 85 144 87 86 85 87 315 86 87 84 86 315 103 84 315 84 85 86 85 84 88 73 72 85 72 144 85 211 72 9 9 11 211 88 103 105 88 84 103 228 186 406 228 229 230 228 126 229 228 344 126 229 126 125 125 230 229 117 125 126 126 344 115 115 117 126 344 406 115 320 115 406 223 320 406 115 116 117 320 116 115 116 125 117 133 116 39 39 116 320 222 221 320 320 221 39 320 223 222 37 38 39 39 38 286 221 37 39 286 133 39 286 361 133 82 133 361 286 38 302 303 302 38 38 37 273 38 273 303 302 303 272 147 302 272 146 101 302 146 302 147 272 303 273 271 272 273 37 271 273 147 272 271 271 37 147 145 146 147 147 17 145 17 147 37 154 146 145 146 154 101 17 14 145 154 145 402 120 145 14 15 16 17 16 14 17 15 17 37 37 221 15 15 221 222 12 13 14 21 12 14 118 14 198 118 21 14 198 14 16 65 16 257 198 16 65 7 198 65 7 74 198 76 288 198 288 118 198 198 74 76 74 75 76 76 287 288 76 75 287 288 345 118 287 345 288 63 287 75 287 63 62 287 387 345 287 62 387 80 63 75 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9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01) (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 9.2399902641773224e+01 1.8794899806380272e+01 3.8409598171710968e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 9.2399902641773224e+01 -8.7499996880069375e-02 4.2800001800060272e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.2399902641773224e+01 -8.7499996880069375e-02 4.2800001800060272e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 9.2399902641773224e+01 -1.8969900906085968e+01 3.8409598171710968e+01) (float-vector -2.4499999359250069e+01 -5.3135100752115250e+00 5.3135100752115250e+00) (float-vector -2.4499999359250069e+01 5.3135100752115250e+00 5.3135100752115250e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 1.0650499910116196e+02 -3.7295900285243988e+01 -1.5037000179290771e+01) (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666699571534991e+00) (float-vector 1.0649999976158142e+02 -1.9090600311756134e+01 3.7729501724243164e+01) (float-vector 1.0599999874830246e+02 -1.1087499558925629e+01 4.1289199143648148e+01) (float-vector 1.0599999874830246e+02 1.1451699770987034e+01 4.1215099394321442e+01) (float-vector 1.0601200163364410e+02 1.9745200872421265e+01 3.7513498216867447e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.0649999976158142e+02 3.7195898592472076e+01 -1.4813000336289406e+01) (float-vector 1.0599999874830246e+02 3.7512499839067459e+01 -1.4666699571534991e+00) (float-vector 9.2392496764659882e+01 3.7046499550342560e+01 1.8352899700403214e+01) (float-vector 9.2389598488807678e+01 4.1256599128246307e+01 -9.2630402650684118e-01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_forearm_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_l_finger_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 7.6910000000000011e+01 1.0000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 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(float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158231019973755e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210855390181384e-14) (float-vector 1.1886999011039734e+02 6.8511754274368286e+01 2.2576270624995232e+01) (float-vector 1.1886999011039734e+02 5.6136455386877060e+01 4.5345362275838852e+01) (float-vector 1.1887000501155853e+02 1.7722427146509290e+00 7.2045788168907166e+01) (float-vector 1.2137000262737274e+02 -2.0458962768316269e+01 6.8999998271465302e+01) (float-vector 1.2136999517679214e+02 -4.2364656925201416e+01 5.8364491909742355e+01) (float-vector 1.1736999452114105e+02 -5.8990295976400375e+01 2.3230178281664848e+01) (float-vector 1.1887000501155853e+02 4.1817419230937958e+01 -5.8911591768264771e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_upper_arm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_upper_arm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/upper_arm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 856 1 0 953 856 0 477 0 484 0 34 484 2 34 0 953 0 477 2 147 33 34 2 33 2 1 147 33 30 34 34 32 484 34 30 32 477 484 32 30 31 32 476 477 32 476 32 486 486 32 31 485 476 486 718 850 476 485 718 476 476 850 477 902 485 486 902 718 485 902 486 717 31 844 486 486 844 717 902 717 718 717 646 718 717 778 646 717 844 778 778 844 647 31 290 844 844 290 647 778 647 646 646 647 620 4 718 646 620 4 646 620 647 36 290 36 647 290 37 36 31 37 290 35 36 37 620 36 396 36 35 396 4 620 396 395 4 396 35 481 396 396 481 546 546 395 396 35 37 481 37 472 481 37 31 470 472 37 470 546 481 545 481 472 923 481 923 545 545 483 546 597 395 546 546 483 597 545 923 483 923 472 483 469 472 470 483 472 469 478 483 469 483 478 597 597 478 543 543 395 597 468 478 469 478 468 479 543 478 479 468 469 470 468 38 466 468 466 479 468 470 38 479 466 480 479 480 543 466 38 467 466 467 471 466 471 480 543 480 688 689 480 471 688 480 689 471 467 734 689 471 690 690 471 734 38 22 467 467 22 734 406 733 734 21 734 22 406 734 21 733 690 734 688 689 690 733 688 690 543 688 408 733 408 688 406 408 733 406 407 408 407 406 21 21 22 23 21 23 407 38 491 22 22 491 23 23 748 407 23 491 489 748 23 489 408 407 832 832 407 791 748 791 407 748 489 853 748 853 791 488 489 490 488 853 489 489 491 490 853 488 791 791 792 148 148 832 791 791 488 792 792 488 490 490 491 896 740 490 896 740 792 490 148 792 740 149 148 740 684 740 896 684 149 740 465 464 896 465 896 491 684 896 464 683 684 464 684 69 149 70 684 683 69 684 70 463 464 465 464 463 683 470 463 39 31 683 463 463 465 39 470 31 463 470 39 38 38 39 40 465 40 39 40 491 38 491 40 465 30 487 31 487 458 31 31 458 683 487 680 458 19 680 487 19 487 473 473 487 30 458 459 216 216 593 458 680 459 458 458 593 683 64 459 680 64 680 19 459 499 216 64 493 459 493 499 459 216 217 218 216 218 593 216 499 217 593 316 683 593 218 316 259 218 260 316 218 259 218 68 70 260 218 70 218 217 68 316 259 683 259 260 683 260 70 683 68 69 70 68 217 272 68 272 69 272 217 232 777 686 217 217 686 232 497 217 499 217 497 777 231 183 232 232 686 231 183 272 232 682 686 777 682 231 686 456 777 497 682 777 456 681 682 456 682 681 231 231 681 183 456 367 681 849 681 367 183 681 849 456 361 457 456 457 367 456 497 361 361 362 191 497 362 361 457 361 191 367 457 191 365 366 367 367 191 365 818 849 367 745 367 366 818 367 528 367 745 528 528 745 529 366 529 745 528 529 530 528 530 963 963 818 528 530 529 366 963 530 859 859 530 366 859 366 860 366 365 860 859 860 381 963 859 381 818 963 381 381 365 190 818 381 190 860 365 381 190 191 192 192 631 190 631 892 190 190 892 818 365 191 190 362 138 191 192 191 178 178 191 138 192 178 736 736 631 192 892 631 736 178 735 736 735 171 736 171 892 736 169 170 171 171 735 169 170 892 171 297 169 298 169 297 752 170 169 752 169 735 829 169 829 298 170 752 818 170 818 892 181 183 818 818 183 849 818 752 181 181 182 183 181 752 182 267 183 182 272 183 267 182 269 267 182 752 269 269 270 267 270 269 879 269 752 879 271 268 270 268 267 270 271 270 301 270 879 301 301 879 373 373 879 752 752 122 373 752 297 122 120 121 122 300 373 122 120 122 297 122 121 300 297 298 120 120 298 732 972 120 732 120 972 121 300 121 49 121 972 47 121 47 49 919 47 972 732 735 972 972 735 919 732 298 829 829 735 732 178 180 735 735 716 919 180 715 735 715 716 735 178 179 180 138 137 178 137 913 178 913 179 178 179 715 180 715 433 716 284 433 715 179 284 715 179 283 284 283 996 284 996 433 284 179 433 283 283 433 996 538 433 179 538 179 913 913 795 914 913 137 795 538 913 914 537 434 538 538 956 537 433 538 434 914 956 538 914 795 797 956 914 797 795 796 797 795 340 796 795 137 340 796 387 797 956 797 387 537 956 387 387 388 250 537 387 311 387 250 311 410 388 387 410 387 796 340 411 796 411 410 796 388 410 411 388 411 342 340 342 411 340 341 342 342 341 898 388 342 802 802 342 898 898 341 769 994 898 769 898 994 802 388 802 803 803 802 651 802 994 651 994 426 425 994 425 651 426 994 769 768 426 769 769 341 194 194 768 769 424 425 426 424 426 867 426 768 867 651 425 652 652 425 494 425 424 494 424 820 494 424 867 820 495 867 961 867 768 961 820 867 495 494 820 495 494 495 496 495 554 496 495 961 554 961 934 549 934 961 768 961 549 554 496 554 275 554 276 275 549 999 554 554 999 276 494 496 932 932 496 275 275 276 277 932 275 883 275 277 883 277 276 326 935 326 276 935 276 999 999 549 935 326 935 327 935 551 327 549 551 935 326 327 328 572 277 326 326 328 572 650 328 327 551 648 327 648 650 327 549 550 551 551 766 648 550 766 551 648 649 650 767 649 648 648 766 767 765 766 550 765 767 766 550 934 765 934 550 549 765 934 193 765 930 767 930 765 193 930 931 767 936 649 767 931 936 767 1001 931 930 1001 930 193 193 194 195 934 194 193 195 1001 193 768 194 934 194 341 195 341 492 195 492 1000 195 1000 1001 195 1000 776 1001 776 931 1001 775 776 1000 492 775 1000 340 775 492 492 341 340 775 504 776 775 137 504 340 137 775 504 927 776 931 776 927 503 504 358 504 503 927 504 137 358 136 137 138 136 358 137 358 359 360 358 136 742 358 360 503 359 358 742 138 116 136 116 117 136 136 117 742 254 138 413 362 413 138 138 254 116 116 28 117 116 254 29 116 29 28 117 28 720 117 720 955 742 117 955 27 28 29 28 114 720 28 27 114 113 114 115 114 595 115 114 27 595 720 114 113 113 115 414 113 414 724 724 888 113 113 888 720 595 414 115 737 595 364 595 642 414 595 737 642 364 595 27 414 642 643 414 643 724 724 980 888 643 988 724 724 988 980 84 887 980 84 980 377 980 887 888 377 980 988 988 565 377 643 565 988 376 84 377 376 377 565 564 565 566 565 212 566 643 212 565 565 564 376 376 320 322 564 320 376 880 84 376 322 880 376 320 564 321 321 564 817 564 566 817 566 629 817 629 566 212 629 624 817 817 624 321 320 321 322 624 53 321 869 321 53 321 869 322 880 322 357 357 322 869 868 869 870 868 357 869 53 870 869 868 976 355 976 868 870 868 355 357 53 55 870 242 870 55 242 976 870 976 838 355 976 242 838 355 356 357 838 452 355 355 452 356 452 838 154 242 619 838 155 838 619 838 155 154 241 242 55 619 242 241 241 243 619 54 835 241 835 404 241 241 404 243 241 55 54 53 54 55 118 54 119 119 54 53 118 835 54 612 835 118 612 404 835 118 119 997 118 997 986 612 118 986 119 53 624 119 624 630 997 119 630 174 997 959 997 630 959 986 997 174 612 986 173 173 986 174 172 173 174 174 289 247 172 174 247 289 174 959 288 111 289 111 247 289 288 289 959 111 246 247 247 246 172 110 111 112 111 288 112 246 111 110 959 808 288 112 288 846 808 846 288 307 112 569 107 110 112 307 107 112 569 112 846 109 246 110 107 109 110 107 108 109 306 107 307 786 108 107 107 306 786 92 306 307 569 92 307 809 569 846 569 809 92 809 846 808 808 783 809 809 813 824 809 824 92 783 813 809 783 18 813 813 20 824 18 20 813 75 824 20 824 75 92 18 19 20 74 75 20 482 74 20 20 19 473 20 473 482 74 739 75 739 92 75 482 596 74 596 739 74 482 473 475 948 596 482 948 482 475 473 474 475 474 473 30 695 475 474 948 475 695 948 695 596 596 695 336 336 695 219 695 474 220 219 695 220 474 30 922 220 474 922 922 30 544 544 30 33 220 922 146 146 922 544 219 220 146 145 336 219 145 219 146 336 1 596 145 1 336 145 146 147 147 1 145 147 146 544 33 147 544 3 1 4 1 516 764 525 516 1 764 93 1 1 856 4 525 1 841 596 1 93 841 1 3 596 93 739 92 93 94 94 93 764 93 92 739 516 94 764 94 516 291 94 291 92 415 92 291 306 92 415 293 306 415 291 293 415 293 435 306 786 306 435 291 292 293 292 435 293 374 375 292 5 374 292 435 292 375 5 292 291 5 640 374 374 438 375 438 374 640 437 435 375 438 437 375 436 437 438 346 438 508 727 436 438 727 438 346 508 438 640 436 227 226 727 330 436 436 226 437 436 330 227 346 330 727 346 347 60 346 60 330 346 508 347 508 640 641 508 641 347 746 747 641 641 640 746 861 347 641 747 906 641 906 861 641 746 843 747 843 906 747 843 905 906 907 861 906 906 905 907 907 905 908 908 702 907 713 861 907 713 907 714 907 702 714 908 954 702 905 671 908 908 671 954 702 703 704 702 704 714 954 703 702 982 954 671 982 703 954 598 671 672 672 671 905 598 982 671 598 80 599 675 598 599 80 598 672 675 982 598 672 72 80 905 72 672 991 72 905 843 991 905 71 72 73 73 72 964 72 71 80 964 72 991 964 991 843 238 842 843 842 964 843 238 843 746 73 964 82 964 842 82 79 71 73 73 82 81 79 73 81 79 80 71 79 599 80 599 79 738 81 738 79 901 675 599 599 738 901 901 738 400 901 982 675 982 901 400 703 982 399 399 982 400 399 43 703 703 43 704 399 400 210 399 210 441 399 441 43 41 42 43 441 41 43 704 43 14 14 43 42 714 704 14 12 13 14 42 12 14 13 714 14 666 713 714 13 666 714 665 666 13 52 773 13 12 52 13 13 773 665 368 52 12 12 42 368 50 51 52 51 335 52 368 50 52 335 773 52 899 666 773 773 666 665 773 335 899 899 335 91 741 666 899 741 899 90 899 91 90 90 91 46 91 335 527 46 91 527 223 501 90 741 90 501 46 223 90 713 741 501 713 666 741 713 501 861 501 502 15 501 942 502 501 15 861 223 942 501 861 15 347 15 16 17 502 939 15 939 16 15 347 15 17 939 502 942 939 942 513 223 943 942 943 513 942 513 16 939 513 331 16 513 248 331 943 248 513 249 943 223 249 248 943 45 222 223 222 249 223 45 223 46 248 249 224 224 249 222 45 224 222 44 45 46 45 248 224 44 248 45 526 46 527 526 44 46 335 44 526 44 712 248 44 385 712 385 44 335 526 527 335 335 384 385 51 839 335 335 839 384 712 385 710 385 384 987 710 385 987 710 711 712 710 987 744 710 744 711 811 810 987 384 811 987 987 810 744 744 265 711 744 144 265 744 810 821 744 821 144 810 811 812 812 821 810 811 993 812 811 628 993 384 628 811 993 627 812 993 628 627 626 627 628 836 837 628 626 628 837 384 836 628 836 384 839 951 837 836 836 839 951 951 839 583 839 51 353 583 839 353 837 951 583 837 305 304 583 950 837 626 837 304 950 305 837 25 950 583 305 950 25 24 25 26 26 25 583 24 305 25 26 789 24 789 305 24 790 789 26 790 26 582 582 26 583 165 789 790 789 165 430 789 430 305 163 165 790 790 804 163 804 790 582 581 582 583 582 581 721 804 582 721 379 378 581 581 805 721 581 378 805 379 581 583 379 583 616 353 616 583 353 615 616 150 379 616 616 615 150 353 50 354 353 51 50 615 353 354 354 50 368 706 615 354 706 354 368 368 42 369 706 368 826 826 368 369 705 615 706 826 705 706 826 832 705 705 832 148 615 705 148 408 832 826 543 408 395 4 395 408 408 826 806 408 806 4 856 718 4 4 806 3 850 856 953 718 856 850 850 953 477 806 78 3 605 841 3 78 605 3 841 605 523 523 525 841 523 524 525 523 918 971 990 918 523 605 990 523 523 971 524 525 524 516 291 516 517 516 524 517 8 291 9 291 8 6 5 291 6 291 517 9 517 524 693 693 9 517 8 9 10 10 9 693 8 11 6 8 10 11 5 6 7 6 11 7 746 640 5 746 5 239 5 7 239 240 239 7 67 7 11 67 240 7 11 890 67 10 890 11 65 66 67 67 66 970 890 65 67 67 970 240 238 239 240 240 970 238 239 238 746 238 970 842 970 66 83 83 842 970 842 83 82 81 82 83 900 81 83 236 83 66 236 900 83 236 237 81 237 738 81 900 236 81 237 236 66 875 738 237 875 237 66 886 738 884 738 610 884 886 400 738 610 738 875 884 885 886 885 400 886 884 209 885 210 884 610 210 209 884 885 208 400 885 209 208 400 208 210 208 209 210 847 441 210 623 847 210 610 623 210 187 847 188 698 847 623 188 847 698 187 441 847 187 41 441 187 188 189 42 187 369 42 41 187 369 187 189 825 826 189 826 369 189 189 188 825 826 825 806 825 188 806 188 944 806 806 944 78 188 697 944 944 607 992 944 992 78 697 607 944 76 77 78 992 76 78 78 77 605 607 76 992 606 607 608 76 607 606 607 697 608 418 76 606 606 416 418 606 608 416 697 416 608 416 417 418 416 696 417 697 696 416 417 609 418 623 417 696 623 609 417 696 697 698 698 623 696 610 609 623 151 609 610 609 151 418 610 875 962 151 610 962 874 875 655 962 875 874 653 655 875 653 875 66 962 874 655 151 962 655 653 654 655 655 654 151 65 653 66 654 653 398 398 653 65 654 398 918 654 723 152 918 723 654 151 654 152 918 398 971 918 990 723 722 723 670 723 722 152 990 670 723 151 152 153 152 722 153 418 151 153 153 722 670 673 153 670 673 418 153 605 604 670 670 604 673 990 605 670 673 604 76 418 673 76 77 604 605 76 604 77 971 398 524 65 397 398 524 398 693 397 10 398 398 10 693 397 65 890 397 890 10 188 698 697 148 149 150 615 148 150 989 150 149 149 69 989 130 150 989 995 833 150 833 379 150 130 995 150 130 989 69 130 131 132 132 380 130 130 380 995 131 130 69 833 995 380 833 380 379 378 379 380 132 533 380 533 378 380 132 429 533 131 427 132 427 429 132 533 534 535 534 533 429 533 535 805 533 805 378 427 428 429 429 428 534 761 762 427 427 762 428 761 427 131 428 603 534 985 603 428 428 762 985 985 762 622 622 762 761 985 622 973 985 973 603 48 622 49 622 590 317 973 622 317 761 49 622 48 590 622 319 587 973 319 973 317 587 603 973 317 318 319 402 317 591 318 317 402 317 590 591 590 542 591 48 542 590 699 402 591 591 893 699 542 893 591 401 318 402 402 699 845 401 402 845 318 401 319 575 401 573 891 401 845 573 401 891 319 401 575 573 574 575 575 574 586 319 575 586 574 573 876 876 573 891 891 845 161 897 876 891 161 897 891 574 876 877 897 799 876 877 876 894 876 799 894 338 574 877 338 586 574 338 877 339 877 894 339 894 799 895 894 895 371 894 371 678 339 894 678 337 338 339 339 677 337 339 678 677 586 338 601 338 337 601 512 511 337 324 337 677 512 337 324 601 337 511 676 677 678 677 676 325 324 677 325 323 324 325 512 324 594 324 323 594 325 676 323 938 323 676 938 676 678 105 594 323 323 106 105 938 106 323 512 594 105 104 105 106 409 105 104 512 105 409 370 104 106 370 106 938 938 678 370 370 678 371 370 371 372 104 370 351 351 370 372 372 371 957 351 372 957 371 782 585 895 952 371 371 952 782 371 585 957 957 958 657 957 585 958 351 957 657 584 446 585 584 585 782 585 446 958 799 584 782 952 799 782 895 799 952 447 799 800 799 460 462 500 799 897 799 462 800 799 447 584 460 799 500 446 584 447 445 446 447 958 446 445 445 532 531 445 447 915 445 915 532 958 445 531 134 531 532 531 657 958 134 657 531 133 134 135 352 134 133 135 134 865 865 134 532 352 657 134 351 657 352 350 351 352 350 352 133 350 133 983 133 135 983 135 865 780 780 983 135 865 532 866 865 866 781 781 780 865 779 780 781 793 780 794 793 983 780 779 794 780 350 983 793 793 848 350 793 345 848 793 343 345 794 343 793 779 580 794 580 343 794 580 779 685 781 685 779 578 579 580 578 580 600 685 600 580 579 343 580 343 344 345 579 547 343 547 344 343 344 848 345 344 409 104 450 449 344 344 200 199 344 199 848 344 104 200 409 344 294 449 294 344 547 450 344 200 104 201 201 104 351 199 200 201 199 201 848 848 201 350 201 351 350 449 450 451 450 547 548 156 450 917 451 450 156 917 450 548 548 547 579 518 548 56 548 579 56 917 548 518 452 154 917 58 917 518 452 917 58 154 156 917 518 56 519 518 519 58 56 57 58 58 57 731 519 56 58 731 452 58 56 578 57 56 579 578 731 57 830 749 831 57 578 749 57 57 831 830 555 452 731 555 731 830 555 830 831 831 726 815 831 725 726 555 831 815 725 831 749 555 556 452 555 814 556 555 815 814 175 556 658 556 175 452 975 658 556 814 975 556 452 175 356 175 176 177 356 175 177 175 658 176 176 658 656 975 656 658 514 975 814 558 656 975 514 558 975 86 656 123 656 85 176 85 656 86 558 123 656 177 176 880 880 176 85 84 85 86 880 85 84 357 947 880 947 177 880 356 177 357 357 177 947 887 84 86 887 728 888 887 86 728 728 729 720 729 728 431 86 431 728 728 720 888 729 390 955 720 729 955 621 390 729 621 729 431 86 63 431 621 431 63 86 123 63 61 62 63 63 389 621 63 123 61 389 63 62 389 390 621 389 386 390 62 785 389 785 386 389 360 359 386 770 360 386 359 390 386 770 386 785 62 771 785 785 771 770 660 770 771 770 503 360 660 503 770 771 570 709 771 62 570 709 660 771 650 660 709 570 650 709 659 503 660 649 659 660 650 649 660 927 503 659 936 927 659 649 936 659 936 931 927 650 570 328 572 328 570 570 571 572 571 277 572 570 644 571 571 881 277 644 61 571 571 61 969 571 969 881 277 881 883 881 882 883 279 881 969 881 279 929 882 881 929 61 754 969 279 969 754 61 753 754 753 280 754 279 754 280 753 514 419 280 753 540 61 558 753 558 514 753 540 753 419 278 279 280 540 278 280 540 419 925 540 925 576 577 278 540 576 577 540 278 577 279 279 577 974 279 974 929 933 928 974 974 928 929 974 577 933 928 882 929 634 928 632 932 928 634 632 928 933 882 928 932 882 932 883 634 494 932 632 633 634 633 494 634 632 730 633 912 632 933 912 730 632 633 281 652 633 652 494 730 281 633 707 708 730 708 282 730 281 730 282 912 707 730 567 912 933 567 707 912 707 204 708 204 707 567 203 708 204 439 708 203 439 282 708 281 282 251 439 440 282 251 282 440 439 203 635 439 635 440 202 203 204 635 203 636 203 202 636 635 636 637 252 635 637 252 440 635 251 440 252 250 251 252 872 281 251 251 250 872 872 250 862 872 862 281 949 803 250 388 949 250 803 862 250 252 311 250 803 651 862 281 862 652 862 651 652 949 388 803 311 252 312 312 537 311 432 537 312 312 645 432 541 645 312 312 252 541 432 434 537 432 433 434 454 432 645 432 878 433 432 454 878 645 541 455 455 454 645 453 454 455 878 454 852 852 454 453 716 878 852 878 716 433 851 852 453 919 852 851 716 852 919 48 453 455 453 48 851 455 541 542 542 48 455 47 48 49 851 48 47 851 47 919 49 299 300 761 299 49 552 299 816 300 299 552 816 299 761 300 552 553 553 373 300 816 855 552 855 553 552 855 816 274 131 274 816 816 761 131 553 855 274 553 274 373 69 274 131 373 274 69 272 266 69 266 373 69 272 267 273 273 266 272 266 267 268 273 267 266 266 268 373 373 268 271 271 301 373 541 893 542 541 252 864 541 864 893 864 252 893 252 699 893 162 252 637 827 252 162 252 827 845 252 845 699 160 161 162 160 162 637 827 162 161 636 160 637 460 500 160 160 500 161 636 460 160 845 827 161 161 500 897 460 461 462 636 461 460 636 202 461 461 663 662 461 998 462 461 202 663 662 998 461 979 800 462 998 979 462 998 662 979 661 662 663 979 662 871 662 310 871 310 662 661 871 915 979 979 915 447 447 800 979 871 310 98 539 915 871 871 98 539 532 915 539 100 539 98 100 99 539 866 539 442 532 539 866 539 99 442 98 99 100 442 99 443 99 725 443 99 98 725 442 443 444 685 442 444 781 442 685 866 442 781 443 749 444 443 725 749 725 98 726 310 726 98 815 726 383 383 726 310 308 309 310 310 309 383 308 310 661 382 383 309 382 815 383 515 814 815 420 515 815 420 815 382 382 664 420 309 308 382 308 664 382 661 664 308 663 664 661 421 664 694 664 663 694 420 664 421 419 420 421 515 420 419 514 515 419 514 814 515 925 419 421 694 921 421 921 925 421 924 576 925 925 921 924 332 924 921 694 941 921 941 332 921 334 576 924 334 924 332 576 334 577 332 333 334 568 577 334 334 333 568 772 926 332 772 332 941 926 333 332 694 772 941 694 204 772 772 204 926 926 204 333 333 567 568 333 204 567 937 568 567 937 577 568 937 933 577 937 567 933 694 202 204 694 663 202 749 600 444 749 578 600 685 444 600 558 61 123 62 61 644 62 909 570 644 909 62 570 909 644 390 359 742 742 955 390 154 155 156 451 156 155 155 618 451 618 155 619 449 451 294 294 451 828 618 828 451 295 618 619 828 618 295 245 619 243 295 619 245 294 295 296 295 245 296 828 295 294 405 409 294 405 294 296 296 403 405 244 296 245 296 244 403 243 244 245 243 404 403 243 403 244 403 404 405 405 404 409 409 404 612 611 612 613 611 409 612 613 612 173 261 409 611 262 611 613 261 611 262 639 613 173 639 262 613 422 173 423 172 423 173 639 173 422 422 638 639 638 262 639 261 262 263 263 262 638 984 409 261 984 261 263 233 920 263 263 834 233 920 984 263 638 834 263 920 409 984 920 589 409 589 512 409 946 589 920 946 920 233 946 233 235 946 235 589 588 510 589 589 592 588 589 510 512 592 589 235 510 511 512 602 511 510 588 602 510 592 535 588 602 588 534 534 588 535 592 234 535 234 592 235 233 234 235 617 234 233 234 804 535 617 804 234 535 804 805 163 804 617 805 804 721 163 164 165 163 617 759 164 163 759 164 314 165 314 164 315 315 164 674 674 164 759 165 314 430 313 314 315 509 314 313 509 430 314 313 315 784 674 945 315 784 315 945 758 945 674 758 674 759 916 945 758 916 784 945 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-2.7570400387048721e+01) (float-vector -7.9344697296619415e+01 1.5972599387168884e+01 -2.7999799698591232e+01) (float-vector -8.5145100951194763e+01 5.5757798254489899e+00 -2.5662200525403023e+01) (float-vector -8.5344798862934113e+01 -1.3159300200641155e+01 -2.5675499811768532e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0604399032890797e+00 -1.3875300064682961e+01 -1.0187500156462193e+01) (float-vector 1.6372600570321083e+01 -8.1343604251742363e+00 -1.0082700289785862e+01) (float-vector 1.5431400388479233e+01 -4.6149399131536484e+00 -1.3162500225007534e+01) (float-vector -3.2659899443387985e+01 -6.2573798932135105e+00 -2.7959700673818588e+01) (float-vector -7.4860200285911560e+01 -1.8286399543285370e+01 -2.6814900338649750e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.7796399593353271e+01 -1.8792200833559036e+01 2.6459200307726860e+01) (float-vector -7.4860200285911560e+01 -1.8286399543285370e+01 -2.6814900338649750e+01) (float-vector -8.5344798862934113e+01 -1.3159300200641155e+01 -2.5675499811768532e+01) (float-vector -8.5030399262905121e+01 -1.3849199749529362e+01 2.5683199986815453e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -8.5030399262905121e+01 -1.3849199749529362e+01 2.5683199986815453e+01) (float-vector -8.3054102957248688e+01 1.3700299896299839e+01 2.5666899979114532e+01) (float-vector -7.8688301146030426e+01 1.7159899696707726e+01 2.7824800461530685e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01) (float-vector -2.9883800074458122e+01 -3.6574599798768759e+00 2.7899699285626411e+01) (float-vector -7.7796399593353271e+01 -1.8792200833559036e+01 2.6459200307726860e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.8688301146030426e+01 1.7159899696707726e+01 2.7824800461530685e+01) (float-vector -7.1587897837162018e+01 3.3174499869346619e+01 2.1689999848604202e+01) (float-vector -6.3738003373146057e+01 3.5578601062297821e+01 1.9171899184584618e+01) (float-vector -3.0364299193024635e+01 2.8519000858068466e+01 2.1515799686312675e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 8.2847904413938522e+00 1.5479099936783314e+01 1.1488700285553932e+01) (float-vector 1.8429599702358246e+01 -4.6149399131536484e+00 1.0229799896478653e+01) (float-vector 1.4841400086879730e+01 -6.6712498664855957e+00 1.3026099652051926e+01) (float-vector -2.9883800074458122e+01 -3.6574599798768759e+00 2.7899699285626411e+01) (float-vector -3.2878100872039795e+01 9.3289101496338844e+00 2.7645900845527649e+01) (float-vector -3.0364299193024635e+01 2.8519000858068466e+01 2.1515799686312675e+01) (float-vector -3.6160200834274292e+00 2.4537000805139542e+01 1.1019499972462654e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_gripper_l_finger_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_l_finger_tip_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 9.1370000000000005e+01 4.9500000000000002e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 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:vertices (nreverse (list (float-vector 1.2141000479459763e+02 5.3768701851367950e+01 5.6119501590728760e+01) (float-vector 1.2139530479907990e+02 3.9317902177572250e+01 6.6696301102638245e+01) (float-vector -5.2213102579116821e+01 1.3887999812141061e+00 -2.5954002048820257e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 1.2139530479907990e+02 3.9317902177572250e+01 6.6696301102638245e+01) (float-vector 1.2140019983053207e+02 1.9523799419403076e+01 7.4487298727035522e+01) (float-vector -5.2213102579116821e+01 1.3887999812141061e+00 -2.5954002048820257e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 1.5310980379581451e+02 4.6697102487087250e+01 6.9339103996753693e+01) (float-vector 1.2139530479907990e+02 3.9317902177572250e+01 6.6696301102638245e+01) (float-vector 1.2141000479459763e+02 5.3768701851367950e+01 5.6119501590728760e+01) (float-vector 1.7923370003700256e+02 5.5238701403141022e+01 6.6634796559810638e+01) (float-vector 1.7761170864105225e+02 4.9026202410459518e+01 7.1591600775718689e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_elbow_flex_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_elbow_flex_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 5 8 0 2 5 8 26 0 0 28 1 26 28 0 2 3 4 2 1 3 2 4 5 3 1 7 3 19 4 19 3 7 4 19 5 18 19 20 19 21 20 19 7 21 5 19 24 24 19 18 18 30 24 31 30 18 20 31 18 20 36 31 20 37 36 21 37 20 7 22 21 21 61 37 22 61 21 38 37 39 37 38 36 37 60 39 37 61 60 22 62 61 62 268 61 268 271 61 61 271 60 23 22 7 23 62 22 23 268 62 6 23 7 63 23 6 63 267 23 267 268 23 6 7 1 1 28 6 6 28 63 57 28 58 27 58 28 27 28 26 63 28 57 55 57 56 57 58 56 55 63 57 56 58 50 49 50 58 49 58 27 55 56 54 54 56 52 52 56 50 53 55 54 53 63 55 53 54 52 51 52 50 51 53 52 48 50 49 48 51 50 51 264 53 48 264 51 264 63 53 264 267 63 261 264 260 261 265 264 264 268 267 265 268 264 260 264 48 259 260 254 259 261 260 254 260 48 258 259 255 255 259 254 258 261 259 247 251 254 251 255 254 48 247 254 252 255 251 255 252 256 256 258 255 257 258 256 257 261 258 252 59 256 59 257 256 41 257 59 41 90 257 257 262 261 90 262 257 262 265 261 90 263 262 262 266 265 263 266 262 265 269 268 266 269 265 263 86 266 266 86 84 266 270 269 84 270 266 88 263 90 88 86 263 84 86 85 86 87 85 86 88 87 81 84 83 84 85 83 84 81 270 270 271 269 270 272 271 81 272 270 80 39 81 81 83 80 272 81 39 83 290 80 83 293 290 83 85 293 80 82 39 290 286 80 80 286 82 39 82 38 60 272 39 271 272 60 269 271 268 79 36 38 38 82 79 82 286 79 78 36 79 79 286 78 29 36 78 31 36 29 32 78 77 29 78 32 286 287 78 78 287 77 29 30 31 32 30 29 11 30 9 32 9 30 34 30 11 30 34 24 9 10 11 10 12 11 11 12 13 13 34 11 14 10 9 14 9 32 14 15 10 15 16 10 10 16 12 12 16 17 12 25 13 12 17 25 5 13 25 5 34 13 25 8 5 24 34 5 8 27 26 27 8 25 25 65 27 65 66 27 27 232 49 66 232 27 65 67 66 65 273 67 25 273 65 67 68 66 68 232 66 67 69 68 67 273 69 69 70 68 70 232 68 69 73 70 69 273 73 73 74 70 74 232 70 72 74 73 74 284 285 74 285 232 72 284 74 284 72 277 285 284 276 276 284 277 232 285 282 282 285 274 274 285 276 274 276 73 276 277 73 73 277 71 71 277 278 277 72 278 71 72 73 278 279 71 71 279 72 278 72 279 273 274 73 274 273 275 275 282 274 129 273 25 280 281 273 273 281 275 129 280 273 281 427 275 275 427 282 128 427 281 128 281 280 128 280 129 126 128 127 128 129 127 310 432 128 432 427 128 309 310 128 126 297 128 128 297 309 423 432 431 426 432 423 426 427 432 431 432 310 423 424 247 247 426 423 423 431 424 424 431 430 430 431 310 424 425 247 424 430 425 425 430 429 429 430 310 425 421 247 425 429 421 421 429 428 315 429 310 428 429 315 314 315 308 308 315 310 315 314 116 116 428 315 310 309 308 308 307 306 308 309 307 306 314 308 309 299 307 299 309 297 306 307 305 307 94 305 307 299 94 297 298 299 298 94 299 297 296 298 291 296 297 126 291 297 298 301 95 298 296 301 95 94 298 295 296 288 288 296 291 296 295 301 291 292 288 292 291 126 124 126 125 126 127 125 124 292 126 288 292 122 122 292 124 122 124 123 124 125 123 125 127 118 121 125 118 123 125 121 127 129 64 118 127 64 64 16 118 16 119 118 119 120 118 120 121 118 120 122 121 122 123 121 120 288 122 119 288 120 76 119 16 76 288 119 16 64 17 16 35 76 15 35 16 75 76 35 75 288 76 35 15 33 33 75 35 32 33 15 14 32 15 32 77 33 75 33 77 77 287 75 75 287 288 289 287 286 289 288 287 290 289 286 289 290 294 290 293 294 303 294 293 289 294 303 85 302 293 293 302 303 289 303 501 302 501 303 301 302 85 301 295 302 289 501 302 289 302 500 295 500 302 87 300 85 301 85 300 95 301 300 89 300 87 95 300 89 88 89 87 88 90 89 90 91 89 93 89 91 93 95 89 94 95 93 92 93 91 92 94 93 90 41 91 91 41 40 40 92 91 40 311 92 311 94 92 305 94 311 99 311 96 305 311 99 96 311 40 40 41 42 42 96 40 41 59 42 42 97 96 42 59 97 97 98 96 98 99 96 98 100 99 304 99 100 304 305 99 306 305 304 304 100 101 101 103 304 103 312 304 304 312 306 98 101 100 98 102 101 102 103 101 102 104 103 236 102 249 104 102 236 102 250 249 98 250 102 104 105 103 104 106 105 236 237 104 104 237 106 234 235 236 235 237 236 236 249 234 235 106 237 106 107 105 235 243 106 243 244 106 106 244 107 239 235 234 239 243 235 238 239 234 234 249 248 234 248 238 242 239 238 242 245 239 239 245 243 245 246 243 243 246 244 245 417 246 242 417 245 241 242 238 242 418 417 242 419 418 241 419 242 246 417 416 416 417 414 417 418 414 244 246 46 246 416 46 46 416 44 44 416 231 416 414 231 43 46 44 43 109 46 109 244 46 107 244 109 107 109 108 43 110 109 109 110 108 107 108 105 108 319 105 110 319 108 110 321 319 43 321 110 316 319 318 103 319 316 105 319 103 319 321 318 318 321 320 320 321 111 111 321 43 312 318 317 316 318 312 318 320 317 103 316 312 312 313 306 312 317 313 313 317 314 317 115 314 317 320 115 115 320 111 114 115 113 113 115 111 116 115 114 314 115 116 313 314 306 116 114 117 117 428 116 229 114 113 229 117 114 111 112 113 229 113 228 228 113 112 111 43 112 43 45 112 228 112 45 45 231 228 360 229 228 348 360 228 231 348 228 43 44 45 44 231 45 348 231 414 348 414 454 457 454 414 418 477 414 457 414 439 414 477 439 435 457 439 454 457 435 436 435 439 439 481 436 420 481 439 477 420 439 418 419 477 477 419 415 415 420 477 420 421 422 415 421 420 422 433 420 433 481 420 240 415 241 415 419 241 240 421 415 247 421 240 421 428 422 428 433 422 117 433 428 230 433 117 433 229 481 230 229 433 229 230 117 360 483 229 483 487 229 487 481 229 436 481 451 481 480 451 487 480 481 487 488 480 487 495 488 495 487 483 480 479 451 479 480 488 451 445 436 446 445 451 451 479 446 446 479 478 489 479 488 478 479 491 491 479 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455 337 453 455 453 452 443 452 330 330 452 442 443 455 452 338 337 455 338 455 443 223 337 221 221 337 219 337 338 219 136 338 329 219 338 136 329 338 443 329 443 330 136 329 134 329 330 134 330 331 134 442 331 330 134 135 136 134 137 135 134 149 137 134 331 149 222 219 136 135 222 136 135 130 132 137 130 135 132 222 135 137 138 130 149 138 137 149 150 138 149 331 150 150 151 138 138 133 130 138 143 133 138 151 143 130 131 132 133 131 130 216 222 132 131 216 132 139 131 140 133 140 131 131 217 216 139 217 131 143 140 133 143 144 140 151 144 143 145 140 144 140 145 139 147 144 151 144 325 145 326 325 144 147 327 144 327 326 144 145 142 139 325 324 145 325 326 396 327 399 326 399 396 326 328 327 147 328 398 327 398 399 327 400 399 398 413 396 399 400 413 399 406 400 398 406 398 328 406 407 400 407 413 400 411 413 407 406 473 407 473 474 407 474 475 407 407 475 411 328 472 406 472 473 406 473 499 474 491 473 472 491 499 473 474 499 475 411 475 410 490 499 491 478 491 472 434 472 328 434 478 472 333 478 434 449 478 333 446 478 449 333 434 328 146 328 147 146 333 328 146 147 148 148 333 146 148 334 333 448 333 334 448 449 333 449 448 446 444 445 446 444 446 448 444 448 447 447 448 334 444 447 441 438 444 441 438 445 444 436 445 438 441 447 442 447 334 450 447 450 442 442 450 331 332 450 334 331 450 332 331 332 150 150 332 334 152 151 150 150 334 152 152 334 148 148 151 152 148 147 151 141 139 142 139 212 217 141 212 139 142 185 141 141 185 212 380 185 142 185 187 212 214 187 215 212 187 214 214 210 212 210 214 213 213 214 215 213 215 209 210 213 211 205 213 209 205 211 213 210 211 212 226 218 211 226 211 205 211 218 212 226 205 224 220 226 224 216 226 220 216 218 226 216 217 218 217 212 218 222 216 220 219 220 221 222 220 219 220 223 221 220 224 223 240 241 238 238 247 240 238 248 247 248 251 247 47 247 48 47 426 247 248 252 251 249 252 248 249 253 252 253 59 252 250 253 249 250 98 253 98 97 253 97 59 253 47 283 426 283 427 426 282 283 233 233 283 47 282 427 283 232 282 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-9.2700401306152344e+01 -1.2215199470520020e+01 -1.1101500511169434e+01 -9.4969200134277344e+01 -1.2548900604248047e+01 -1.0146300315856934e+01 -9.4030799865722656e+01 1.4237500190734863e+01 -8.9692401885986328e+00 -9.3823699951171875e+01 1.4584000587463379e+01 -8.7680501937866211e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 14 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01) (float-vector -9.2621602118015289e+01 -2.0890800282359123e+01 8.6935600265860558e+00) (float-vector -9.5581099390983582e+01 -1.9595699384808540e+01 -8.4367999807000160e+00) (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00) (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1622299998998642e+02 1.1383400298655033e+01 6.2500000931322575e+00) (float-vector -1.1537700146436691e+02 1.8636500462889671e+01 6.2500000931322575e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01) (float-vector -9.2880301177501678e+01 -1.8248299136757851e+01 1.1486600153148174e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1696799844503403e+02 1.4067200012505054e+01 -6.2500000931322575e+00) (float-vector -9.2969998717308044e+01 -1.8775999546051025e+01 -1.1366900056600571e+01) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00) (float-vector -6.8101897835731506e+01 -5.8599398471415043e+00 8.1459200009703636e+00) (float-vector -1.0652100294828415e+02 2.3850899189710617e+01 7.2211800143122673e+00) (float-vector -1.0798899829387665e+02 2.3176899179816246e+01 -8.2606999203562737e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00) (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00) (float-vector -6.7447900772094727e+01 -1.9895900040864944e+01 1.0701199993491173e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.7335300147533417e+01 -6.0413298197090626e+00 -7.2416001930832863e+00) (float-vector -6.5791599452495575e+01 -2.0477000623941422e+01 -9.4930296763777733e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 -1.2354600243270397e+01 -5.2776900120079517e+00) (float-vector -6.0722500085830688e+01 -1.8731400370597839e+01 -5.8447499759495258e+00) (float-vector -6.0145601630210876e+01 -1.8248099833726883e+01 3.5796300508081913e+00) (float-vector -6.1640899628400803e+01 -1.0425000451505184e+01 3.9616897702217102e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_gripper_l_finger_tip_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_motor_accelerometer_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 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-6.6488705575466156e+01) (float-vector 9.2598199844360352e+01 -4.7991997562348843e+00 -7.0437498390674591e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 7.8153699636459351e+01 -4.6448402106761932e+01 2.2470999974757433e+00) (float-vector -5.5656399577856064e+01 -1.7630200833082199e+01 5.7318098843097687e+01) (float-vector -2.9659399762749672e+01 -1.7469700425863266e+01 7.4222102761268616e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.1904602944850922e+01 -4.5701399445533752e+01 -6.9559002295136452e+00) (float-vector 7.8153699636459351e+01 -4.6448402106761932e+01 2.2470999974757433e+00) (float-vector 9.1609798371791840e+01 -4.5056700706481934e+01 1.0309000499546528e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 3.1526397913694382e+01 -1.7633000388741493e+01 7.3413699865341187e+01) (float-vector 9.1689199209213257e+01 -4.0279299020767212e+01 2.2628599777817726e+01) (float-vector 9.1609798371791840e+01 -4.5056700706481934e+01 1.0309000499546528e+01) (float-vector 7.8153699636459351e+01 -4.6448402106761932e+01 2.2470999974757433e+00) (float-vector -2.9659399762749672e+01 -1.7469700425863266e+01 7.4222102761268616e+01) (float-vector 1.1950000189244747e+00 -1.6979699954390526e+01 8.0005303025245667e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -6.7072704434394836e+01 -1.7499899491667747e+01 -4.3435800820589066e+01) (float-vector -7.5145803391933441e+01 -1.8584100529551506e+01 -2.3780800402164459e+01) (float-vector 7.8153699636459351e+01 -4.6448402106761932e+01 2.2470999974757433e+00) (float-vector 9.1904602944850922e+01 -4.5701399445533752e+01 -6.9559002295136452e+00) (float-vector 7.7000200748443604e+01 -4.4564999639987946e+01 -1.3251200318336487e+01) (float-vector -5.0841398537158966e+01 -1.7499899491667747e+01 -6.1648797243833542e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -5.5656399577856064e+01 -1.7630200833082199e+01 5.7318098843097687e+01) (float-vector 7.8153699636459351e+01 -4.6448402106761932e+01 2.2470999974757433e+00) (float-vector -7.5145803391933441e+01 -1.8584100529551506e+01 -2.3780800402164459e+01) (float-vector -7.9878799617290497e+01 -1.7469700425863266e+01 2.8254000935703516e+00) (float-vector -7.5303696095943451e+01 -1.7469700425863266e+01 2.6794800534844398e+01) (float-vector -6.7217603325843811e+01 -1.7469700425863266e+01 4.3248202651739120e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_forearm_roll_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_forearm_roll_link_geom0 - (:init (&key (name "package://pr2_description/meshes/upper_arm_v0/forearm_roll.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.050000 0.050000 0.050000 0.000000)) + (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 -5.0000000000000000e-01 5.0000000000000000e-01 -5.0000000000000000e-01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 4 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 5.0000002374872565e-01) (float-vector -5.0000002374872565e-01 5.0000002374872565e-01 5.0000002374872565e-01) (float-vector 5.0000002374872565e-01 -5.0000002374872565e-01 -5.0000002374872565e-01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_gripper_motor_accelerometer_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_palm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 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(float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4499999359250069e+01 -1.4432899617912056e-15 -7.5144348666071892e+00) (float-vector -2.4499999359250069e+01 6.9424333050847054e+00 -2.8756498359143734e+00) (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector -2.4499999359250069e+01 -2.8756498359143734e+00 6.9424333050847054e+00) (float-vector -2.4499999359250069e+01 -6.9424333050847054e+00 2.8756498359143734e+00) (float-vector -2.4499999359250069e+01 -5.3135082125663757e+00 -5.3135082125663757e+00)))) - (instance face :init :vertices (nreverse (list (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00) (float-vector -2.4499999359250069e+01 6.9424333050847054e+00 -2.8756498359143734e+00) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector -2.4499999359250069e+01 5.3135082125663757e+00 5.3135082125663757e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0650000721216202e+02 3.5912498831748962e+01 -1.5500000678002834e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 9.2389561235904694e+01 4.1256569325923920e+01 -9.2630408471450210e-01) (float-vector 9.2408321797847748e+01 3.6649439483880997e+01 -1.9086934626102448e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01) (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 1.0650000721216202e+02 3.5912498831748962e+01 -1.5500000678002834e+01) (float-vector 1.0650538653135300e+02 -3.7295877933502197e+01 -1.5036994591355324e+01) (float-vector 1.0599999874830246e+02 -3.7687499076128006e+01 -1.4666666975244880e+00) (float-vector 1.0650000721216202e+02 -1.8749265000224113e+01 3.7960883229970932e+01) (float-vector 1.0599999874830246e+02 -1.1087501421570778e+01 4.1289184242486954e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01) (float-vector 9.2392459511756897e+01 3.7046473473310471e+01 1.8352853134274483e+01) (float-vector 1.0650000721216202e+02 3.7334371358156204e+01 -2.1894888486713171e+00) (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 1.0601224005222321e+02 1.9745167344808578e+01 3.7513487040996552e+01) (float-vector 1.0599999874830246e+02 1.1451715603470802e+01 4.1215129196643829e+01) (float-vector 9.2399865388870239e+01 1.8794853240251541e+01 3.8409590721130371e+01) (float-vector 9.2415951192378998e+01 3.2024767249822617e+01 2.6073072105646133e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_forearm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_forearm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/forearm_v0/forearm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.400000 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 65 66 0 1 0 205 2 105 0 257 65 0 205 0 66 0 105 257 209 66 65 209 442 66 205 66 442 232 442 209 206 205 442 206 442 232 214 232 233 206 232 214 232 382 233 382 232 209 212 213 214 212 214 242 213 206 214 242 214 233 372 233 230 242 233 372 233 382 230 209 230 382 73 230 209 372 230 373 373 230 413 73 413 230 371 372 373 372 371 385 242 372 385 373 393 371 393 373 413 391 393 413 73 308 413 308 391 413 391 392 393 23 159 393 393 392 23 159 371 393 159 71 371 385 371 71 242 385 396 396 385 71 357 358 242 396 357 242 242 358 212 358 357 395 395 357 396 358 395 473 212 358 473 212 434 435 213 212 435 434 212 473 473 479 434 473 426 427 473 395 426 427 479 473 313 395 396 395 313 426 10 426 11 313 11 426 10 427 426 427 491 277 491 427 10 427 277 479 9 10 11 9 356 10 10 264 491 356 264 10 11 70 9 313 315 11 315 70 11 355 356 9 355 9 72 70 72 9 264 356 474 355 474 356 8 264 265 265 264 474 491 264 8 355 24 474 24 265 474 265 345 363 8 265 363 265 24 345 363 6 8 345 6 363 6 7 8 8 7 277 277 491 8 6 345 346 346 468 6 6 468 7 468 161 7 277 7 479 7 161 479 467 468 346 160 468 467 468 160 161 444 346 345 467 346 444 444 471 467 467 471 490 490 160 467 160 55 161 160 376 55 160 490 376 376 490 471 203 376 97 376 56 55 340 56 376 376 471 97 376 203 340 54 55 56 54 161 55 56 434 54 54 434 479 161 54 479 435 434 56 404 435 56 435 404 213 404 56 339 157 213 404 404 339 157 206 213 157 205 206 207 156 206 157 156 365 206 365 207 206 205 364 1 205 207 364 364 207 365 364 365 366 365 158 408 156 158 365 365 408 366 156 157 158 168 158 169 169 158 157 408 158 168 168 282 408 169 472 168 472 282 168 169 359 472 157 360 169 169 360 359 282 472 301 301 472 359 359 360 361 301 359 361 360 157 164 164 361 360 361 192 191 301 361 220 361 191 220 192 361 164 301 281 282 301 220 281 219 220 191 220 153 136 220 136 281 153 220 219 191 192 193 191 193 219 227 219 193 219 227 430 219 154 153 430 154 219 153 154 152 155 153 152 136 153 155 154 150 152 430 150 154 152 150 149 155 152 149 149 150 151 430 151 150 15 149 151 15 17 149 155 149 489 34 489 149 17 34 149 429 151 430 15 151 429 15 16 17 15 91 16 15 429 91 33 34 17 17 16 184 17 184 33 33 428 34 489 34 428 489 87 155 489 428 87 33 319 428 87 428 319 184 319 33 117 319 184 117 184 16 85 319 117 87 319 85 85 86 87 87 86 155 155 86 135 136 155 135 135 46 136 135 86 46 374 375 86 374 86 119 85 119 86 86 375 46 119 85 117 117 118 119 374 119 134 118 134 119 375 374 134 118 133 134 375 134 133 118 379 380 117 89 118 118 89 379 380 133 118 375 133 459 459 133 380 414 380 379 380 367 459 380 414 367 459 367 375 367 368 369 367 417 368 367 414 417 375 367 466 466 367 369 368 255 369 386 368 417 386 255 368 106 369 255 466 369 106 46 466 106 466 46 375 46 106 44 269 44 106 441 106 255 269 106 441 44 45 46 46 45 136 282 45 44 282 44 269 408 282 269 269 441 408 441 254 408 254 441 255 408 254 366 121 253 254 255 256 254 254 270 121 256 270 254 253 366 254 364 366 253 253 121 120 253 129 364 253 120 129 364 129 1 1 129 2 129 120 2 120 121 122 120 122 231 231 2 120 59 105 2 2 231 59 122 272 231 272 341 231 59 231 433 341 433 231 122 139 272 341 272 494 272 457 494 139 457 272 494 457 341 341 432 433 457 348 341 348 432 341 139 138 457 457 138 348 348 138 337 432 348 433 348 337 433 137 138 139 138 304 337 137 140 138 138 140 304 141 137 370 137 141 140 139 370 137 140 141 142 140 142 305 140 305 304 304 305 81 81 80 304 337 304 80 305 483 81 305 326 483 305 142 326 79 80 81 79 81 483 79 14 80 337 80 14 266 267 79 79 483 266 267 50 79 79 50 14 126 483 326 266 483 126 389 406 266 406 267 266 266 126 389 406 244 267 50 267 244 14 50 18 243 50 244 50 243 18 406 407 244 244 407 377 243 244 377 389 229 406 407 406 229 496 407 228 407 229 228 377 407 496 377 378 243 98 377 22 98 378 377 496 22 377 21 308 378 378 98 21 378 308 307 307 243 378 98 22 21 21 22 23 22 159 23 22 496 201 159 22 201 392 21 23 308 21 392 75 307 308 308 73 75 308 392 391 307 75 243 166 243 75 18 243 12 166 215 243 243 215 12 165 166 167 166 257 167 165 215 166 166 75 257 99 13 215 215 13 12 165 99 215 12 13 14 12 14 18 99 100 13 100 101 13 13 101 14 100 99 284 284 99 495 165 495 99 167 495 165 284 495 167 58 283 284 284 283 36 284 167 58 36 100 284 35 100 36 35 101 100 202 101 35 101 202 14 35 36 37 132 35 37 202 35 132 306 37 36 306 36 283 57 283 58 283 57 306 190 37 306 57 190 306 190 189 37 37 189 132 188 189 190 57 433 190 433 188 190 57 58 59 433 57 59 337 188 433 188 337 132 132 189 188 14 132 337 14 202 132 167 59 58 105 59 257 167 257 59 257 75 65 73 74 75 65 75 74 65 74 209 73 209 74 146 72 201 159 201 71 201 72 71 146 201 496 70 71 72 72 146 355 71 464 396 70 465 71 464 71 465 70 315 465 314 464 465 314 465 315 488 396 464 488 464 314 488 497 396 497 313 396 313 488 314 313 497 488 313 314 315 24 355 53 148 355 146 355 148 53 51 52 53 51 53 148 52 24 53 146 147 148 148 180 51 148 147 180 146 496 147 180 147 228 228 147 496 228 229 180 180 229 389 389 128 180 389 126 128 126 127 128 128 179 180 127 179 128 127 126 326 127 326 327 127 327 179 327 218 179 180 179 218 327 334 335 342 40 327 335 342 327 327 40 39 327 39 218 327 326 334 326 142 334 478 142 141 142 492 334 82 142 478 142 124 492 82 124 142 478 141 370 248 83 478 478 370 248 478 83 82 370 249 248 249 370 139 248 249 247 83 248 247 82 83 84 83 247 246 83 237 84 246 237 83 246 247 121 122 247 249 122 121 247 122 249 139 271 121 270 121 271 463 463 246 121 431 246 463 246 431 237 236 84 237 431 236 237 383 240 431 431 240 236 463 383 431 463 271 383 271 256 383 270 256 271 383 256 454 454 240 383 236 240 241 454 296 240 241 240 296 108 453 454 453 296 454 454 256 108 108 256 317 317 256 255 107 69 108 108 69 453 107 108 317 296 453 69 69 295 296 241 296 295 241 295 236 236 295 217 68 295 69 131 217 295 131 295 68 67 68 69 107 200 69 200 67 69 107 317 200 67 200 297 317 318 200 297 200 318 312 420 67 68 67 420 312 67 297 297 311 312 297 318 311 386 311 318 318 255 386 318 317 255 312 311 174 386 416 311 416 174 311 417 416 386 414 415 416 414 416 417 415 174 416 414 379 415 394 415 379 379 89 394 88 394 89 394 335 415 88 335 394 88 89 90 90 89 16 16 89 117 335 88 342 342 88 90 334 415 335 492 501 334 501 415 334 456 492 123 492 456 501 123 492 124 175 501 456 415 501 175 415 175 174 173 174 175 173 175 456 456 362 173 402 362 456 456 123 402 123 124 125 123 125 402 124 82 125 125 130 131 125 131 402 125 82 130 402 131 362 173 362 216 362 131 216 173 216 298 174 173 298 312 174 298 477 312 298 298 216 477 131 68 216 68 477 216 217 131 130 84 217 130 84 130 82 217 84 236 477 68 312 420 312 68 90 16 91 91 235 90 235 342 90 462 316 91 91 429 462 235 91 316 40 235 316 40 342 235 40 316 38 316 462 31 31 38 316 31 462 429 430 31 429 30 31 32 30 221 31 221 38 31 227 32 31 227 31 430 60 61 30 30 61 279 30 279 221 60 30 32 227 28 32 32 28 27 60 32 27 193 226 227 28 227 226 27 28 29 226 484 28 29 28 484 27 29 60 60 29 104 384 29 484 29 384 102 102 104 29 484 338 384 226 338 484 338 226 192 226 193 192 338 162 384 338 192 163 162 338 163 102 384 162 102 103 104 486 103 102 162 486 102 162 163 164 353 162 164 162 353 486 164 163 192 164 401 353 164 157 401 309 353 354 354 353 401 486 353 251 251 353 309 103 486 251 250 251 252 251 309 310 251 250 103 252 251 310 349 323 309 323 310 309 309 354 349 310 323 194 194 252 310 250 252 278 252 194 278 194 195 196 195 194 323 194 196 278 278 196 250 208 196 195 196 347 250 196 208 347 323 324 195 347 208 195 195 436 347 195 324 436 436 423 347 347 423 103 347 103 250 423 436 114 436 475 114 436 476 475 476 436 324 324 323 498 324 498 476 475 476 447 476 485 447 438 476 498 485 476 438 498 323 437 438 498 437 437 323 349 437 110 438 349 111 437 111 110 437 458 485 438 110 458 438 109 110 111 110 109 48 325 458 110 325 110 48 111 349 94 111 94 109 349 354 94 92 93 94 94 76 109 354 92 94 93 76 94 76 48 109 76 77 78 76 268 77 76 78 451 76 93 268 451 48 76 92 268 93 268 439 77 92 157 268 268 157 439 439 381 77 381 78 77 260 451 78 260 78 452 78 381 452 451 260 450 451 450 48 258 259 260 260 452 258 450 260 259 302 452 381 452 302 258 204 302 381 439 204 381 204 210 302 302 210 299 258 302 299 289 322 258 322 259 258 289 258 299 259 322 321 259 321 450 320 321 322 288 320 322 289 288 322 288 289 290 294 290 289 294 289 299 288 499 320 288 290 352 352 424 288 288 424 499 290 351 352 387 290 294 387 351 290 351 387 388 351 197 399 351 388 197 352 351 399 294 469 387 388 387 198 198 387 469 197 388 198 197 198 199 199 399 197 352 399 333 199 333 399 238 199 239 238 333 199 199 198 239 410 333 238 352 333 410 410 238 411 238 239 411 410 411 448 410 448 352 352 331 424 352 448 331 239 448 411 239 331 448 331 332 303 331 239 332 424 331 303 424 303 425 425 461 424 461 499 424 41 143 303 42 303 332 303 143 425 303 42 41 332 239 42 41 42 43 42 198 43 198 42 239 20 143 41 41 43 20 4 19 20 20 329 4 43 336 20 336 329 20 143 20 19 19 291 183 183 143 19 19 3 291 3 19 4 291 403 397 397 287 291 3 403 291 183 291 287 181 182 183 181 183 287 143 183 182 274 287 275 287 397 398 181 287 274 287 398 275 274 275 25 181 274 25 275 345 26 25 275 26 449 345 275 449 275 398 398 397 449 449 444 345 449 397 444 24 26 345 24 25 26 52 181 25 52 25 24 52 51 181 343 182 181 51 343 181 343 51 344 344 405 343 144 343 405 182 343 144 182 144 143 143 144 145 144 405 145 344 263 405 405 263 145 425 143 145 425 145 461 145 263 461 261 262 263 461 263 262 344 261 263 461 262 499 480 499 262 481 480 262 481 262 261 320 499 480 480 481 390 390 320 480 481 445 390 481 261 445 321 320 390 482 390 445 47 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(setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_r_finger_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 7.6910000000000011e+01 -1.0000000000000000e+01 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 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-4.7322001308202744e+01 -2.8668999671936035e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_wrist_flex_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_wrist_flex_link_geom0 - (:init (&key (name "package://pr2_description/meshes/forearm_v0/wrist_flex.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 856 1 0 953 856 0 477 0 484 0 34 484 2 34 0 953 0 477 2 147 33 34 2 33 2 1 147 33 30 34 34 32 484 34 30 32 477 484 32 30 31 32 476 477 32 476 32 486 486 32 31 485 476 486 718 850 476 485 718 476 476 850 477 902 485 486 902 718 485 902 486 717 31 844 486 486 844 717 902 717 718 717 646 718 717 778 646 717 844 778 778 844 647 31 290 844 844 290 647 778 647 646 646 647 620 4 718 646 620 4 646 620 647 36 290 36 647 290 37 36 31 37 290 35 36 37 620 36 396 36 35 396 4 620 396 395 4 396 35 481 396 396 481 546 546 395 396 35 37 481 37 472 481 37 31 470 472 37 470 546 481 545 481 472 923 481 923 545 545 483 546 597 395 546 546 483 597 545 923 483 923 472 483 469 472 470 483 472 469 478 483 469 483 478 597 597 478 543 543 395 597 468 478 469 478 468 479 543 478 479 468 469 470 468 38 466 468 466 479 468 470 38 479 466 480 479 480 543 466 38 467 466 467 471 466 471 480 543 480 688 689 480 471 688 480 689 471 467 734 689 471 690 690 471 734 38 22 467 467 22 734 406 733 734 21 734 22 406 734 21 733 690 734 688 689 690 733 688 690 543 688 408 733 408 688 406 408 733 406 407 408 407 406 21 21 22 23 21 23 407 38 491 22 22 491 23 23 748 407 23 491 489 748 23 489 408 407 832 832 407 791 748 791 407 748 489 853 748 853 791 488 489 490 488 853 489 489 491 490 853 488 791 791 792 148 148 832 791 791 488 792 792 488 490 490 491 896 740 490 896 740 792 490 148 792 740 149 148 740 684 740 896 684 149 740 465 464 896 465 896 491 684 896 464 683 684 464 684 69 149 70 684 683 69 684 70 463 464 465 464 463 683 470 463 39 31 683 463 463 465 39 470 31 463 470 39 38 38 39 40 465 40 39 40 491 38 491 40 465 30 487 31 487 458 31 31 458 683 487 680 458 19 680 487 19 487 473 473 487 30 458 459 216 216 593 458 680 459 458 458 593 683 64 459 680 64 680 19 459 499 216 64 493 459 493 499 459 216 217 218 216 218 593 216 499 217 593 316 683 593 218 316 259 218 260 316 218 259 218 68 70 260 218 70 218 217 68 316 259 683 259 260 683 260 70 683 68 69 70 68 217 272 68 272 69 272 217 232 777 686 217 217 686 232 497 217 499 217 497 777 231 183 232 232 686 231 183 272 232 682 686 777 682 231 686 456 777 497 682 777 456 681 682 456 682 681 231 231 681 183 456 367 681 849 681 367 183 681 849 456 361 457 456 457 367 456 497 361 361 362 191 497 362 361 457 361 191 367 457 191 365 366 367 367 191 365 818 849 367 745 367 366 818 367 528 367 745 528 528 745 529 366 529 745 528 529 530 528 530 963 963 818 528 530 529 366 963 530 859 859 530 366 859 366 860 366 365 860 859 860 381 963 859 381 818 963 381 381 365 190 818 381 190 860 365 381 190 191 192 192 631 190 631 892 190 190 892 818 365 191 190 362 138 191 192 191 178 178 191 138 192 178 736 736 631 192 892 631 736 178 735 736 735 171 736 171 892 736 169 170 171 171 735 169 170 892 171 297 169 298 169 297 752 170 169 752 169 735 829 169 829 298 170 752 818 170 818 892 181 183 818 818 183 849 818 752 181 181 182 183 181 752 182 267 183 182 272 183 267 182 269 267 182 752 269 269 270 267 270 269 879 269 752 879 271 268 270 268 267 270 271 270 301 270 879 301 301 879 373 373 879 752 752 122 373 752 297 122 120 121 122 300 373 122 120 122 297 122 121 300 297 298 120 120 298 732 972 120 732 120 972 121 300 121 49 121 972 47 121 47 49 919 47 972 732 735 972 972 735 919 732 298 829 829 735 732 178 180 735 735 716 919 180 715 735 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(float-vector -3.2696198672056198e+01 -9.6085900440812111e+00 2.7570400387048721e+01) (float-vector -7.9344697296619415e+01 -1.5972599387168884e+01 2.7999799698591232e+01) (float-vector -8.5145100951194763e+01 -5.5757798254489899e+00 2.5662200525403023e+01) (float-vector -8.5344798862934113e+01 1.3159300200641155e+01 2.5675499811768532e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0604399032890797e+00 1.3875300064682961e+01 1.0187500156462193e+01) (float-vector 1.6372600570321083e+01 8.1343604251742363e+00 1.0082700289785862e+01) (float-vector 1.5431400388479233e+01 4.6149399131536484e+00 1.3162500225007534e+01) (float-vector -3.2659899443387985e+01 6.2573798932135105e+00 2.7959700673818588e+01) (float-vector -7.4860200285911560e+01 1.8286399543285370e+01 2.6814900338649750e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.7796399593353271e+01 1.8792200833559036e+01 -2.6459200307726860e+01) (float-vector -7.4860200285911560e+01 1.8286399543285370e+01 2.6814900338649750e+01) (float-vector -8.5344798862934113e+01 1.3159300200641155e+01 2.5675499811768532e+01) (float-vector -8.5030399262905121e+01 1.3849199749529362e+01 -2.5683199986815453e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -8.5030399262905121e+01 1.3849199749529362e+01 -2.5683199986815453e+01) (float-vector -8.3054102957248688e+01 -1.3700299896299839e+01 -2.5666899979114532e+01) (float-vector -7.8688301146030426e+01 -1.7159899696707726e+01 -2.7824800461530685e+01) (float-vector -3.2878100872039795e+01 -9.3289101496338844e+00 -2.7645900845527649e+01) (float-vector -2.9883800074458122e+01 3.6574599798768759e+00 -2.7899699285626411e+01) (float-vector -7.7796399593353271e+01 1.8792200833559036e+01 -2.6459200307726860e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -7.8688301146030426e+01 -1.7159899696707726e+01 -2.7824800461530685e+01) (float-vector -7.1587897837162018e+01 -3.3174499869346619e+01 -2.1689999848604202e+01) (float-vector -6.3738003373146057e+01 -3.5578601062297821e+01 -1.9171899184584618e+01) (float-vector -3.0364299193024635e+01 -2.8519000858068466e+01 -2.1515799686312675e+01) (float-vector -3.2878100872039795e+01 -9.3289101496338844e+00 -2.7645900845527649e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 8.2847904413938522e+00 -1.5479099936783314e+01 -1.1488700285553932e+01) (float-vector 1.8429599702358246e+01 4.6149399131536484e+00 -1.0229799896478653e+01) (float-vector 1.4841400086879730e+01 6.6712498664855957e+00 -1.3026099652051926e+01) (float-vector -2.9883800074458122e+01 3.6574599798768759e+00 -2.7899699285626411e+01) (float-vector -3.2878100872039795e+01 -9.3289101496338844e+00 -2.7645900845527649e+01) (float-vector -3.0364299193024635e+01 -2.8519000858068466e+01 -2.1515799686312675e+01) (float-vector -3.6160200834274292e+00 -2.4537000805139542e+01 -1.1019499972462654e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_gripper_r_finger_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_gripper_r_finger_tip_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 9.1370000000000005e+01 -4.9500000000000002e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 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1.1818919330835342e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01)))) - (instance face :init :vertices (nreverse (list (float-vector -3.4929234534502029e+01 -1.9224440678954124e+01 1.3314728625118732e+01) (float-vector -3.4732185304164886e+01 -1.9215250387787819e+01 -1.3810032978653908e+01) (float-vector -3.5801675170660019e+01 1.9170306622982025e+01 -1.0743774473667145e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector -3.5478774458169937e+01 1.9249994307756424e+01 1.1818919330835342e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 2.3546332493424416e+01 -2.0954167470335960e+01 -3.6376867443323135e+01) (float-vector 2.7568558230996132e+01 -1.9761357456445694e+01 -2.8140518814325333e+01) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 2.6764698326587677e+01 2.0540371537208557e+01 -3.0364034697413445e+01) (float-vector -3.5120226442813873e+01 2.1715000271797180e+01 0.0000000000000000e+00) (float-vector -3.5801675170660019e+01 1.9170306622982025e+01 -1.0743774473667145e+01) (float-vector -2.8527449816465378e+01 1.9592283293604851e+01 -2.4081531912088394e+01) (float-vector -1.8373213708400726e+01 1.8953559920191765e+01 -3.2561089843511581e+01) (float-vector 1.9646016880869865e+01 1.9679244607686996e+01 -4.0253248065710068e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4636426940560341e+01 1.8934873864054680e+01 -3.7104066461324692e+01) (float-vector 1.9646016880869865e+01 1.9679244607686996e+01 -4.0253248065710068e+01) (float-vector 1.4390984550118446e+01 -1.9584203138947487e+01 -4.0665831416845322e+01) (float-vector 2.3546332493424416e+01 -2.0954167470335960e+01 -3.6376867443323135e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_wrist_roll_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_wrist_roll_link_geom0 - (:init (&key (name "package://pr2_description/meshes/forearm_v0/wrist_roll.stl")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 0 5 8 0 2 5 8 26 0 0 28 1 26 28 0 2 3 4 2 1 3 2 4 5 3 1 7 3 19 4 19 3 7 4 19 5 18 19 20 19 21 20 19 7 21 5 19 24 24 19 18 18 30 24 31 30 18 20 31 18 20 36 31 20 37 36 21 37 20 7 22 21 21 61 37 22 61 21 38 37 39 37 38 36 37 60 39 37 61 60 22 62 61 62 268 61 268 271 61 61 271 60 23 22 7 23 62 22 23 268 62 6 23 7 63 23 6 63 267 23 267 268 23 6 7 1 1 28 6 6 28 63 57 28 58 27 58 28 27 28 26 63 28 57 55 57 56 57 58 56 55 63 57 56 58 50 49 50 58 49 58 27 55 56 54 54 56 52 52 56 50 53 55 54 53 63 55 53 54 52 51 52 50 51 53 52 48 50 49 48 51 50 51 264 53 48 264 51 264 63 53 264 267 63 261 264 260 261 265 264 264 268 267 265 268 264 260 264 48 259 260 254 259 261 260 254 260 48 258 259 255 255 259 254 258 261 259 247 251 254 251 255 254 48 247 254 252 255 251 255 252 256 256 258 255 257 258 256 257 261 258 252 59 256 59 257 256 41 257 59 41 90 257 257 262 261 90 262 257 262 265 261 90 263 262 262 266 265 263 266 262 265 269 268 266 269 265 263 86 266 266 86 84 266 270 269 84 270 266 88 263 90 88 86 263 84 86 85 86 87 85 86 88 87 81 84 83 84 85 83 84 81 270 270 271 269 270 272 271 81 272 270 80 39 81 81 83 80 272 81 39 83 290 80 83 293 290 83 85 293 80 82 39 290 286 80 80 286 82 39 82 38 60 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423 423 431 424 424 431 430 430 431 310 424 425 247 424 430 425 425 430 429 429 430 310 425 421 247 425 429 421 421 429 428 315 429 310 428 429 315 314 315 308 308 315 310 315 314 116 116 428 315 310 309 308 308 307 306 308 309 307 306 314 308 309 299 307 299 309 297 306 307 305 307 94 305 307 299 94 297 298 299 298 94 299 297 296 298 291 296 297 126 291 297 298 301 95 298 296 301 95 94 298 295 296 288 288 296 291 296 295 301 291 292 288 292 291 126 124 126 125 126 127 125 124 292 126 288 292 122 122 292 124 122 124 123 124 125 123 125 127 118 121 125 118 123 125 121 127 129 64 118 127 64 64 16 118 16 119 118 119 120 118 120 121 118 120 122 121 122 123 121 120 288 122 119 288 120 76 119 16 76 288 119 16 64 17 16 35 76 15 35 16 75 76 35 75 288 76 35 15 33 33 75 35 32 33 15 14 32 15 32 77 33 75 33 77 77 287 75 75 287 288 289 287 286 289 288 287 290 289 286 289 290 294 290 293 294 303 294 293 289 294 303 85 302 293 293 302 303 289 303 501 302 501 303 301 302 85 301 295 302 289 501 302 289 302 500 295 500 302 87 300 85 301 85 300 95 301 300 89 300 87 95 300 89 88 89 87 88 90 89 90 91 89 93 89 91 93 95 89 94 95 93 92 93 91 92 94 93 90 41 91 91 41 40 40 92 91 40 311 92 311 94 92 305 94 311 99 311 96 305 311 99 96 311 40 40 41 42 42 96 40 41 59 42 42 97 96 42 59 97 97 98 96 98 99 96 98 100 99 304 99 100 304 305 99 306 305 304 304 100 101 101 103 304 103 312 304 304 312 306 98 101 100 98 102 101 102 103 101 102 104 103 236 102 249 104 102 236 102 250 249 98 250 102 104 105 103 104 106 105 236 237 104 104 237 106 234 235 236 235 237 236 236 249 234 235 106 237 106 107 105 235 243 106 243 244 106 106 244 107 239 235 234 239 243 235 238 239 234 234 249 248 234 248 238 242 239 238 242 245 239 239 245 243 245 246 243 243 246 244 245 417 246 242 417 245 241 242 238 242 418 417 242 419 418 241 419 242 246 417 416 416 417 414 417 418 414 244 246 46 246 416 46 46 416 44 44 416 231 416 414 231 43 46 44 43 109 46 109 244 46 107 244 109 107 109 108 43 110 109 109 110 108 107 108 105 108 319 105 110 319 108 110 321 319 43 321 110 316 319 318 103 319 316 105 319 103 319 321 318 318 321 320 320 321 111 111 321 43 312 318 317 316 318 312 318 320 317 103 316 312 312 313 306 312 317 313 313 317 314 317 115 314 317 320 115 115 320 111 114 115 113 113 115 111 116 115 114 314 115 116 313 314 306 116 114 117 117 428 116 229 114 113 229 117 114 111 112 113 229 113 228 228 113 112 111 43 112 43 45 112 228 112 45 45 231 228 360 229 228 348 360 228 231 348 228 43 44 45 44 231 45 348 231 414 348 414 454 457 454 414 418 477 414 457 414 439 414 477 439 435 457 439 454 457 435 436 435 439 439 481 436 420 481 439 477 420 439 418 419 477 477 419 415 415 420 477 420 421 422 415 421 420 422 433 420 433 481 420 240 415 241 415 419 241 240 421 415 247 421 240 421 428 422 428 433 422 117 433 428 230 433 117 433 229 481 230 229 433 229 230 117 360 483 229 483 487 229 487 481 229 436 481 451 481 480 451 487 480 481 487 488 480 487 495 488 495 487 483 480 479 451 479 480 488 451 445 436 446 445 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374 379 376 379 383 376 368 375 371 366 375 368 371 375 378 371 378 377 373 368 371 367 368 369 369 368 373 367 366 368 365 366 367 365 374 366 367 460 365 369 460 367 373 458 369 458 460 369 470 458 373 458 459 460 458 466 459 470 484 458 458 484 466 459 466 467 459 467 460 463 467 466 466 482 463 484 482 466 485 482 484 463 482 464 482 469 464 482 483 469 485 486 482 482 486 483 485 494 486 486 494 483 469 483 465 465 483 360 464 469 354 465 354 469 355 464 354 463 464 355 352 353 354 354 353 355 176 178 354 354 178 352 354 465 176 360 361 465 465 361 176 177 360 348 361 360 177 176 361 177 174 176 177 178 176 174 177 173 174 177 348 173 348 339 173 348 454 339 165 168 173 174 173 168 165 173 339 168 178 174 168 165 167 167 178 168 165 166 167 166 183 167 167 183 178 184 183 166 352 183 184 178 183 352 182 184 166 352 184 353 184 362 353 182 362 184 181 182 155 155 182 153 153 182 166 182 181 362 353 362 356 364 357 362 362 357 356 362 181 364 353 356 355 355 356 349 356 357 349 349 357 350 357 358 350 363 357 364 363 358 357 181 180 364 364 180 363 359 358 363 180 179 363 363 388 359 363 195 388 179 195 363 358 359 350 359 388 393 359 393 350 388 193 389 195 193 388 388 389 393 194 193 195 179 194 195 191 193 192 194 192 193 193 390 389 193 191 390 389 392 393 389 390 392 393 392 395 350 393 395 390 394 392 395 392 374 392 394 374 191 391 390 390 391 394 394 379 374 394 391 379 365 395 374 365 468 395 460 468 365 468 462 351 468 351 461 460 462 468 468 461 395 467 462 460 351 462 349 462 463 349 467 463 462 349 350 351 461 351 350 350 395 461 349 463 355 383 379 384 379 391 384 185 383 384 185 380 383 186 384 391 186 185 384 189 391 191 186 391 189 185 186 187 186 188 187 186 189 188 189 190 188 189 191 190 191 192 190 192 208 190 190 208 188 215 187 188 215 188 207 207 188 208 199 208 192 199 207 208 194 199 192 200 199 194 198 199 200 198 197 199 197 207 199 204 207 197 206 207 204 206 215 207 196 197 198 196 201 197 201 203 197 197 203 204 203 206 204 205 206 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-9.4030799865722656e+01 -1.4237500190734863e+01 8.9692401885986328e+00 -9.3823699951171875e+01 -1.4584000587463379e+01 8.7680501937866211e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 3000 -> 14 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01) (float-vector -9.2621602118015289e+01 2.0890800282359123e+01 -8.6935600265860558e+00) (float-vector -9.5581099390983582e+01 1.9595699384808540e+01 8.4367999807000160e+00) (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00) (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00) (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1622299998998642e+02 -1.1383400298655033e+01 -6.2500000931322575e+00) (float-vector -1.1537700146436691e+02 -1.8636500462889671e+01 -6.2500000931322575e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01) (float-vector -9.2880301177501678e+01 1.8248299136757851e+01 -1.1486600153148174e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -1.1696799844503403e+02 -1.4067200012505054e+01 6.2500000931322575e+00) (float-vector -9.2969998717308044e+01 1.8775999546051025e+01 1.1366900056600571e+01) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00) (float-vector -6.8101897835731506e+01 5.8599398471415043e+00 -8.1459200009703636e+00) (float-vector -1.0652100294828415e+02 -2.3850899189710617e+01 -7.2211800143122673e+00) (float-vector -1.0798899829387665e+02 -2.3176899179816246e+01 8.2606999203562737e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00) (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00) (float-vector -6.7447900772094727e+01 1.9895900040864944e+01 -1.0701199993491173e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.7335300147533417e+01 6.0413298197090626e+00 7.2416001930832863e+00) (float-vector -6.5791599452495575e+01 2.0477000623941422e+01 9.4930296763777733e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.0674998909235001e+01 1.2354600243270397e+01 5.2776900120079517e+00) (float-vector -6.0722500085830688e+01 1.8731400370597839e+01 5.8447499759495258e+00) (float-vector -6.0145601630210876e+01 1.8248099833726883e+01 -3.5796300508081913e+00) (float-vector -6.1640899628400803e+01 1.0425000451505184e+01 -3.9616897702217102e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_gripper_r_finger_tip_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_shoulder_lift_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 1.0000000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 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-2.0250000953674316e+00 -1.8791204452514648e+01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 2994 -> 18 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01) (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.1700020432472229e+01 1.3024209998548031e+01 -2.4528170470148325e+00) (float-vector 2.4800019338726997e+01 1.8169131129980087e+01 -5.2433516830205917e+00) (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450004920363426e+01 1.1093686334788799e+01 -1.5308094210922718e+01) (float-vector 2.4800000712275505e+01 1.5195843918575612e-11 -1.8899999558925629e+01) (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01) (float-vector 4.1700009256601334e+01 5.7176388800144196e+00 -1.1947819963097572e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 4.1699990630149841e+01 -8.7294699624180794e+00 9.9829202517867088e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449991881847382e+01 -1.2079868465662003e+01 1.4545324258506298e+01) (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449984431266785e+01 1.7936147749423981e+01 5.9735393151640892e+00) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 2.4800065904855728e+01 1.4372365549206734e+01 1.2304392643272877e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449999332427979e+01 -1.5583624885309733e-09 1.8899999558925629e+01) (float-vector 2.9449926689267159e+01 9.5353554934263229e+00 1.6332119703292847e+01) (float-vector 4.1700001806020737e+01 1.0911535471677780e+01 7.5164642184972763e+00) (float-vector 4.1700005531311035e+01 9.4161409651860595e-01 1.3219092041254044e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 2.4800000712275505e+01 -1.8639812245965004e+01 3.2260664738714695e+00) (float-vector 2.9449984431266785e+01 -1.6836917027831078e+01 8.6031099781394005e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.9449988156557083e+01 -1.3193606398999691e+01 -1.3537830673158169e+01) (float-vector 2.4800008162856102e+01 -1.4857400208711624e+01 -1.1700202710926533e+01) (float-vector 2.9450014233589172e+01 -1.8386553972959518e+01 -4.3971803970634937e+00) (float-vector 4.1700005531311035e+01 -1.3220392167568207e+01 -9.0833398280665278e-01) (float-vector 4.1699994355440140e+01 -7.9593658447265625e+00 -1.0588348843157291e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_palm_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_palm_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/gripper_palm.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 200 100 0 100 1 0 2 200 0 100 70 1 1 70 369 2 1 361 369 361 1 99 70 100 99 100 117 217 117 100 100 200 217 343 99 117 217 258 117 117 258 343 105 342 343 343 338 340 99 343 340 342 356 343 343 356 338 343 258 408 408 106 343 105 343 106 338 339 340 340 442 99 442 340 339 339 441 442 442 223 225 442 446 223 99 442 225 441 446 442 225 451 99 99 451 70 223 224 225 258 225 224 225 258 424 451 225 424 330 224 223 330 223 446 312 224 330 312 258 224 311 258 312 258 311 408 217 424 258 216 424 217 424 216 191 451 424 191 49 216 217 217 200 85 84 217 85 49 217 84 49 192 216 191 216 192 191 192 193 48 359 192 48 192 49 280 192 359 193 192 280 166 193 280 166 295 193 295 414 193 414 191 193 359 166 280 359 91 360 359 48 91 360 166 359 2 166 167 166 2 295 167 166 360 360 233 289 91 233 360 167 360 289 91 48 50 110 91 50 233 91 110 289 233 290 341 290 233 233 110 341 156 110 50 156 157 110 157 341 110 156 406 157 50 406 156 406 341 157 406 50 407 407 341 406 399 407 390 341 407 399 391 407 98 98 407 50 390 407 391 341 399 400 400 399 418 390 484 399 418 399 484 390 391 175 390 175 484 391 98 97 391 97 175 50 97 98 49 97 50 175 97 372 84 97 49 97 279 372 279 97 84 48 49 50 83 84 85 279 84 405 405 84 83 278 146 279 279 146 372 279 405 278 153 146 278 153 278 405 405 484 175 405 83 418 153 405 175 484 405 418 153 154 155 154 153 175 155 152 153 153 152 146 155 154 331 154 175 331 331 175 332 140 332 175 140 175 372 332 155 331 145 155 332 152 155 145 152 141 146 145 141 152 140 139 145 140 145 332 139 141 145 139 140 141 140 146 141 140 372 146 418 83 419 302 400 418 419 302 418 85 301 83 419 83 303 83 301 303 303 302 419 301 302 303 341 302 290 400 302 341 301 290 302 85 289 301 289 290 301 200 289 85 200 167 289 200 2 167 2 361 295 361 362 363 361 402 362 295 361 363 369 402 361 363 414 295 438 414 363 438 363 362 438 439 414 414 439 191 305 439 438 362 490 438 490 305 438 451 439 305 191 439 451 305 307 451 70 451 307 305 306 307 378 71 307 468 378 307 307 306 468 307 71 70 69 70 71 69 369 70 71 364 69 378 364 71 364 378 379 387 69 364 387 364 379 386 170 387 387 170 287 386 387 379 287 69 387 168 170 386 168 386 379 168 169 170 168 379 4 4 174 168 174 169 168 173 169 174 170 169 173 226 173 174 174 4 226 3 4 5 4 3 7 4 379 5 226 4 7 173 226 7 6 170 173 7 6 173 6 7 8 3 8 7 6 8 3 5 6 3 379 6 5 378 6 379 6 378 170 286 287 170 468 286 170 378 468 170 368 423 286 423 287 286 368 286 468 287 423 416 69 287 416 416 423 472 368 472 423 69 416 417 417 416 434 434 416 472 69 402 369 487 486 69 402 69 486 69 417 487 487 417 434 486 487 488 488 487 434 434 382 469 472 382 434 469 488 434 472 368 382 305 367 368 368 367 382 306 305 368 368 468 306 367 305 383 383 305 490 382 367 383 362 382 383 362 383 490 402 382 362 382 402 403 403 402 486 382 403 469 469 403 486 469 486 488 408 311 445 408 445 443 408 443 106 445 311 312 445 312 330 445 330 444 443 445 444 352 443 444 352 106 443 446 447 444 447 352 444 444 330 446 339 106 352 339 352 447 441 447 446 339 447 441 221 339 338 339 221 106 106 221 104 338 461 221 221 461 104 356 342 338 208 338 342 461 338 208 437 461 321 461 208 321 461 179 104 179 461 437 104 105 106 105 104 179 199 105 179 199 179 206 437 323 179 179 323 206 321 323 437 321 322 323 323 232 206 323 429 232 429 323 322 206 207 208 206 232 207 199 206 208 208 342 199 105 199 342 321 208 207 207 232 242 244 207 242 244 321 207 321 243 401 401 429 321 244 243 321 321 429 322 243 244 245 288 245 244 288 244 425 242 425 244 242 232 425 232 231 425 231 288 425 463 245 288 231 463 288 463 52 245 52 63 245 63 243 245 231 462 463 462 52 463 230 231 232 230 462 231 429 230 232 230 429 401 230 320 291 401 320 230 65 230 63 230 65 462 230 291 63 320 243 291 401 243 320 291 243 63 63 64 65 64 63 46 46 63 47 47 63 52 459 64 46 64 459 108 64 108 65 459 46 241 241 10 459 459 33 108 10 33 459 241 46 11 10 241 11 9 10 11 9 448 10 448 33 10 11 46 45 45 9 11 9 40 39 51 448 9 9 39 51 40 9 45 51 33 448 51 39 52 33 51 52 39 40 41 47 39 41 39 47 52 45 41 40 45 46 47 45 47 41 52 462 33 65 34 462 462 34 33 33 34 35 108 33 35 433 35 34 433 435 35 309 35 435 108 35 309 107 108 109 109 108 309 65 108 485 485 108 107 347 431 309 435 347 309 309 431 109 347 435 433 347 433 346 34 346 433 346 235 347 235 432 347 347 432 431 431 432 75 431 485 107 109 431 107 431 75 485 75 65 485 34 75 76 131 75 432 65 75 34 76 75 131 131 432 497 497 432 235 80 131 81 131 308 81 76 131 80 131 497 308 497 235 265 497 265 308 308 73 72 265 73 308 72 81 308 80 81 82 81 72 82 72 73 74 236 72 375 236 82 72 375 72 74 264 304 73 264 73 265 304 74 73 344 74 304 344 375 74 236 375 234 264 375 344 436 375 264 375 436 234 263 264 265 304 264 344 436 264 263 235 436 263 235 234 436 76 234 235 236 234 237 234 76 237 235 263 265 346 76 235 76 80 237 34 76 346 237 269 240 237 80 269 236 237 240 316 80 129 269 80 316 129 80 82 315 316 317 394 316 315 316 394 269 316 129 317 82 128 129 129 128 317 236 128 82 236 240 239 236 239 128 128 176 317 239 176 128 315 317 176 394 315 176 270 394 247 394 270 269 394 176 178 394 178 247 176 177 178 318 176 239 177 176 318 178 246 247 177 246 178 389 247 246 270 247 470 470 247 389 395 246 177 395 389 246 420 177 318 420 395 177 409 410 395 409 395 420 68 395 410 68 389 395 420 318 421 409 420 491 470 491 420 420 421 470 270 470 421 421 318 270 269 270 271 271 270 318 269 319 238 319 269 271 238 240 269 318 319 271 318 239 319 238 319 239 238 239 240 470 389 336 470 336 491 389 67 336 67 389 68 66 67 68 67 66 133 67 133 336 410 66 68 410 493 66 493 133 66 479 480 410 479 410 409 410 480 493 480 133 493 427 480 428 371 480 427 480 479 428 371 133 480 494 132 479 479 409 494 132 428 479 491 492 409 337 494 409 492 337 409 494 337 132 336 132 337 336 337 492 491 336 492 336 133 132 132 133 134 134 133 371 427 134 371 132 134 92 92 134 328 326 134 427 134 326 328 326 327 328 327 92 328 351 215 326 326 215 327 326 427 351 94 427 428 427 94 351 94 215 351 114 215 94 327 215 313 215 116 313 116 215 114 93 92 327 313 93 327 313 165 93 313 116 165 163 164 165 165 116 59 59 388 165 165 164 93 163 165 257 257 165 388 252 93 164 163 15 164 15 252 164 251 185 252 115 114 252 252 181 354 252 185 115 93 252 114 15 181 252 251 252 354 114 115 116 93 114 94 92 93 94 92 94 329 94 428 329 132 92 329 132 329 428 458 116 404 115 404 116 458 59 116 204 115 205 115 185 205 204 404 115 415 298 204 204 54 404 415 204 205 298 54 204 187 186 205 205 186 415 185 187 205 185 186 187 186 185 251 251 78 186 186 370 392 392 415 186 78 370 186 182 251 354 79 251 182 78 251 79 77 78 79 77 267 78 267 370 78 392 370 393 370 267 393 392 393 38 415 392 38 36 38 393 393 267 36 36 37 38 267 37 36 60 267 77 37 267 62 62 267 60 37 374 210 37 210 38 374 37 62 60 61 62 373 374 62 474 62 61 62 474 373 374 373 411 374 411 456 374 456 210 373 118 111 450 373 474 450 118 373 373 111 411 474 61 365 474 457 450 365 457 474 449 248 450 457 449 450 467 118 450 450 248 467 385 384 457 385 457 366 457 365 366 457 384 449 365 260 366 260 365 61 212 366 262 385 366 212 260 262 366 212 384 385 26 25 212 26 212 476 412 384 212 476 212 498 299 300 212 483 212 300 498 212 262 25 299 212 412 212 483 498 261 476 26 476 284 261 284 476 262 261 498 260 261 262 358 136 261 136 284 261 261 260 358 357 358 260 136 358 460 460 358 357 135 86 136 135 136 102 136 86 284 102 136 460 87 86 135 87 135 102 13 86 87 86 159 284 159 86 13 266 87 102 266 13 87 101 102 103 101 266 102 103 102 460 16 266 180 14 13 266 180 266 101 266 16 14 17 180 181 180 101 181 180 17 16 15 16 17 15 17 181 14 16 53 53 16 32 16 15 32 12 13 14 12 14 53 53 32 31 501 12 53 31 501 53 30 31 32 15 314 32 32 314 30 314 15 163 163 142 314 314 142 30 142 283 30 283 31 30 142 143 144 257 143 142 142 144 283 163 257 142 283 253 31 283 144 253 159 158 253 254 253 277 254 159 253 228 277 253 144 228 253 31 253 158 158 159 13 159 254 284 158 501 31 158 13 501 13 12 501 284 130 26 284 254 29 284 29 130 24 25 26 345 138 26 26 130 345 26 138 24 137 24 138 24 137 25 299 25 43 25 137 43 137 345 43 137 138 345 345 130 198 465 345 198 465 477 345 477 43 345 130 197 198 197 465 198 454 465 353 471 465 454 477 465 471 465 197 353 43 477 44 44 477 464 477 471 464 471 454 464 44 464 95 453 464 454 464 453 95 42 43 44 95 96 44 44 96 42 42 482 43 42 96 482 426 195 43 426 43 482 43 195 299 495 426 482 482 96 201 201 495 482 397 426 495 495 201 397 196 195 426 426 335 196 335 426 397 397 203 398 201 203 397 398 335 397 201 202 203 201 478 202 96 478 201 203 202 285 285 202 478 478 96 190 190 143 478 143 285 478 190 96 95 95 143 190 259 143 95 143 257 285 143 259 144 388 203 285 257 388 285 203 388 58 59 58 388 203 273 398 58 273 203 57 58 59 58 272 273 57 496 58 496 272 58 57 59 458 376 57 377 57 458 452 376 496 57 57 452 377 348 458 404 350 458 348 452 458 350 377 452 220 452 350 220 220 333 377 333 376 377 333 496 376 333 222 162 334 333 162 222 333 220 333 334 499 333 499 496 219 222 220 219 162 222 218 219 220 219 218 276 249 219 276 219 160 162 219 249 160 274 276 218 274 218 220 274 275 276 350 349 274 350 274 220 275 274 349 55 275 56 276 275 455 455 275 55 56 275 349 348 349 350 54 349 404 404 349 348 56 349 54 54 55 56 54 298 209 54 209 500 55 54 500 209 210 211 209 298 210 209 211 500 310 500 21 21 500 211 500 324 55 324 500 310 310 21 255 324 310 325 489 325 310 489 310 255 297 324 325 297 55 324 296 55 297 296 455 55 250 296 297 325 250 297 489 250 325 489 256 250 489 255 256 255 21 256 213 118 256 213 256 21 118 467 256 467 250 256 248 249 250 250 249 296 248 250 467 449 249 248 449 160 249 276 296 249 384 160 449 160 161 162 160 384 413 161 160 413 412 413 384 422 413 412 396 161 413 396 413 422 162 161 396 334 162 396 300 194 396 300 396 483 396 194 334 483 396 422 412 483 422 334 196 335 196 334 194 335 499 334 194 195 196 195 194 300 299 195 300 496 499 273 499 335 273 398 273 335 272 496 273 276 455 296 112 118 119 118 213 214 430 119 118 111 118 112 214 430 118 292 293 119 430 292 119 119 293 112 292 430 214 214 121 292 211 293 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-1.0244999825954437e+02) (float-vector -6.0083199292421341e+01 -7.4892103672027588e+01 -1.2084499746561050e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.7712200060486794e+01 4.4143297709524632e+00 1.0767900198698044e+02) (float-vector 2.0015299320220947e+01 2.0527599379420280e+01 9.4154201447963715e+01) (float-vector 1.8666300922632217e+01 -1.3005300424993038e+01 1.0204400122165680e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 2.9799200594425201e+01) (float-vector 2.0015299320220947e+01 2.0527599379420280e+01 9.4154201447963715e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 4.9149498343467712e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 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(mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.8897004500031471e+00 -5.5709900334477425e+00 1.1372400075197220e+02) (float-vector 1.7712200060486794e+01 4.4143297709524632e+00 1.0767900198698044e+02) (float-vector 1.8666300922632217e+01 -1.3005300424993038e+01 1.0204400122165680e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.7712200060486794e+01 4.4143297709524632e+00 1.0767900198698044e+02) (float-vector 9.8897004500031471e+00 -5.5709900334477425e+00 1.1372400075197220e+02) (float-vector 2.9303999617695808e+00 1.1191800236701965e+01 1.1289899796247482e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.8897004500031471e+00 -5.5709900334477425e+00 1.1372400075197220e+02) (float-vector 1.8666300922632217e+01 -1.3005300424993038e+01 1.0204400122165680e+02) (float-vector -4.4254800304770470e+00 -7.4892103672027588e+01 8.4284797310829163e+01) (float-vector -3.4418500959873199e+01 -7.4891403317451477e+01 1.0934200137853622e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9926400184631348e+01 7.5107701122760773e+01 1.1721199750900269e+02) (float-vector 2.9303999617695808e+00 1.1191800236701965e+01 1.1289899796247482e+02) (float-vector 9.8897004500031471e+00 -5.5709900334477425e+00 1.1372400075197220e+02) (float-vector -8.5987202823162079e+01 -7.4891299009323120e+01 1.2629500031471252e+02) (float-vector -1.1146999895572662e+02 -7.4891403317451477e+01 1.2659700214862823e+02) (float-vector -1.0668999701738358e+02 7.5107999145984650e+01 1.2682299315929413e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.1466100215911865e+02 7.5107999145984650e+01 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-1.6650600731372833e+02 -7.4891202151775360e+01 1.0909699648618698e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -6.1289101839065552e+01 7.5108602643013000e+01 -1.2114699929952621e+02) (float-vector -8.4987301379442215e+00 7.5107999145984650e+01 -8.8191501796245575e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 -4.9149498343467712e+01) (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 -2.9799200594425201e+01) (float-vector 2.0999999716877937e+01 7.5107999145984650e+01 2.9799200594425201e+01) (float-vector 1.7103899270296097e+01 7.5107999145984650e+01 4.9149498343467712e+01) (float-vector 4.7304001636803150e+00 7.5107596814632416e+01 7.3345899581909180e+01) (float-vector -2.2786399349570274e+01 7.5107596814632416e+01 1.0112799704074860e+02) (float-vector -4.9926400184631348e+01 7.5107701122760773e+01 1.1721199750900269e+02) (float-vector -1.0668999701738358e+02 7.5107999145984650e+01 1.2682299315929413e+02) (float-vector -1.4044199883937836e+02 7.5107298791408539e+01 1.2067499756813049e+02) (float-vector -1.6432400047779083e+02 7.5107298791408539e+01 1.0962100327014923e+02) (float-vector -1.8569199740886688e+02 7.5104802846908569e+01 9.3923203647136688e+01) (float-vector -2.0411199331283569e+02 7.5104497373104095e+01 7.3148198425769806e+01) (float-vector -2.1466100215911865e+02 7.5107999145984650e+01 5.4784100502729416e+01) (float-vector -2.2446300089359283e+02 7.5106300413608551e+01 2.6909999549388885e+01) (float-vector -2.2709099948406219e+02 7.5107701122760773e+01 1.7232199752470478e-02) (float-vector -2.2515299916267395e+02 7.5107298791408539e+01 -2.2557400166988373e+01) (float-vector -2.1504299342632294e+02 7.5107000768184662e+01 -5.4824199527502060e+01) (float-vector -1.9633899629116058e+02 7.5105696916580200e+01 -8.3057902753353119e+01) (float-vector -1.7139400541782379e+02 7.5105503201484680e+01 -1.0562600195407867e+02) (float-vector -1.4419500529766083e+02 7.5107298791408539e+01 -1.1916200071573257e+02) (float-vector -1.2329100072383881e+02 7.5107596814632416e+01 -1.2494400143623352e+02) (float-vector -1.0000000149011612e+02 7.5107999145984650e+01 -1.2700000405311584e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.0411199331283569e+02 7.5104497373104095e+01 7.3148198425769806e+01) (float-vector -1.8569199740886688e+02 7.5104802846908569e+01 9.3923203647136688e+01) (float-vector -1.6650600731372833e+02 -7.4891202151775360e+01 1.0909699648618698e+02) (float-vector -2.0345599949359894e+02 -7.4891597032546997e+01 7.3888599872589111e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_shoulder_lift_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_shoulder_pan_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -1.8800000000000000e+02 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.800000 0.000000 0.000000 1.000000)) - (list :diffuse (float-vector 0.800000 0.000000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 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(nreverse (list (float-vector 5.3492899984121323e+01 3.1628798693418503e+01 -2.4233700707554817e+01) (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 2.9450101777911186e+01 1.2137399986386299e+01 -1.7715699970722198e+01) (float-vector 2.9449999332427979e+01 -2.4709999561309814e+00 -2.1323399618268013e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 6.1490204185247421e+01 4.6300001442432404e+01 -1.7233300954103470e+01) (float-vector 2.9450198635458946e+01 2.0599601790308952e+01 -6.0919001698493958e+00) (float-vector 2.9450101777911186e+01 1.2137399986386299e+01 -1.7715699970722198e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 5.0433199852705002e+01 3.3507298678159714e+01 -2.2159401327371597e+01) (float-vector 5.3492899984121323e+01 3.1628798693418503e+01 -2.4233700707554817e+01) (float-vector 6.7597299814224243e+01 4.6218499541282654e+01 -2.0792800933122635e+01) (float-vector 6.1490204185247421e+01 4.6300001442432404e+01 -1.7233300954103470e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_l_finger_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_l_finger_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 3 1 0 2 14 0 14 168 0 169 0 168 173 174 0 0 169 175 175 173 0 0 174 3 169 168 170 14 170 168 177 170 14 177 202 170 202 169 170 177 203 202 203 177 372 177 379 372 177 422 379 177 14 422 161 179 202 202 203 161 169 202 179 178 169 179 179 161 160 179 205 178 402 179 160 205 179 402 169 176 175 169 178 176 176 173 175 172 174 173 173 176 172 171 3 172 172 3 174 176 171 172 3 171 5 5 171 176 4 1 3 5 4 3 5 6 4 15 4 6 4 469 1 469 4 15 1 467 2 1 469 467 467 417 421 467 468 417 467 469 468 420 467 421 2 467 420 14 2 420 420 421 416 412 420 416 412 419 420 419 422 420 422 14 420 416 421 417 376 412 416 376 416 409 415 409 416 417 415 416 377 411 412 412 376 377 419 412 411 411 379 419 422 419 379 378 411 377 378 379 411 373 375 377 375 378 377 373 377 376 375 371 378 378 371 372 372 379 378 369 371 375 375 373 366 366 369 375 366 373 368 373 376 368 368 367 366 374 367 368 376 374 368 376 409 374 374 409 410 367 374 480 410 452 374 374 452 480 413 410 409 413 409 414 409 415 414 413 453 410 453 452 410 452 453 454 466 452 454 480 452 466 480 466 367 465 466 454 501 466 481 501 367 466 481 466 465 465 454 462 462 479 465 465 479 481 457 462 454 462 457 447 450 479 462 462 447 450 479 450 481 449 450 446 446 450 447 449 481 450 446 447 448 448 447 457 455 456 457 454 455 457 456 448 457 451 446 448 459 448 456 460 448 459 451 448 460 456 455 458 458 459 456 461 460 459 458 463 459 463 461 459 490 460 461 451 460 490 464 461 463 464 490 461 414 418 463 458 414 463 463 418 464 455 413 458 414 458 413 417 418 414 415 417 414 468 418 417 470 418 468 470 471 418 464 418 471 468 469 470 470 469 472 470 472 471 434 471 495 471 472 495 471 434 491 464 471 491 496 495 472 472 469 496 434 495 435 435 495 496 434 435 433 433 491 434 435 436 433 435 437 436 437 435 496 433 436 428 436 431 428 438 436 437 436 438 431 437 440 438 437 441 440 437 496 441 440 431 438 431 393 428 431 439 396 393 431 396 440 439 431 442 439 440 440 441 442 47 442 441 441 405 47 441 496 405 59 439 442 58 59 442 47 58 442 439 59 396 50 59 58 50 61 59 61 129 59 129 23 59 23 156 59 396 59 395 156 395 59 319 156 23 319 321 156 156 321 336 336 395 156 352 395 336 388 395 352 388 396 395 336 321 337 336 351 352 337 351 336 338 337 321 319 338 321 351 337 353 338 355 337 337 355 353 351 354 352 351 333 354 351 334 333 353 334 351 355 334 353 338 356 355 356 331 355 334 355 331 331 333 334 331 332 333 333 332 354 354 332 386 354 386 352 386 332 387 386 387 388 388 352 386 389 388 387 335 389 387 332 335 387 389 393 388 393 396 388 335 392 389 392 393 389 394 393 392 428 393 394 335 391 392 391 397 392 394 392 397 397 426 394 428 394 426 429 428 426 433 428 429 426 433 429 397 427 426 427 430 426 426 430 432 432 433 426 397 391 494 397 494 427 427 483 430 494 483 427 485 430 483 430 485 432 485 488 432 488 491 432 491 433 432 487 488 485 487 491 488 483 484 485 486 485 484 485 489 487 486 489 485 483 492 484 483 494 492 391 492 494 492 493 486 492 486 484 499 493 492 499 492 391 486 446 489 486 449 446 486 493 449 489 446 451 451 487 489 451 490 487 490 491 487 490 464 491 476 449 475 449 476 481 449 493 475 475 443 476 443 445 476 476 445 482 476 482 481 501 481 482 445 477 482 482 500 501 500 482 477 443 444 445 445 444 474 474 477 445 474 478 477 477 478 500 384 500 385 385 500 478 384 501 500 384 367 501 286 384 385 367 384 286 367 286 366 285 286 277 286 285 366 286 385 277 366 285 365 369 366 365 280 285 277 295 285 280 295 365 285 295 294 365 365 294 369 294 370 369 370 371 369 294 295 289 287 370 294 289 287 294 295 296 289 296 295 280 289 288 287 289 293 288 293 289 296 287 270 203 287 288 270 287 203 370 288 292 270 288 293 292 296 284 293 293 284 278 297 293 278 293 297 292 284 296 280 284 280 278 278 276 279 276 278 280 278 279 297 297 298 292 279 298 297 292 291 270 292 298 291 279 276 298 291 298 302 298 313 302 315 313 298 276 315 298 270 291 290 291 302 290 268 203 270 290 268 270 268 290 299 302 299 290 268 299 300 299 301 300 302 301 299 300 271 268 300 303 271 301 308 300 308 303 300 302 314 301 301 314 316 308 301 316 308 309 303 316 317 308 308 317 309 272 316 314 272 317 316 313 314 302 313 275 314 272 314 275 272 273 274 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30 20 30 29 20 141 23 129 141 30 23 319 23 320 320 341 319 343 341 320 339 340 319 319 340 338 341 342 319 342 339 319 343 346 341 341 350 342 346 350 341 339 342 345 342 350 345 345 340 339 340 357 338 345 357 340 357 356 338 358 357 345 357 328 356 357 358 364 357 364 328 360 358 345 350 360 345 364 358 326 326 358 327 327 358 360 328 364 326 326 327 325 325 328 326 325 327 360 325 360 350 28 325 324 28 328 325 361 325 350 361 324 325 322 28 324 322 324 349 349 324 361 349 361 350 349 350 346 346 359 349 322 349 359 28 322 323 362 322 359 323 322 362 347 359 346 362 359 347 347 346 343 363 323 362 28 323 329 329 323 363 329 27 28 328 28 330 283 277 28 277 330 28 331 328 332 330 332 328 331 356 328 330 335 332 390 391 335 335 400 390 330 400 335 391 390 498 400 498 390 499 391 498 498 497 475 475 499 498 498 400 497 399 400 330 399 497 400 443 497 473 473 497 399 443 475 497 475 493 499 443 473 444 444 473 474 385 473 399 474 473 385 385 399 330 385 330 277 478 474 385 276 277 273 277 276 280 275 276 273 276 313 315 275 313 276 423 29 30 30 141 423 424 423 141 130 423 424 402 423 130 129 140 141 141 140 424 139 424 140 130 424 139 139 140 129 129 61 130 130 139 129 50 60 61 61 60 128 130 61 128 45 60 52 45 56 60 52 60 50 60 56 128 56 131 128 128 131 130 69 131 56 132 131 69 130 131 135 131 132 135 135 144 130 402 130 144 135 132 144 132 142 144 142 145 144 145 425 144 425 402 144 132 134 142 134 137 142 142 137 145 137 143 145 143 153 145 145 153 425 148 402 425 153 152 425 152 148 425 153 143 152 152 143 148 143 105 148 148 105 146 146 151 148 154 402 148 151 154 148 108 146 105 147 146 108 147 149 146 146 149 151 151 149 150 151 150 122 122 154 151 147 123 149 149 123 150 109 147 106 108 106 147 123 147 109 106 108 105 83 106 85 83 86 106 106 105 85 106 86 109 86 107 109 109 107 123 107 114 123 114 150 123 86 84 107 84 114 107 82 84 86 82 86 83 81 84 82 81 100 84 100 110 84 111 84 110 84 111 114 111 122 114 122 150 114 111 110 122 110 100 115 115 120 110 120 121 110 122 110 121 121 127 122 122 127 154 119 121 112 112 121 120 119 125 121 125 127 121 112 120 115 115 100 112 112 102 113 112 100 95 95 102 112 112 113 119 113 116 119 116 125 119 124 125 116 124 127 125 97 103 116 116 102 97 102 116 113 103 118 116 118 124 116 95 101 102 101 97 102 94 97 96 94 98 97 96 97 101 103 97 98 103 117 118 98 99 103 103 99 117 117 126 118 118 126 124 99 227 117 117 227 240 117 240 126 94 99 98 94 93 99 93 224 99 99 224 227 227 224 225 228 227 225 240 227 228 228 241 240 240 241 242 240 242 126 226 228 225 239 228 226 239 241 228 223 225 224 226 225 223 223 224 12 93 12 224 12 221 223 221 226 223 229 226 221 239 226 229 229 234 239 243 241 239 239 234 243 231 229 221 231 234 229 213 221 12 222 221 213 222 231 221 231 233 234 232 231 222 232 233 231 233 244 234 244 243 234 233 232 236 238 233 236 250 233 238 250 244 233 230 232 222 236 232 230 230 222 213 219 230 213 230 219 235 235 236 230 235 238 236 237 238 235 258 238 237 250 238 258 262 244 250 258 264 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190 187 189 190 191 187 190 193 191 193 192 191 191 192 187 184 187 183 184 189 187 192 183 187 180 189 184 176 184 183 184 176 188 180 184 188 183 5 176 185 5 183 192 185 183 178 188 176 181 180 188 181 188 178 182 178 204 182 181 178 180 181 182 5 185 7 186 7 185 201 186 185 6 5 7 8 6 7 186 8 7 211 8 186 214 186 201 211 186 214 246 214 201 246 201 210 214 217 211 214 246 217 255 217 246 252 246 210 255 246 252 254 255 252 255 254 217 217 247 211 217 249 247 217 253 249 254 253 217 254 251 253 254 252 251 252 219 251 251 219 248 251 248 253 253 248 249 249 220 247 249 248 220 247 215 211 247 220 215 219 218 220 220 218 215 220 248 219 219 213 218 212 218 213 215 218 212 215 212 216 211 215 216 211 11 8 212 11 211 216 212 211 11 212 9 212 213 9 213 10 9 213 12 10 9 10 11 11 6 8 11 15 6 10 15 11 12 13 10 13 15 10 12 17 13 17 12 93 13 16 15 17 16 13 469 15 16 79 16 81 81 16 17 79 403 16 469 16 403 496 469 407 469 403 407 79 404 403 407 403 404 404 406 407 406 408 407 496 407 408 496 408 405 405 408 44 44 408 406 53 406 404 41 406 53 41 44 406 53 54 55 42 53 55 42 41 53 54 53 404 41 42 43 41 43 44 43 42 45 45 42 56 56 42 55 44 43 45 34 44 45 45 46 34 45 52 46 34 46 52 34 52 50 40 50 49 40 34 50 51 49 50 51 50 58 39 34 40 40 49 39 39 49 48 51 48 49 48 51 58 58 47 48 48 47 39 36 34 39 36 39 47 405 35 47 36 47 35 35 34 36 33 34 35 35 37 33 35 405 37 405 44 37 33 37 34 34 37 38 37 44 38 38 44 34 54 57 55 56 55 62 65 62 55 55 57 65 73 54 74 54 73 57 54 404 74 57 73 104 73 74 105 73 105 104 57 104 72 136 72 104 104 105 143 136 104 143 78 105 74 78 85 105 77 78 76 76 78 74 77 85 78 83 85 77 75 77 76 75 80 77 80 83 77 75 76 74 75 79 80 75 74 79 79 81 80 80 81 82 80 82 83 74 404 79 87 88 81 88 90 81 81 90 100 81 92 87 92 81 17 89 90 88 88 87 89 89 95 90 90 95 100 89 87 91 89 91 95 95 91 96 96 101 95 17 91 87 91 17 96 87 92 17 17 93 94 96 17 94 138 143 137 138 136 143 137 136 138 136 137 72 72 137 134 57 72 71 72 133 71 72 134 133 133 134 132 70 133 132 71 133 70 66 57 71 66 71 70 65 57 66 66 67 65 67 66 70 68 70 69 70 68 67 69 70 132 67 63 65 67 68 63 62 65 63 62 63 64 63 68 64 64 68 56 68 69 56 62 64 56 455 453 413 455 454 453)) + (list :vertices (let ((mat (make-matrix 502 3))) (fvector-replace (array-entity mat) #f(-2.0386199951171875e+01 6.2258399963378906e+01 -4.8366799926757812e+02 -2.3539199829101562e+01 6.9229293823242188e+01 -4.9085400390625000e+02 1.5101799964904785e+00 6.4647598266601562e+01 -4.8928500366210938e+02 -4.4597099304199219e+01 6.9110397338867188e+01 -4.8414599609375000e+02 -5.7018898010253906e+01 8.1554504394531250e+01 -4.9092501831054688e+02 -6.3879600524902344e+01 7.7930801391601562e+01 -4.8355401611328125e+02 -7.9504402160644531e+01 9.5229202270507812e+01 -4.9013098144531250e+02 -8.7696296691894531e+01 9.5793899536132812e+01 -4.8369500732421875e+02 -9.8202201843261719e+01 1.0736100006103516e+02 -4.8480700683593750e+02 -1.1751300048828125e+02 1.3945500183105469e+02 -4.8154602050781250e+02 -1.2229100036621094e+02 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(float-vector 2.2587600350379944e+02 1.0860799998044968e+02 -1.7441999167203903e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.2299399971961975e+02 8.1605397164821625e+01 -2.0850200206041336e+01) (float-vector 2.1649299561977386e+02 9.0627200901508331e+01 -4.7570601105690002e+01) (float-vector 6.2465600669384003e+01 9.1358400881290436e+01 -4.8897600173950195e+02) (float-vector 6.0450900346040726e+01 8.0992899835109711e+01 -4.8320499062538147e+02) (float-vector 2.1923300623893738e+02 6.9722399115562439e+01 -1.9833499565720558e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.2299399971961975e+02 8.1605397164821625e+01 -2.0850200206041336e+01) (float-vector 2.2492699325084686e+02 8.4692202508449554e+01 1.0091500356793404e+01) (float-vector 2.2490300238132477e+02 1.0860799998044968e+02 2.6359599083662033e+01) 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(float-vector 1.8280999362468719e+02 6.4494699239730835e+01 7.7822700142860413e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.8365700542926788e+02 7.7408298850059509e+01 9.0514600276947021e+01) (float-vector 1.6411300003528595e+02 7.7874101698398590e+01 1.0537499934434891e+02) (float-vector 1.7702099680900574e+02 1.0860700160264969e+02 1.0179799795150757e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.8291999399662018e+02 2.6740700006484985e+02 9.6916697919368744e+01) (float-vector 1.7702099680900574e+02 1.0860700160264969e+02 1.0179799795150757e+02) (float-vector 1.6411300003528595e+02 7.7874101698398590e+01 1.0537499934434891e+02) (float-vector 1.4104899764060974e+02 1.0858699679374695e+02 1.2079499661922455e+02) (float-vector 1.5508300065994263e+02 2.6739901304244995e+02 1.1465500295162201e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 5.5495601147413254e+01 7.4161298573017120e+01 1.4194299280643463e+02) (float-vector 1.4104899764060974e+02 1.0858699679374695e+02 1.2079499661922455e+02) (float-vector 1.6411300003528595e+02 7.7874101698398590e+01 1.0537499934434891e+02) (float-vector 4.4208098202943802e+01 6.4324498176574707e+01 1.4194400608539581e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.6411300003528595e+02 7.7874101698398590e+01 1.0537499934434891e+02) (float-vector 1.8365700542926788e+02 7.7408298850059509e+01 9.0514600276947021e+01) (float-vector 1.9659300148487091e+02 7.4313499033451080e+01 7.4555598199367523e+01) (float-vector 1.8280999362468719e+02 6.4494699239730835e+01 7.7822700142860413e+01) (float-vector 1.6213800013065338e+02 6.6978298127651215e+01 9.8933696746826172e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.6213800013065338e+02 6.6978298127651215e+01 9.8933696746826172e+01) (float-vector 4.4208098202943802e+01 6.4324498176574707e+01 1.4194400608539581e+02) (float-vector 1.6411300003528595e+02 7.7874101698398590e+01 1.0537499934434891e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.2490300238132477e+02 1.0860799998044968e+02 2.6359599083662033e+01) (float-vector 2.2066900134086609e+02 2.6739498972892761e+02 4.0891099721193314e+01) (float-vector 2.2650299966335297e+02 2.6739400625228882e+02 1.4042600058019161e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.2650299966335297e+02 2.6739400625228882e+02 1.4042600058019161e+01) (float-vector 2.2066900134086609e+02 2.6739498972892761e+02 4.0891099721193314e+01) (float-vector 2.0858399569988251e+02 2.9165899753570557e+02 6.1897300183773041e+01) (float-vector 2.1694299578666687e+02 3.0258700251579285e+02 3.5626601427793503e+01) (float-vector 2.2435900568962097e+02 2.9252299666404724e+02 1.2755200266838074e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9786100089550018e+02 2.9951000213623047e+02 7.4741497635841370e+01) (float-vector 1.9633999466896057e+02 3.0925899744033813e+02 6.6335096955299377e+01) (float-vector 2.1694299578666687e+02 3.0258700251579285e+02 3.5626601427793503e+01) (float-vector 2.0858399569988251e+02 2.9165899753570557e+02 6.1897300183773041e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.8101300299167633e+02 3.0083200335502625e+02 9.1508001089096069e+01) (float-vector 1.9786100089550018e+02 2.9951000213623047e+02 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9.6916697919368744e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.5508300065994263e+02 2.6739901304244995e+02 1.1465500295162201e+02) (float-vector 1.6375499963760376e+02 2.9139599204063416e+02 1.0734999924898148e+02) (float-vector 1.8291999399662018e+02 2.6740700006484985e+02 9.6916697919368744e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4879999458789825e+01 3.1487900018692017e+02 1.4194400608539581e+02) (float-vector 1.4279399812221527e+02 3.1470900774002075e+02 9.3671001493930817e+01) (float-vector 1.6528600454330444e+02 3.0767199397087097e+02 9.8848700523376465e+01) (float-vector 1.3801500201225281e+02 3.0669501423835754e+02 1.1298099905252457e+02) (float-vector 5.0127498805522919e+01 3.0943799018859863e+02 1.4194400608539581e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.8101300299167633e+02 3.0083200335502625e+02 9.1508001089096069e+01) (float-vector 1.6528600454330444e+02 3.0767199397087097e+02 9.8848700523376465e+01) (float-vector 1.9633999466896057e+02 3.0925899744033813e+02 6.6335096955299377e+01) (float-vector 1.9786100089550018e+02 2.9951000213623047e+02 7.4741497635841370e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0883299410343170e+02 3.1196799874305725e+02 3.2384399324655533e+01) (float-vector 1.9633999466896057e+02 3.0925899744033813e+02 6.6335096955299377e+01) (float-vector 1.6528600454330444e+02 3.0767199397087097e+02 9.8848700523376465e+01) (float-vector 1.4279399812221527e+02 3.1470900774002075e+02 9.3671001493930817e+01) (float-vector 1.8978999555110931e+02 3.1498798727989197e+02 3.4521799534559250e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.8101300299167633e+02 3.0083200335502625e+02 9.1508001089096069e+01) (float-vector 1.6375499963760376e+02 2.9139599204063416e+02 1.0734999924898148e+02) (float-vector 1.4271399378776550e+02 2.9263699054718018e+02 1.1685799807310104e+02) (float-vector 1.3801500201225281e+02 3.0669501423835754e+02 1.1298099905252457e+02) (float-vector 1.6528600454330444e+02 3.0767199397087097e+02 9.8848700523376465e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0269399881362915e+02 2.6739099621772766e+02 7.5614199042320251e+01) (float-vector 2.0350900292396545e+02 1.0859200358390808e+02 7.4386402964591980e+01) (float-vector 1.7702099680900574e+02 1.0860700160264969e+02 1.0179799795150757e+02) (float-vector 1.8291999399662018e+02 2.6740700006484985e+02 9.6916697919368744e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0350900292396545e+02 1.0859200358390808e+02 7.4386402964591980e+01) (float-vector 2.0269399881362915e+02 2.6739099621772766e+02 7.5614199042320251e+01) (float-vector 2.0858399569988251e+02 2.9165899753570557e+02 6.1897300183773041e+01) (float-vector 2.2066900134086609e+02 2.6739498972892761e+02 4.0891099721193314e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0847299695014954e+02 8.4609001874923706e+01 6.2196400016546249e+01) (float-vector 2.0350900292396545e+02 1.0859200358390808e+02 7.4386402964591980e+01) (float-vector 2.2066900134086609e+02 2.6739498972892761e+02 4.0891099721193314e+01) (float-vector 2.2490300238132477e+02 1.0860799998044968e+02 2.6359599083662033e+01) (float-vector 2.1820700168609619e+02 8.4266200661659241e+01 4.0720399469137192e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.9659300148487091e+02 7.4313499033451080e+01 7.4555598199367523e+01) (float-vector 2.0847299695014954e+02 8.4609001874923706e+01 6.2196400016546249e+01) (float-vector 2.1820700168609619e+02 8.4266200661659241e+01 4.0720399469137192e+01) (float-vector 2.0798799395561218e+02 6.7833699285984039e+01 4.8401098698377609e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.0847299695014954e+02 8.4609001874923706e+01 6.2196400016546249e+01) (float-vector 1.9659300148487091e+02 7.4313499033451080e+01 7.4555598199367523e+01) (float-vector 1.8365700542926788e+02 7.7408298850059509e+01 9.0514600276947021e+01) (float-vector 1.7702099680900574e+02 1.0860700160264969e+02 1.0179799795150757e+02) (float-vector 2.0350900292396545e+02 1.0859200358390808e+02 7.4386402964591980e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_shoulder_pan_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_upper_arm_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 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(nreverse (list (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 9.4160303473472595e+01 6.8083005025982857e+00 -1.2399986386299133e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_l_finger_tip_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_l_finger_tip_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.400000 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 202 203 0 215 0 2 609 0 607 215 698 0 202 0 698 0 609 1 0 203 607 457 458 215 458 698 215 457 215 2 698 458 122 122 434 698 434 202 698 120 458 457 458 120 122 457 658 120 658 457 2 120 658 161 466 658 678 161 658 466 678 658 768 658 2 768 768 2 704 2 1 704 768 704 785 678 768 785 466 678 237 238 678 785 237 678 238 634 785 584 704 347 785 347 584 785 238 785 634 1 537 704 537 347 704 1 609 72 1 72 537 537 71 348 72 71 537 347 537 348 346 347 348 346 584 347 348 71 446 446 346 348 534 346 445 346 446 445 346 534 584 445 26 534 171 584 534 26 694 534 694 171 534 445 446 27 27 26 445 26 27 28 694 26 28 171 694 583 694 28 195 195 594 694 594 583 694 446 28 27 195 28 683 683 28 446 683 446 305 683 305 307 683 447 195 307 447 683 306 305 446 306 446 71 305 306 307 307 645 447 414 307 306 307 414 645 415 306 71 415 414 306 70 71 72 71 410 415 70 410 71 414 415 409 409 415 410 414 628 645 409 628 414 409 410 411 628 409 411 410 38 411 410 642 604 70 642 410 604 38 410 411 38 628 38 39 40 38 604 39 38 40 628 623 604 663 642 403 604 39 604 623 604 403 663 623 40 39 40 623 515 623 663 515 663 403 664 664 515 663 402 664 403 402 81 664 81 515 664 79 80 81 81 713 79 402 713 81 515 81 80 471 79 103 79 193 103 713 193 79 79 471 80 402 529 713 193 713 733 733 713 529 104 103 193 732 193 733 104 193 732 528 747 733 747 732 733 528 733 529 402 528 529 528 402 788 788 374 528 374 747 528 374 376 747 747 554 732 376 554 747 104 732 553 553 732 554 553 554 555 554 330 555 328 554 376 330 554 328 374 375 376 376 375 652 376 652 328 328 329 330 443 329 328 443 328 652 416 330 329 330 416 555 329 309 416 329 443 309 309 308 416 308 102 416 555 416 102 308 309 310 443 310 309 308 339 102 339 308 455 455 308 310 310 475 455 310 443 475 454 455 456 455 475 476 456 455 476 454 629 455 455 629 339 728 475 443 475 728 476 456 476 287 728 121 476 476 121 287 728 443 729 121 728 779 779 728 729 443 652 729 729 652 435 729 435 779 434 122 779 121 779 122 435 434 779 434 435 202 435 375 202 435 652 375 202 375 203 404 375 374 203 375 404 607 203 401 203 404 401 404 402 401 788 404 374 788 402 404 401 402 403 401 403 607 607 403 608 598 609 607 598 607 608 403 599 608 642 599 403 598 608 599 597 598 599 609 598 597 609 597 769 72 609 769 70 597 642 599 642 597 70 769 597 72 769 70 120 121 122 286 287 121 286 121 120 287 286 483 286 120 483 120 654 483 161 113 120 120 113 654 483 112 441 287 483 441 483 654 112 456 287 635 635 287 441 441 183 442 441 442 635 441 112 751 441 751 183 456 635 653 442 653 635 643 454 456 643 456 653 643 653 442 518 643 442 442 183 518 643 630 629 629 454 643 630 643 518 518 629 630 73 174 518 74 518 183 73 518 74 629 518 174 173 629 174 173 339 629 172 173 174 620 172 174 174 73 716 174 716 620 172 444 173 172 622 444 622 172 620 620 621 622 620 716 73 73 780 620 780 621 620 622 621 444 444 782 783 782 444 621 444 783 173 621 780 672 621 672 782 780 73 75 780 723 672 780 75 723 672 373 673 672 723 373 782 672 673 723 428 226 373 723 226 723 75 428 73 74 75 75 182 428 74 182 75 428 227 226 428 182 227 14 226 227 13 277 226 277 373 226 14 13 226 227 207 14 207 227 182 182 74 183 326 207 182 326 182 183 327 183 751 326 183 327 92 326 327 207 326 92 93 92 327 93 327 111 327 751 111 751 112 111 111 112 113 113 112 654 113 161 162 113 162 111 162 161 466 352 353 162 111 162 353 466 4 162 3 162 4 162 3 352 466 265 5 237 265 466 4 466 5 3 4 5 3 361 746 3 626 352 5 361 3 626 3 746 5 264 361 264 5 265 532 531 361 532 361 264 531 746 361 430 746 425 626 746 430 531 425 746 429 625 626 625 352 626 626 430 429 429 430 431 430 425 431 681 429 431 625 429 353 681 353 429 352 625 353 353 681 741 111 353 741 399 681 431 741 681 399 650 399 431 425 424 431 650 431 424 399 400 82 399 650 400 399 82 741 741 82 50 741 50 111 111 50 49 49 93 111 49 50 51 605 50 82 662 50 605 662 51 50 51 269 49 93 49 136 269 136 49 92 93 94 93 136 94 134 135 136 134 136 519 94 136 135 269 519 136 94 422 92 422 94 135 422 207 92 421 422 135 421 207 422 303 135 134 303 421 135 208 207 421 421 303 208 207 208 14 208 303 304 208 12 14 208 735 755 12 208 755 304 735 208 12 13 14 12 755 13 13 755 756 272 755 734 756 755 272 734 755 735 297 734 735 297 735 304 297 296 734 294 272 734 296 294 734 255 296 297 297 800 255 800 297 304 294 296 255 272 294 295 295 294 69 254 69 294 294 255 254 253 254 255 742 253 255 255 800 742 542 254 253 743 69 254 254 542 743 275 274 253 253 274 542 275 253 742 344 275 742 633 344 742 742 800 633 228 274 275 228 275 345 344 345 275 542 274 132 274 133 132 133 274 228 133 228 229 229 228 247 345 247 228 344 247 345 245 246 247 247 344 651 245 247 651 246 229 247 246 245 574 651 575 245 574 245 575 246 574 601 657 229 246 246 601 657 573 574 575 574 573 391 574 687 601 574 391 687 575 651 526 413 573 575 526 413 575 412 573 413 573 412 391 315 412 413 526 527 413 413 196 360 527 196 413 360 315 413 389 412 315 412 389 391 389 390 391 390 389 300 300 389 315 390 233 391 234 390 300 234 233 390 300 301 302 301 300 315 302 234 300 233 234 235 87 235 234 234 302 87 302 301 88 87 302 88 87 88 89 89 235 87 235 638 233 581 235 89 235 581 638 44 89 748 36 89 44 89 88 748 89 36 581 343 88 301 748 88 343 44 748 342 748 343 342 44 45 37 44 342 45 36 44 37 35 36 37 36 35 571 581 36 571 35 37 505 37 45 505 35 289 288 571 35 288 289 35 505 581 571 632 690 632 571 288 775 571 775 690 571 288 289 290 290 775 288 775 499 692 565 775 290 775 565 499 690 775 692 690 731 632 690 692 731 691 692 693 693 692 499 731 692 691 149 439 499 499 565 149 693 499 439 691 693 676 693 439 497 693 497 676 668 691 676 668 731 691 668 639 731 731 639 632 613 668 614 217 614 668 613 639 668 217 668 676 676 497 217 216 217 218 217 10 218 217 216 614 10 217 496 217 497 496 612 613 614 216 686 614 614 686 612 218 701 216 701 686 216 218 10 9 703 218 9 703 701 218 9 10 11 10 496 11 495 496 497 495 11 496 11 393 9 393 11 495 392 9 393 392 703 9 701 703 331 392 331 703 393 479 392 392 479 332 332 331 392 331 332 20 20 229 331 714 701 331 229 714 331 20 21 22 229 20 465 20 332 21 20 22 465 229 440 133 657 714 229 465 440 229 714 657 686 686 701 714 612 657 601 612 686 657 638 613 612 601 638 612 233 601 687 233 638 601 638 639 613 638 632 639 581 632 638 233 687 391 131 133 440 131 440 145 351 145 440 465 351 440 131 132 133 132 131 388 388 387 132 387 542 132 386 387 388 387 67 743 743 542 387 67 387 386 436 61 386 386 163 67 163 386 61 386 388 436 666 436 388 666 617 436 617 61 436 61 62 63 61 63 163 617 616 61 62 61 616 67 163 670 163 726 670 63 726 163 592 726 63 63 62 592 484 62 319 592 62 484 62 616 319 318 592 484 592 318 719 720 592 719 592 720 726 758 670 726 726 720 758 719 472 720 758 720 538 720 539 538 472 539 720 739 670 758 739 758 538 538 539 29 739 538 29 702 29 539 539 472 702 29 30 31 560 29 31 739 29 772 30 29 702 772 29 560 670 739 68 68 739 772 68 67 670 67 68 69 68 772 69 772 560 273 295 69 772 272 772 273 295 772 272 273 560 561 560 31 561 271 272 273 561 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318 319 173 319 318 484 319 616 173 616 617 618 618 568 616 616 568 173 666 618 617 568 618 666 388 569 666 666 569 568 131 569 388 567 568 569 569 131 567 145 567 131 567 145 48 567 48 568 145 146 46 350 145 351 146 145 350 145 46 48 46 47 48 47 102 48 48 102 568 146 753 46 46 753 47 350 753 146 488 350 715 350 351 715 350 488 753 351 465 715 22 715 465 22 488 715 488 22 191 488 270 99 488 191 270 753 488 99 47 753 99 99 100 101 270 100 99 47 99 101 270 191 201 201 100 270 100 130 101 100 201 157 157 130 100 102 101 130 101 102 47 503 130 157 130 503 102 156 157 154 154 157 201 157 156 503 124 102 503 503 156 619 619 709 503 503 709 124 156 154 619 153 154 155 154 153 619 201 155 154 423 619 153 619 423 709 125 709 423 124 709 125 125 423 181 181 423 153 153 155 181 125 181 86 181 155 749 86 181 749 123 124 125 765 125 86 125 765 123 54 85 86 749 54 86 86 85 547 765 86 547 52 749 155 54 749 52 52 53 54 54 706 85 53 706 54 53 52 763 706 53 40 53 763 40 515 85 706 40 515 706 628 40 52 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137 688 576 740 137 740 576 127 688 754 710 688 137 754 754 684 712 710 754 712 798 684 754 137 798 754 711 710 712 684 679 712 712 799 711 712 679 799 684 66 679 684 798 66 137 64 798 798 64 66 64 65 66 66 65 781 66 781 680 66 680 679 137 138 64 333 64 334 64 138 334 64 333 65 137 740 138 334 138 144 138 740 97 138 611 144 333 334 335 144 335 334 223 65 333 335 223 333 144 498 335 335 498 223 223 224 225 223 498 224 299 223 225 65 223 299 65 299 781 225 298 299 298 781 299 224 773 225 786 225 449 786 298 225 781 298 786 781 786 680 449 680 786 449 679 680 679 449 451 451 799 679 799 451 711 224 590 773 773 590 311 498 143 224 143 590 224 311 590 142 143 142 590 142 143 144 498 144 143 144 611 142 176 18 177 140 18 176 140 176 141 18 19 17 19 18 140 139 140 141 140 139 641 641 19 140 139 141 210 139 661 641 661 139 210 43 641 548 19 641 43 661 548 641 19 43 17 17 42 313 43 42 17 41 42 43 41 43 548 461 548 661 461 41 548 209 461 661 209 661 210 461 209 462 462 41 461 462 586 41 313 41 179 41 586 179 42 41 313 313 179 490 178 179 180 179 178 490 586 180 179 180 586 462 462 209 180 257 490 491 490 178 491 55 164 56 149 438 439 478 438 149 752 674 438 752 438 784 438 478 784 438 674 439 439 674 495 439 495 497 495 674 393 558 393 674 674 752 558 637 558 752 784 637 752 478 730 784 380 637 784 730 380 784 636 558 637 637 382 699 637 380 382 637 699 636 380 381 382 380 453 381 380 730 453 381 699 382 282 699 381 669 699 282 699 669 636 381 677 282 281 282 283 281 669 282 282 522 283 282 677 522 281 636 669 557 636 281 767 281 283 767 58 281 281 58 557 557 60 558 58 60 557 557 558 636 58 59 60 354 58 767 58 354 59 283 354 767 354 355 356 354 283 510 59 354 356 354 510 355 60 59 356 158 332 356 159 356 355 158 356 159 356 332 479 60 356 479 158 159 160 158 21 332 158 160 21 262 159 355 595 262 355 165 262 595 595 355 510 510 165 595 166 165 292 165 510 292 596 166 292 291 292 293 283 292 510 596 292 291 292 283 293 659 596 774 291 774 596 660 659 774 660 774 291 370 660 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6.6893897950649261e+01) (float-vector 4.7038099169731140e+02 -4.9879800528287888e+01 4.3316800147294998e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1146498918533325e+02 -5.0028800964355469e+01 8.1623300909996033e+01) (float-vector 4.3329599499702454e+02 -4.9894701689481735e+01 7.5655803084373474e+01) (float-vector 4.4112101197242737e+02 -5.3270898759365082e+01 6.8994700908660889e+01) (float-vector 4.2204600572586060e+02 -5.9998299926519394e+01 6.8907298147678375e+01) (float-vector 4.0339198708534241e+02 -6.0000199824571609e+01 7.2648502886295319e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1280201077461243e+02 5.4773598909378052e+01 7.7729001641273499e+01) (float-vector 4.2645800113677979e+02 4.8638898879289627e+01 7.8525602817535400e+01) (float-vector 4.3329599499702454e+02 -4.9894701689481735e+01 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+ geom)) + (:_make_instance_r_upper_arm_roll_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 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-1.3288900256156921e+01 -1.1481899768114090e+01) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 2.9728999361395836e+01 -5.4750000126659870e+00 3.9615998975932598e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00) (float-vector 2.3922100663185120e+01 -1.4945900999009609e+01 1.0701100341975689e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00) (float-vector -2.4536000564694405e+00 1.9533900544047356e+01 -8.7679997086524963e+00) (float-vector 2.3285299539566040e+01 -1.3288900256156921e+01 -1.1481899768114090e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_motor_accelerometer_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_motor_accelerometer_link_geom0 - (:init (&key (name)) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 156 0 157 306 1 0 306 0 430 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1.2137000274658203e+02 2.2720699310302734e+01 2.3456800460815430e+01 1.1886999511718750e+02 1.1232599258422852e+01 7.1156005859375000e+01 1.1737000274658203e+02 -4.0975399017333984e+01 1.1754600524902344e+01 1.3837001037597656e+02 -2.9887001037597656e+01 -5.5000000000000000e+01 1.1855300140380859e+02 6.3947097778320312e+01 -3.5793299674987793e+00 1.1886999511718750e+02 -6.5989196777343750e+01 2.8550998687744141e+01 1.1737000274658203e+02 -4.3372997641563416e-01 -3.2841197967529297e+01 1.1886999511718750e+02 -5.5902801513671875e+01 4.5347499847412109e+01 1.1818599700927734e+02 6.1611400604248047e+01 -1.6768699645996094e+01 1.4036999511718750e+02 -2.7886999130249023e+01 -6.0179199218750000e+01 1.2147399902343750e+02 -1.0176099777221680e+01 5.1711101531982422e+01 1.2246699523925781e+02 1.7770599365234375e+01 -5.2830497741699219e+01 1.1737000274658203e+02 -1.9266300201416016e+01 -2.6453399658203125e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 2988 -> 23 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.2137000262737274e+02 -6.6029697656631470e+01 2.7869300916790962e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01) (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 -4.7454200685024261e+01 -5.4153099656105042e+01) (float-vector 1.1886999756097794e+02 -2.7524899691343307e+01 -6.6491499543190002e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01) (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.2137000262737274e+02 -5.6568499654531479e+01 -4.4058199971914291e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 2.1601699292659760e+01 -6.8827800452709198e+01) (float-vector 1.1886999756097794e+02 -3.8841801142552868e-02 -7.2086602449417114e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.4036999642848969e+02 -2.7886999770998955e+01 -6.4158201217651367e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.3837000727653503e+02 -2.6258999481797218e+01 -6.7000001668930054e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.4036999642848969e+02 -2.5872699916362762e+01 6.4999997615814209e+01) (float-vector 1.3837000727653503e+02 -2.9887000098824501e+01 6.5454602241516113e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.2137000262737274e+02 6.1707299202680588e+01 -3.7386100739240646e+01) (float-vector 1.3837000727653503e+02 3.0102999880909920e+01 -6.5454497933387756e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01) (float-vector 1.3837000727653503e+02 2.6474999263882637e+01 6.7000001668930054e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 3.8424700498580933e+01 6.1056699603796005e+01) (float-vector 1.2137000262737274e+02 2.0674999803304672e+01 6.8999998271465302e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.2137000262737274e+02 6.9949202239513397e+01 1.8015500158071518e+01) (float-vector 1.4036999642848969e+02 2.8102999553084373e+01 6.4158201217651367e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1886999756097794e+02 7.2108000516891479e+01 1.4210900057934461e-14) (float-vector 1.1886999756097794e+02 6.8511798977851868e+01 2.2576300427317619e+01) (float-vector 1.1886999756097794e+02 5.6136500090360641e+01 4.5345399528741837e+01) (float-vector 1.1886999756097794e+02 1.7722400370985270e+00 7.2045803070068359e+01) (float-vector 1.2137000262737274e+02 -2.0459000021219254e+01 6.8999998271465302e+01) (float-vector 1.2137000262737274e+02 -4.2364701628684998e+01 5.8364499360322952e+01) (float-vector 1.1737000197172165e+02 -5.8990299701690674e+01 2.3230200633406639e+01) (float-vector 1.1886999756097794e+02 4.1817400604486465e+01 -5.8911599218845367e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_upper_arm_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_wrist_flex_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 3.2100000000000000e+02 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.100000 0.100000 0.100000 0.000000)) - (list :diffuse (float-vector 1.000000 1.000000 1.000000 0.000000)) - )) - (list :indices #i( 0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 14 15 12 16 17 18 18 19 16 20 21 22 22 23 20)) - (list :vertices #2f((-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 -2.5000000000000000e-01 -2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 -2.5000000000000000e-01)(-2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01)(2.5000000000000000e-01 2.5000000000000000e-01 2.5000000000000000e-01))) - ) - ))) - (send glvertices :calc-normals) - (send self :assoc glvertices) - glvertices) - (:qhull-faceset () - ;; qhull 24 -> 4 faces - (instance faceset :init :faces (list - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - (instance face :init :vertices (nreverse (list (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 2.5000001187436283e-01) (float-vector -2.5000001187436283e-01 2.5000001187436283e-01 2.5000001187436283e-01) (float-vector 2.5000001187436283e-01 -2.5000001187436283e-01 -2.5000001187436283e-01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_r_finger_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_r_finger_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.350000 0.350000 0.350000 1.000000)) + (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)))) + (list :indices #i( 0 1 2 0 50 229 393 50 0 0 2 324 98 0 229 1 0 98 324 393 0 393 51 50 51 393 324 50 51 52 50 52 291 50 291 229 2 308 51 324 2 51 51 431 52 431 51 308 308 430 431 128 209 308 128 308 2 308 440 430 308 209 440 431 430 52 430 39 38 52 430 38 440 39 430 38 39 40 40 39 412 39 440 412 38 40 52 40 327 52 356 327 40 356 40 191 412 191 40 412 440 191 440 209 439 439 387 440 191 440 387 432 387 439 298 439 209 432 439 298 297 303 387 389 191 387 432 297 387 303 389 387 297 432 298 296 297 298 296 303 297 296 302 303 303 302 389 302 489 389 389 489 191 489 302 499 499 191 489 191 499 500 499 302 500 500 302 492 492 191 500 492 302 487 191 492 487 487 302 192 487 192 191 32 191 192 192 346 347 346 192 302 32 192 347 347 346 423 32 347 423 32 423 201 63 423 346 201 423 63 32 201 202 201 63 202 62 63 64 63 262 64 202 63 339 339 63 62 63 346 262 202 339 247 247 32 202 62 338 339 338 247 339 140 62 64 62 140 338 140 64 73 73 64 71 71 64 262 140 141 142 140 73 141 142 338 140 338 142 245 338 245 247 245 246 247 311 246 245 142 311 245 33 246 269 311 267 246 246 267 269 33 247 246 142 310 311 310 267 311 267 268 269 284 268 267 284 267 22 310 22 267 22 310 142 21 22 23 284 22 21 23 22 99 142 99 22 341 284 21 284 341 268 341 368 268 341 438 174 110 368 341 174 110 341 341 21 438 400 332 368 268 368 436 400 368 110 368 332 436 108 109 110 109 400 110 108 110 174 173 108 174 173 174 438 173 183 108 108 305 109 108 498 305 108 183 498 422 109 304 109 422 400 305 304 109 304 305 241 241 305 9 9 305 498 484 498 183 484 9 498 9 10 11 240 241 9 11 265 9 265 240 9 484 10 9 10 253 11 256 253 10 10 484 256 253 265 11 122 253 256 299 265 253 299 253 122 129 122 256 496 129 256 484 496 256 121 122 123 309 299 122 123 122 129 121 309 122 469 299 309 299 469 265 318 309 121 468 309 318 468 469 309 130 217 121 123 130 121 121 217 318 129 130 123 411 130 129 420 203 130 419 420 130 411 419 130 130 203 217 318 217 205 217 203 205 203 204 205 334 485 203 204 203 485 203 420 334 293 318 205 205 204 293 204 433 293 433 204 485 334 314 485 314 433 485 132 131 433 433 294 293 433 261 294 314 132 433 131 261 433 131 132 133 132 189 133 189 132 314 131 190 261 131 133 190 261 328 294 261 416 328 261 190 416 125 293 294 328 125 294 124 125 126 126 125 328 408 125 124 206 293 125 408 206 125 293 206 318 206 468 318 468 206 469 469 229 265 98 469 206 98 229 469 265 229 266 229 291 292 266 229 292 265 266 240 240 266 279 266 292 279 292 291 279 291 52 279 240 279 241 279 52 327 357 241 279 357 279 327 304 241 357 356 304 357 356 357 327 422 304 356 422 356 332 356 191 332 400 422 332 331 332 333 436 332 331 333 332 191 34 191 32 333 191 34 331 333 34 32 33 34 331 34 33 409 331 33 436 331 269 269 331 409 269 268 436 409 33 269 32 247 33 97 1 98 319 24 98 350 319 98 98 208 348 350 98 348 206 208 98 24 97 98 128 2 1 1 97 128 97 127 128 209 128 127 19 127 20 127 19 298 298 209 127 127 97 20 18 19 20 298 19 434 19 18 474 434 19 474 24 20 97 18 20 24 18 24 25 18 25 212 474 18 212 434 474 475 475 474 212 210 211 212 212 211 475 210 212 25 319 263 25 263 210 25 319 25 24 263 236 210 210 236 460 210 460 211 211 460 470 475 211 470 235 231 460 460 236 235 460 231 470 235 236 237 263 264 236 236 264 237 264 263 336 319 336 263 336 337 264 337 391 264 264 391 237 237 448 235 390 448 237 237 391 390 235 448 231 448 322 231 448 390 322 390 391 392 390 83 322 83 390 437 392 497 390 390 497 437 322 180 231 83 181 322 180 322 181 82 83 84 181 83 82 83 437 84 179 180 181 82 179 181 231 180 232 180 373 232 179 373 180 470 231 232 470 232 475 102 232 163 475 232 102 232 373 163 163 373 316 316 373 179 316 179 82 316 82 317 316 197 163 316 317 197 103 163 164 164 163 197 102 163 103 164 197 72 317 78 197 197 78 72 262 164 71 262 103 164 71 164 72 102 103 104 346 103 262 346 104 103 302 296 104 434 104 296 102 104 434 302 104 346 434 296 298 434 475 102 71 72 73 77 72 78 73 72 77 141 73 77 77 78 463 141 77 463 463 78 429 429 78 317 141 463 377 463 429 377 142 141 358 377 358 141 377 85 358 429 85 377 317 86 429 429 86 85 317 82 426 317 426 86 85 86 87 87 86 426 85 115 358 67 85 87 67 115 85 87 426 84 84 53 87 53 323 87 87 323 67 84 426 82 84 437 53 53 54 55 53 55 323 437 54 53 323 55 483 323 65 67 323 483 65 74 483 75 75 483 55 483 74 65 65 66 67 74 66 65 74 75 76 76 66 74 75 55 175 351 75 447 75 175 447 75 351 76 76 351 353 66 76 353 67 66 115 358 66 353 115 66 358 351 352 353 353 272 358 352 270 353 353 270 272 142 358 272 99 142 272 23 99 69 99 146 69 99 274 105 105 107 99 345 99 272 99 154 90 379 466 99 90 146 99 239 379 99 154 99 466 107 239 99 274 99 345 154 88 90 466 275 154 275 88 154 466 467 276 379 467 466 276 275 466 151 275 276 425 88 275 151 425 275 88 89 90 425 89 88 222 425 453 454 425 151 453 425 454 89 425 222 221 89 222 221 90 89 221 222 223 80 223 222 80 222 453 476 453 454 80 453 476 454 150 476 150 454 151 81 80 476 476 150 81 79 80 81 80 79 223 100 101 81 81 150 187 81 187 100 79 81 101 150 151 152 187 150 152 187 188 100 187 152 371 187 371 188 152 151 493 152 493 371 493 151 276 371 493 372 372 493 276 188 371 372 450 188 372 450 375 188 375 100 188 406 372 467 372 276 467 450 372 406 450 406 252 354 375 450 354 450 252 248 406 379 252 406 248 379 406 467 238 91 252 91 354 252 238 252 248 374 375 354 374 354 91 91 92 93 378 374 91 378 91 93 91 238 92 107 238 239 238 248 239 92 238 107 239 248 379 105 106 107 106 92 107 106 93 92 93 106 290 289 378 93 289 93 290 289 374 378 375 374 289 288 289 290 289 288 375 177 176 290 176 288 290 106 177 290 176 177 178 456 177 106 456 490 177 178 177 490 277 176 278 176 178 278 176 277 288 278 178 8 8 178 12 178 490 12 490 13 12 404 13 490 404 490 456 274 404 456 456 106 274 345 403 404 404 254 13 345 404 274 404 403 254 12 13 14 13 254 14 139 44 254 254 403 139 44 14 254 344 403 345 403 457 139 457 403 344 272 344 345 272 376 344 376 457 344 369 457 376 139 457 137 137 457 369 376 272 271 113 369 376 376 271 113 270 271 272 270 113 271 111 112 113 111 113 477 369 113 112 270 477 113 270 352 477 446 111 477 352 446 477 116 111 386 116 112 111 111 446 386 112 116 117 117 369 112 320 116 386 117 116 320 320 321 117 321 138 117 369 117 138 137 369 138 137 138 139 139 167 44 329 139 138 139 329 167 44 45 46 45 44 167 424 14 44 44 46 424 166 95 45 167 166 45 46 45 95 46 95 94 424 46 94 193 424 295 193 14 424 295 424 94 193 12 14 8 12 193 8 193 295 381 295 94 295 6 8 295 381 6 94 95 96 96 381 94 380 234 381 381 234 405 381 405 6 96 380 381 6 7 8 6 405 7 8 7 278 278 7 158 405 158 7 234 233 405 405 233 158 58 233 234 58 234 227 227 234 380 96 227 380 227 96 228 49 227 228 58 227 48 48 227 49 200 255 228 228 255 49 481 228 96 200 228 481 47 48 49 49 255 47 48 47 162 162 58 48 367 59 47 255 367 47 59 162 47 255 200 199 367 255 199 367 60 59 367 199 60 198 199 200 168 199 213 213 199 198 199 168 60 59 60 61 60 169 61 60 168 169 168 28 169 26 28 168 26 168 213 26 27 28 169 28 27 218 300 169 472 61 169 169 300 472 27 218 169 218 27 482 27 26 482 482 26 326 26 213 326 479 219 482 218 482 219 326 479 482 213 325 326 325 479 326 479 243 219 175 479 325 175 55 479 55 243 479 218 219 220 220 219 243 444 220 462 444 218 220 462 220 471 220 243 471 300 444 445 300 218 444 444 462 459 445 444 459 462 242 459 462 471 242 471 243 242 242 243 244 242 391 459 242 244 391 458 445 459 459 391 337 459 337 336 459 336 458 392 391 244 243 340 244 54 244 340 54 392 244 497 392 54 437 497 54 54 340 55 340 243 55 370 445 458 336 370 458 370 336 319 370 319 455 455 445 370 300 445 455 455 319 350 61 472 455 472 300 455 350 61 455 59 61 350 59 225 413 59 350 225 162 59 413 56 162 413 225 56 413 3 5 225 465 3 225 5 56 225 465 225 350 56 57 58 56 5 57 56 58 162 3 4 5 4 488 5 57 5 488 465 4 3 465 382 4 382 465 350 382 43 4 359 488 4 4 43 359 57 488 159 361 159 488 488 359 361 359 360 361 359 43 42 42 360 359 160 159 361 360 288 361 160 361 288 158 159 160 233 57 159 158 233 159 277 158 160 277 160 288 288 100 375 288 442 100 442 288 360 101 100 155 100 136 155 100 442 136 360 42 442 442 41 136 41 442 42 134 135 136 136 135 155 136 41 134 41 42 43 41 43 134 153 147 134 280 135 134 147 280 134 134 43 153 135 301 286 286 155 135 280 301 135 149 301 280 147 149 280 147 148 149 396 147 153 396 148 147 149 461 301 148 461 149 301 287 286 301 461 287 148 452 461 461 452 287 478 148 208 148 396 208 478 452 148 208 396 348 348 396 153 206 207 208 207 452 208 452 478 208 287 452 449 449 452 207 415 449 207 415 207 206 414 415 206 206 408 414 285 449 415 415 282 285 282 415 414 285 287 449 285 286 287 285 282 365 286 285 473 285 494 473 285 365 494 155 286 473 473 435 155 473 494 435 155 156 157 435 156 155 155 157 101 435 494 156 383 118 156 156 118 157 156 494 383 120 101 157 118 120 157 120 143 101 101 143 79 118 119 120 119 143 120 383 119 118 119 383 384 383 494 281 384 383 281 144 119 384 144 143 119 364 384 281 464 144 384 464 384 364 281 282 283 281 283 364 282 281 494 365 282 494 283 282 414 283 414 407 364 283 407 414 408 407 407 408 124 364 407 362 407 366 362 407 124 366 366 124 126 366 363 362 363 366 395 126 395 366 362 363 364 363 395 37 36 363 37 36 464 363 363 464 364 395 126 328 328 37 395 35 36 37 328 35 37 36 417 418 36 35 417 36 418 464 144 464 441 418 441 464 260 441 418 260 418 394 418 417 394 417 35 394 17 260 394 15 17 394 35 451 394 394 451 15 15 16 17 17 259 260 17 388 259 17 16 388 185 16 15 15 451 185 451 401 185 401 451 416 416 451 35 185 186 16 185 401 257 186 185 257 257 258 186 258 161 186 186 161 16 401 402 257 258 257 402 402 250 249 402 249 258 421 402 401 402 421 315 402 315 250 249 250 251 250 315 251 258 249 251 196 195 258 195 68 258 68 161 258 196 258 251 194 195 196 196 251 194 230 195 194 230 273 195 114 68 195 273 114 195 68 69 70 114 69 68 68 70 161 443 69 114 216 114 273 443 114 216 216 273 397 397 273 230 214 215 216 397 214 216 215 443 216 171 443 215 69 443 23 23 443 171 69 146 70 161 70 146 90 29 146 146 388 161 146 29 388 29 90 30 30 90 221 29 30 31 388 29 31 161 388 16 259 388 31 31 307 259 355 307 31 31 30 355 30 221 355 223 342 221 355 221 342 355 306 307 355 342 343 355 343 306 306 260 307 307 260 259 343 145 306 306 441 260 306 145 441 342 223 343 223 143 343 343 143 145 223 79 143 143 144 145 144 441 145 170 171 172 170 23 171 172 171 215 224 21 170 170 21 23 170 172 224 172 226 182 172 182 224 215 226 172 215 214 226 427 428 226 214 427 226 226 428 182 182 183 173 224 182 173 428 183 182 427 496 428 428 496 484 428 484 183 410 427 486 214 486 427 427 410 496 496 410 129 410 411 129 411 410 486 480 411 486 214 480 486 480 419 411 397 480 214 313 419 480 397 313 480 419 313 420 230 312 313 397 230 313 335 495 313 312 335 313 420 313 495 495 334 420 334 495 335 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1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5434898734092712e+02 1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01) (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01) (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.2081198692321777e+02 1.0791099630296230e+01 3.7371199578046799e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.4229499101638794e+02 1.9781699404120445e+01 -3.0575700104236603e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01) (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.0845400691032410e+02 1.8866499885916710e+01 3.5229701548814774e+01) (float-vector -3.3513501286506653e+02 1.9611999392509460e+01 3.4518200904130936e+01) (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.5434898734092712e+02 1.9749300554394722e+01 -1.6822699457406998e+01) (float-vector -3.4229499101638794e+02 1.9781699404120445e+01 -3.0575700104236603e+01) (float-vector -3.3050099015235901e+02 1.9640399143099785e+01 -3.6027498543262482e+01) (float-vector -2.9887500405311584e+02 1.9101100042462349e+01 -3.9388500154018402e+01) (float-vector -2.9447099566459656e+02 1.9673800095915794e+01 -3.3245999366044998e+01) (float-vector -2.9377099871635437e+02 1.8889099359512329e+01 2.5117799639701843e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01) (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5839301347732544e+02 1.9443500787019730e+01 0.0000000000000000e+00) (float-vector -3.4947401285171509e+02 1.8960500136017799e+01 2.4254400283098221e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.5157498717308044e+02 -1.9090700894594193e+01 2.1532600745558739e+01) (float-vector -3.3655700087547302e+02 -1.8886299803853035e+01 3.3996198326349258e+01) (float-vector -3.2482299208641052e+02 -1.8929099664092064e+01 3.7224698811769485e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -2.9334899783134460e+02 -1.8914800137281418e+01 -2.8487799689173698e+01) (float-vector -2.9745399951934814e+02 -2.0954299718141556e+01 -3.6376900970935822e+01) (float-vector -3.0955800414085388e+02 -1.9846299663186073e+01 -4.0090199559926987e+01) (float-vector -3.3415600657463074e+02 -1.8840799108147621e+01 -3.4997601062059402e+01) (float-vector -3.4453999996185303e+02 -1.8609199672937393e+01 -2.8952799737453461e+01) (float-vector -3.5573199391365051e+02 -1.9215300679206848e+01 -1.3810100033879280e+01) (float-vector -3.5817798972129822e+02 -1.9378999248147011e+01 3.7875000853091478e+00) (float-vector -3.5171699523925781e+02 -2.1437799558043480e+01 1.6795899718999863e+01) (float-vector -3.1271800398826599e+02 -2.0705599337816238e+01 3.5512998700141907e+01) (float-vector -2.9352998733520508e+02 -1.9945900887250900e+01 2.4132700636982918e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_wrist_flex_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_r_wrist_roll_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000)) - (list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 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-8.9134005829691887e+00 -2.5915445759892464e+01) (float-vector -7.8704003244638443e+00 -3.4827000927180052e+00 -2.6805736124515533e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 4.4031798839569092e+01 1.9328899681568146e+01 2.7645906433463097e+01) (float-vector 4.6545699238777161e+01 3.8518901914358139e+01 2.1515727043151855e+01) (float-vector 7.8674905002117157e+01 3.1988602131605148e+01 1.0890045203268528e+01) (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01) (float-vector 9.1751299798488617e+01 3.3287000842392445e+00 1.3026015833020210e+01) (float-vector 4.7026101499795914e+01 6.3424999825656414e+00 2.7899639680981636e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 7.8674905002117157e+01 3.1988602131605148e+01 1.0890045203268528e+01) (float-vector 7.5959801673889160e+01 3.3519700169563293e+01 -1.0229793377220631e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 8.6172096431255341e+01 2.4340599775314331e+01 1.0230097919702530e+01) (float-vector 8.5562400519847870e+01 2.5191599503159523e+01 -1.0941581800580025e+01) (float-vector 9.4160303473472595e+01 6.8083005025982857e+00 -1.2399986386299133e+01) (float-vector 9.4761095941066742e+01 7.1131000295281410e+00 1.1213134042918682e+01)))) - )) - ) - ) - -(defclass pr2_gkmodel0_r_gripper_r_finger_tip_link_geom0 - :super collada-body - :slots ()) -(defmethod pr2_gkmodel0_r_gripper_r_finger_tip_link_geom0 - (:init (&key (name "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae")) - (replace-object self (send self :qhull-faceset)) - (if name (send self :name name)) - (send self :def-gl-vertices) - self) - (:def-gl-vertices () - (setq glvertices + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.000100 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.000000 1.000000)))) + (list :indices #i( 0 1 2 3 4 0 4 72 0 72 248 0 0 2 3 1 0 248 1 270 2 270 410 2 2 410 3 4 3 294 410 294 3 294 410 454 410 324 454 270 325 410 324 410 325 269 270 1 270 269 79 79 325 270 324 325 20 325 79 21 20 325 21 21 79 23 79 318 23 79 269 318 318 269 407 318 407 23 407 194 196 407 148 23 269 194 407 194 195 196 194 338 195 269 445 194 329 338 194 445 329 194 445 269 1 72 329 445 248 72 445 248 445 1 329 330 331 72 330 329 329 331 338 72 4 330 444 330 4 331 330 444 331 337 338 494 337 331 331 444 494 494 444 4 494 4 273 337 494 273 338 337 311 273 311 337 96 272 273 273 272 311 96 273 4 310 311 149 149 311 317 311 272 317 310 338 311 338 310 447 338 447 195 310 149 195 310 195 447 147 148 149 195 149 148 317 124 149 147 149 124 148 147 403 147 464 403 124 464 147 473 148 474 474 148 403 23 148 473 474 403 464 467 473 474 467 474 95 95 474 464 467 23 473 21 23 24 24 23 467 95 24 467 462 24 95 21 24 462 141 462 202 462 95 203 203 202 462 462 141 21 201 202 203 396 141 202 201 396 202 197 201 203 197 203 95 396 201 197 396 197 414 141 396 475 396 414 475 197 95 189 414 197 189 476 414 369 369 414 189 475 414 476 142 475 476 141 475 142 142 476 369 80 142 369 402 369 189 402 80 369 80 141 142 381 21 141 441 141 39 141 80 39 381 141 441 380 381 382 380 21 381 381 441 382 38 382 441 39 38 441 38 39 40 39 80 40 38 40 466 466 306 38 382 38 306 306 380 382 380 379 21 380 306 379 21 379 326 379 306 326 326 327 22 326 22 21 326 306 327 20 21 22 22 327 20 70 71 20 327 70 20 71 324 20 70 327 339 71 70 339 71 295 294 71 294 324 71 159 295 339 159 71 294 454 324 294 295 296 294 296 4 296 295 302 158 302 295 159 158 295 296 302 4 96 4 97 97 4 302 97 302 303 303 302 158 158 159 160 158 160 328 328 303 158 303 317 272 272 97 303 328 317 303 96 97 272 328 6 317 125 317 144 317 5 144 317 6 5 317 125 124 6 328 160 5 6 7 73 6 160 6 73 7 73 74 7 74 264 7 7 264 5 73 313 74 74 313 214 264 74 214 214 5 264 214 215 5 408 215 214 214 313 408 73 257 313 313 257 409 313 409 408 408 409 191 408 191 215 409 257 261 409 261 191 261 257 262 261 314 191 261 262 314 262 256 314 257 256 262 314 256 461 314 461 191 255 256 257 256 255 461 255 104 461 191 461 104 274 255 257 255 109 104 274 109 255 274 85 109 452 274 257 452 85 274 109 110 104 85 84 109 110 109 84 83 84 85 497 85 452 85 497 83 84 453 110 84 496 453 84 83 496 497 496 83 489 496 497 99 489 497 452 99 497 496 489 453 489 260 453 260 319 453 453 319 110 489 99 258 260 489 258 99 11 100 99 100 258 99 452 11 258 259 260 100 259 258 260 259 319 259 100 319 100 11 55 54 100 55 100 54 319 54 55 56 55 389 56 55 11 389 319 54 304 54 56 304 56 389 46 56 46 304 44 46 389 389 64 44 11 64 389 44 45 46 46 45 304 63 44 64 44 63 45 11 293 64 293 63 64 478 288 63 288 45 63 478 63 293 293 13 478 11 13 293 288 478 289 478 13 289 11 12 13 78 13 12 13 78 493 13 493 289 288 289 69 289 493 69 493 68 69 493 78 68 68 60 69 60 288 69 78 35 68 35 60 68 35 36 37 60 35 37 78 36 35 36 107 108 108 440 36 36 440 37 211 107 36 211 36 78 440 120 37 60 37 120 440 108 120 108 14 120 107 213 108 108 213 14 211 213 107 211 212 213 463 65 211 211 65 212 211 78 463 213 212 14 198 212 65 14 212 198 65 66 67 463 66 65 65 67 198 198 92 14 198 67 92 32 67 263 67 66 263 67 32 92 463 263 66 263 33 32 263 463 33 32 33 34 32 34 92 33 457 458 34 33 487 487 33 458 463 457 33 34 487 92 487 458 89 487 89 92 458 90 89 458 457 90 89 90 91 91 90 457 250 251 89 91 316 89 250 89 460 460 89 57 251 92 89 316 57 89 250 459 477 251 250 477 250 460 459 251 477 145 92 251 145 145 146 92 15 92 206 92 15 14 92 146 206 146 145 477 146 477 115 115 477 459 459 460 435 459 435 115 400 404 435 57 400 435 435 292 115 435 404 292 460 57 435 57 59 400 404 400 59 59 58 404 58 292 404 57 58 59 376 374 58 58 57 376 58 374 292 372 373 374 374 290 372 373 292 374 374 376 290 290 87 372 373 372 87 373 87 86 292 373 86 86 87 88 266 87 290 88 87 266 266 290 291 376 291 290 265 266 267 265 88 266 266 291 267 88 265 86 265 267 137 265 137 86 284 285 267 267 285 76 434 267 291 76 137 267 434 284 267 392 393 284 434 392 284 285 284 393 76 285 77 492 285 393 492 77 285 42 436 393 393 436 492 392 42 393 42 392 442 434 442 392 291 442 434 442 308 42 308 442 291 41 42 43 42 308 43 436 42 41 43 308 309 309 308 376 291 376 308 309 53 43 376 53 309 53 376 51 438 51 376 438 376 57 51 52 53 43 53 52 51 438 52 315 411 438 315 438 57 438 488 52 438 411 488 316 315 57 315 316 91 411 315 91 411 91 412 411 412 488 412 52 488 412 43 52 91 43 412 457 43 91 41 43 47 47 43 413 43 457 413 413 457 463 413 78 12 413 463 78 102 413 161 413 12 161 47 413 102 101 102 103 47 102 164 161 163 102 102 101 164 163 103 102 161 162 163 450 162 161 161 12 450 419 163 162 163 323 103 419 322 163 323 163 322 450 419 162 12 351 450 352 419 450 450 351 352 246 322 419 352 246 419 322 10 323 246 10 322 103 323 443 10 115 323 323 115 443 103 443 220 443 115 220 220 101 103 101 220 165 165 220 114 115 114 220 164 101 165 164 165 166 423 165 114 166 165 423 114 115 116 423 114 424 424 114 116 166 423 271 271 423 424 164 166 271 47 164 271 177 271 178 271 175 178 175 271 424 271 177 448 448 47 271 175 424 176 424 116 176 174 175 176 178 175 174 177 178 174 484 177 174 448 177 484 395 448 181 41 47 448 448 395 41 181 448 484 433 181 484 433 484 174 432 433 174 174 176 486 486 432 174 179 433 432 179 181 433 179 180 181 395 181 180 336 179 432 180 179 336 486 336 432 486 292 336 292 486 176 335 336 86 335 425 336 425 180 336 292 86 336 425 226 180 395 180 226 425 426 224 426 425 335 224 226 425 429 335 86 429 426 335 429 428 426 428 224 426 224 225 226 49 224 427 427 224 428 49 225 224 395 226 225 225 41 395 41 225 49 98 41 49 41 98 436 169 98 48 48 98 49 169 306 98 98 306 436 386 436 306 386 77 436 492 436 77 386 387 388 75 386 388 386 75 77 387 386 306 75 76 77 437 81 75 75 81 76 388 437 75 387 437 388 306 341 387 377 437 387 387 341 377 81 437 377 81 377 378 341 378 377 340 341 306 341 340 378 340 81 378 340 490 81 306 490 340 82 490 491 490 466 491 490 306 466 490 82 81 80 81 82 82 40 80 82 491 40 40 491 466 199 200 80 80 200 394 80 402 199 394 81 80 312 199 189 189 199 402 200 199 312 200 312 394 470 394 287 312 287 394 470 81 394 312 189 286 287 312 286 286 254 287 287 254 136 495 470 287 495 287 136 135 81 470 135 470 495 136 135 495 135 136 17 17 136 254 17 254 18 286 189 254 18 254 189 17 18 19 25 17 19 135 17 25 398 135 399 398 81 135 25 399 135 399 25 19 19 18 397 397 399 19 397 18 189 397 398 399 130 397 131 130 398 397 131 397 189 130 81 398 81 130 76 129 130 131 76 130 129 137 129 131 137 131 189 129 137 76 137 189 86 344 86 189 429 86 344 344 170 345 173 344 189 173 170 344 345 429 344 345 428 429 170 421 345 345 421 428 170 171 172 173 171 170 170 172 421 171 173 189 223 342 171 171 342 172 223 171 189 342 48 172 172 347 421 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218 356 354 355 356 356 355 416 417 356 416 356 417 333 218 354 356 218 217 354 354 217 355 153 355 217 355 152 244 355 244 416 152 355 153 244 431 416 431 417 416 152 230 244 230 431 244 151 152 153 152 151 230 151 229 230 229 238 230 238 431 230 238 430 431 431 430 417 237 238 229 237 480 238 480 430 238 350 237 229 151 350 229 350 155 237 155 480 237 155 481 480 480 481 430 430 481 417 154 481 155 481 154 417 154 155 156 155 350 156 156 350 348 154 156 157 348 157 156 348 320 485 157 348 485 320 297 321 485 320 321 485 321 157 119 321 117 119 157 321 297 117 321 297 276 301 297 277 276 297 301 117 117 118 119 117 301 118 119 353 157 353 119 118 118 227 228 227 118 301 118 228 353 301 276 227 360 361 227 360 227 276 227 361 228 353 228 268 228 361 268 247 353 268 247 157 353 154 157 247 154 247 268 123 154 268 332 154 134 154 113 333 113 154 332 417 154 333 134 154 205 205 154 210 123 210 154 205 132 134 209 205 210 209 132 205 208 209 210 208 210 401 401 210 123 319 132 209 208 319 209 132 133 134 132 304 133 304 132 319 122 110 319 208 122 319 122 208 401 122 401 123 122 123 110 105 110 150 471 110 123 150 110 469 105 104 110 471 469 110 471 123 268 268 469 471 268 105 469 150 469 105 104 105 106 105 299 106 299 105 268 104 106 371 191 104 371 106 299 298 106 298 371 298 299 300 300 299 268 93 268 361 268 93 300 232 93 361 232 361 360 231 186 232 232 240 93 186 240 232 231 232 360 275 231 360 275 360 276 187 186 231 187 231 275 185 186 187 185 240 186 482 187 275 482 185 187 275 276 277 275 277 482 482 483 239 239 185 482 357 482 277 482 357 483 239 240 185 420 240 239 483 420 239 483 359 420 357 359 483 357 358 359 357 279 465 358 357 465 357 277 279 358 94 359 94 420 359 94 240 420 93 94 95 240 94 93 383 95 94 358 384 94 383 94 384 384 358 465 383 384 385 384 465 439 385 384 439 27 383 385 27 26 383 383 26 95 29 385 439 27 385 29 439 30 29 439 465 30 29 30 31 29 31 28 27 29 28 26 27 28 26 28 219 219 283 26 283 95 26 31 343 28 343 219 28 31 30 233 343 31 233 343 422 219 233 422 343 283 219 422 282 95 283 242 282 283 242 283 422 189 95 190 282 190 95 95 464 93 282 242 222 241 182 242 242 182 222 422 241 242 233 241 422 241 183 182 233 183 241 233 30 183 465 279 30 300 93 127 93 464 127 140 298 300 138 140 300 367 300 127 138 300 367 138 139 140 370 140 192 140 139 192 140 370 298 370 371 298 192 371 370 191 192 193 191 371 192 192 139 193 139 215 193 215 139 138 215 191 193 215 138 368 5 215 498 368 498 215 367 368 138 368 367 498 127 498 367 498 127 5 127 128 5 144 5 128 446 127 126 128 127 446 464 126 127 143 144 128 143 128 446 143 125 144 143 126 125 446 126 143 124 125 126 124 126 464 304 305 133 304 112 305 45 112 304 305 204 133 332 204 305 112 111 305 305 111 332 133 204 134 204 332 134 111 113 332 111 112 113 112 45 406 112 406 113 113 406 365 365 333 113 45 365 406 365 366 333 365 45 366 288 366 45 366 363 333 366 364 363 288 364 366 333 249 10 363 362 333 333 362 249 362 363 364 362 364 375 456 375 364 364 288 456 288 60 456 455 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1.2685899734497070e+01 -3.7877101898193359e+00 2.9450099945068359e+01 3.6273798942565918e+00 1.2736200332641602e+01 3.3152999877929688e+01 -1.2918499708175659e+00 -1.3188100814819336e+01 4.1700000762939453e+01 -1.3868299722671509e+00 -1.3184299468994141e+01 2.9449998855590820e+01 -7.9923000335693359e+00 -1.0569299697875977e+01 4.1182701110839844e+01 -8.4638795852661133e+00 -1.0191899299621582e+01 4.1700000762939453e+01 -3.5744600296020508e+00 1.2749499320983887e+01 2.4800001144409180e+01 1.5480299949645996e+01 1.0846799850463867e+01 2.8154001235961914e+01 3.1742300987243652e+00 3.8707301616668701e+00 3.5253799438476562e+01 4.7997798919677734e+00 1.3912599086761475e+00 4.1451499938964844e+01 4.7997798919677734e+00 1.3912599086761475e+00 2.4800001144409180e+01 2.2216498851776123e+00 -4.4787802696228027e+00 2.5370800018310547e+01 1.8058999776840210e+00 -4.6614503860473633e+00 3.1703498840332031e+01 -3.6103398799896240e+00 3.4666299819946289e+00 2.5545600891113281e+01 4.9625401496887207e+00 -6.2990200519561768e-01 4.1699802398681641e+01 -3.5861799716949463e+00 3.4918401241302490e+00 2.9449998855590820e+01 -4.7791500091552734e+00 1.8292701721191406e+01 2.4800001144409180e+01 -1.2024999618530273e+01 1.4586599349975586e+01 2.4800001144409180e+01 1.8845800399780273e+01 -1.5313301086425781e+00 2.4800001144409180e+01 -1.6155099868774414e+01 -9.8147907257080078e+00 2.7458200454711914e+01 -1.5312899589538574e+01 -1.1099900245666504e+01 2.6681098937988281e+01 -1.8815999984741211e+01 1.8006500005722046e+00 2.4800001144409180e+01 1.2838600158691406e+01 1.3878400802612305e+01 2.7960899353027344e+01 1.4763799905776978e+00 -1.4887000083923340e+01 3.0511400222778320e+01 -1.2600000381469727e+01 -4.0787100791931152e+00 2.4800001144409180e+01 1.8584499359130859e+01 -3.4542100429534912e+00 2.4800001144409180e+01 1.7056200027465820e+01 -4.6083002090454102e+00 3.0997098922729492e+01 6.7090201377868652e+00 -1.1416500091552734e+01 4.1700000762939453e+01 9.4161397218704224e-01 1.3219099998474121e+01 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 2994 -> 16 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.9449999332427979e+01 -1.2079900130629539e+01 1.4545300044119358e+01) (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00) (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -1.8650999292731285e+01 3.0929599888622761e+00) (float-vector 2.4800000712275505e+01 -1.8387399613857269e+01 -4.3816799297928810e+00) (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01) (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01) (float-vector 2.4800000712275505e+01 -1.4854799654890824e-11 1.8899999558925629e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 2.4800099432468414e+01 -1.1520800180733204e+01 -1.5003800392150879e+01) (float-vector 2.9449900612235069e+01 -1.4166500419378281e+01 -1.2516999617218971e+01) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 -6.8491501733660698e+00 1.1335199698805809e+01) (float-vector 4.1700001806020737e+01 2.2679700050503016e+00 1.3052400201559067e+01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01) (float-vector 4.1700001806020737e+01 -1.3126599602401257e+01 -1.7778499750420451e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 2.4800000712275505e+01 1.7883799737319350e+00 -1.8824499100446701e+01) (float-vector 2.9449999332427979e+01 -6.4647998660802841e+00 -1.7769500613212585e+01) (float-vector 4.1700098663568497e+01 -3.6179700400680304e+00 -1.2741100043058395e+01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.3872900046408176e+01 -1.2846400029957294e+01) (float-vector 2.9449999332427979e+01 6.4079798758029938e+00 -1.7792999744415283e+01) (float-vector 4.1700001806020737e+01 3.5595600493252277e+00 -1.2760800309479237e+01) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 2.9449999332427979e+01 1.7369400709867477e+01 -7.4808998033404350e+00) (float-vector 4.1700001806020737e+01 1.0825200006365776e+01 -7.6326201669871807e+00) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 2.4800000712275505e+01 1.8899999558925629e+01 1.5631899867953915e-11) (float-vector 4.1700001806020737e+01 1.3217699714004993e+01 9.7401399398222566e-01) (float-vector 4.1700001806020737e+01 9.6837403252720833e+00 9.0545499697327614e+00) (float-vector 2.4800000712275505e+01 1.2838600203394890e+01 1.3878400437533855e+01))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "r_wrist_roll_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_sensor_mount_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)))) + (setq glv (instance gl::glvertices :init - (list - (list - (list :type :triangles) - (list :material (list - (list :color (float-vector 0.1 0.1 0.1)) - (list :ambient (float-vector 0.000000 0.800000 0.000000 1.000000)) - (list :diffuse (float-vector 0.000000 0.800000 0.000000 1.000000)) - )) - (list :indices #i( 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 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1.0701100341975689e+01) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.3285299539566040e+01 -1.3288900256156921e+01 -1.1481899768114090e+01) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 2.9728999361395836e+01 -5.4750000126659870e+00 3.9615998975932598e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00)))) - (instance face :init :vertices (nreverse (list (float-vector 3.1224399805068970e+01 -1.3298100791871548e+01 3.5796002484858036e+00) (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.6265000924468040e+01 -1.5916099771857262e+01 -7.9223997890949249e+00) (float-vector 2.3922100663185120e+01 -1.4945900999009609e+01 1.0701100341975689e+01)))) - (instance face :init :vertices (nreverse (list (float-vector 3.0401000753045082e+01 -1.3209300115704536e+01 -6.7199999466538429e+00) (float-vector 2.8005098924040794e+01 -5.5619003251194954e+00 -7.5603998266160488e+00) (float-vector -2.4536000564694405e+00 1.9533900544047356e+01 -8.7679997086524963e+00) (float-vector 2.3285299539566040e+01 -1.3288900256156921e+01 -1.1481899768114090e+01)))) - )) - ) + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.000100 0.000100 0.400000 1.000000)) + (list :diffuse (float-vector 0.000000 0.000000 0.800000 1.000000)))) + (list :indices #i( 0 1 2 2 3 0 4 3 2 2 5 4 6 5 2 2 1 6 3 4 7 7 0 3 0 7 6 6 1 0 6 7 4 4 5 6)) + (list :vertices (let ((mat (make-matrix 8 3))) (fvector-replace (array-entity mat) #f(-5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 -5.0000000000000000e+00 5.0000000000000000e+00 -5.0000000000000000e+00 )) mat))) + ) + )) + (send glv :transform local-cds) + (send glv :calc-normals) + (setq qhull + ;; qhull 36 -> 6 faces + (instance faceset :init :faces (list + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector -4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 -4.9999998882412910e+00) (float-vector 4.9999998882412910e+00 -4.9999998882412910e+00 4.9999998882412910e+00))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "sensor_mount_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) + (:_make_instance_torso_lift_link_geom0 () + (let (geom glv qhull + (local-cds (make-coords :pos (float-vector -5.0000000000000000e+01 0.0000000000000000e+00 7.3967499999999995e+02)))) + (setq glv + (instance gl::glvertices :init + (list ;; mesh list + (list ;; mesh description + (list :type :triangles) + (list :material (list + (list :ambient (float-vector 0.450000 0.450000 0.450000 1.000000)) + (list :diffuse (float-vector 0.900000 0.900000 0.900000 1.000000)))) + (list :indices #i( 0 1 2 2 4 0 4 5 0 5 6 0 0 399 1 6 399 0 397 1 398 1 399 398 1 397 2 2 3 4 397 3 2 393 395 397 395 3 397 397 398 393 399 400 398 398 400 393 399 6 400 396 400 401 393 400 396 400 6 401 393 394 395 394 393 396 395 498 3 394 498 395 498 4 3 4 498 7 498 499 500 498 500 7 394 499 498 427 394 396 427 499 394 427 396 401 499 427 401 406 499 401 405 500 499 406 405 499 405 406 402 406 412 402 406 401 412 402 426 405 426 500 405 402 403 404 402 412 403 404 426 402 412 428 403 401 428 412 404 403 429 403 430 429 403 428 430 429 431 404 429 430 431 404 407 408 404 408 426 404 431 407 426 408 500 413 408 407 413 500 408 414 413 407 431 432 407 407 432 414 431 428 432 430 428 431 432 433 414 432 434 433 428 434 432 414 415 413 414 411 415 414 433 411 500 413 415 410 415 411 415 410 500 409 410 411 433 437 411 411 437 409 434 436 433 433 436 437 428 435 434 435 436 434 436 438 437 435 438 436 409 437 417 417 437 419 437 438 419 435 420 438 438 420 419 435 428 420 419 420 421 420 440 421 420 441 440 420 423 441 420 428 423 417 419 421 421 440 417 417 440 439 440 442 439 441 442 440 441 422 442 422 441 423 439 442 422 417 439 416 416 439 425 439 422 425 422 423 424 424 500 422 425 422 500 425 418 416 418 425 500 416 409 417 416 418 409 409 418 410 500 410 418 424 487 500 500 487 501 7 500 497 500 501 478 497 500 475 476 500 478 476 475 500 445 476 478 445 478 453 478 451 453 451 478 501 475 476 444 444 476 445 443 444 445 445 453 454 445 454 443 452 453 451 454 453 452 449 450 451 451 450 452 451 501 449 449 464 450 449 479 464 501 479 449 450 464 465 464 479 480 464 480 465 480 479 501 480 481 465 480 501 481 462 465 469 450 465 462 469 465 481 481 482 469 481 501 482 463 469 466 462 469 463 469 482 466 461 462 463 450 462 461 461 463 457 463 466 457 466 467 468 457 466 468 466 482 467 467 482 501 468 467 471 501 471 467 457 468 471 471 472 458 471 483 472 457 471 458 471 501 483 470 472 473 458 472 470 472 483 473 456 457 458 458 470 456 456 470 459 459 470 473 483 484 473 473 484 459 501 484 483 484 485 459 501 485 484 459 460 456 459 485 460 488 489 485 485 489 460 485 501 488 460 489 456 489 391 390 488 391 489 390 456 489 487 391 488 488 501 487 486 487 424 372 487 486 372 375 487 339 487 375 487 339 391 486 424 344 372 486 344 423 344 424 343 344 294 343 342 344 342 372 344 344 423 491 491 294 344 423 428 490 491 423 490 490 383 491 383 258 491 491 258 295 295 294 491 490 428 401 401 6 490 384 490 34 34 490 6 384 383 490 7 6 5 7 8 6 57 34 6 6 8 57 4 7 5 7 385 8 492 7 493 492 385 7 497 493 7 8 385 330 385 496 330 496 385 492 386 492 493 331 496 492 331 492 386 332 493 494 386 493 332 493 497 494 331 386 332 111 332 333 111 331 332 332 494 333 333 494 495 497 495 494 333 387 111 448 387 333 333 495 446 333 446 448 446 495 497 446 447 448 447 446 477 446 497 477 475 477 497 477 475 447 447 474 448 447 475 474 474 475 444 474 444 455 448 474 455 455 444 443 452 455 443 448 455 452 443 454 452 140 452 450 387 448 452 387 452 140 140 450 457 457 450 461 140 457 456 456 176 140 390 176 456 138 176 137 140 176 138 137 176 179 176 181 179 390 181 176 390 391 388 335 390 388 181 390 335 181 165 179 181 201 165 181 334 201 335 334 181 335 388 334 388 389 334 388 391 389 389 391 392 392 391 339 334 389 291 291 389 336 389 392 336 292 201 334 291 292 334 196 291 193 292 291 196 193 291 208 291 336 208 201 292 197 197 292 196 195 196 193 195 197 196 190 191 193 195 193 191 193 160 190 193 208 160 194 195 191 194 197 195 194 192 197 198 197 192 201 197 198 192 194 191 190 157 191 191 157 165 192 191 165 198 192 165 201 198 165 157 156 165 164 165 156 179 165 164 156 157 158 157 190 158 156 158 123 158 160 123 158 190 160 122 123 120 122 156 123 123 154 120 160 154 123 160 208 154 153 124 154 154 124 120 153 154 208 118 119 120 122 120 119 118 120 124 124 125 118 153 125 124 155 125 153 208 155 153 125 132 118 151 125 152 132 125 151 155 188 125 125 188 152 155 189 188 155 208 189 188 206 152 189 206 188 151 152 97 97 152 150 206 207 152 152 207 150 189 208 206 206 311 207 208 311 206 311 150 207 150 93 97 150 322 329 311 322 150 150 329 93 208 310 311 310 322 311 313 310 208 336 313 208 312 310 313 325 322 310 325 310 312 289 241 325 326 325 241 325 326 322 289 325 312 235 241 238 235 244 241 238 241 289 326 241 244 244 322 326 244 245 246 234 244 235 245 244 234 246 290 244 290 322 244 234 235 236 235 238 236 236 240 234 240 243 234 243 245 234 246 245 243 240 242 243 242 246 243 239 240 236 237 240 239 237 242 240 236 238 239 237 239 228 238 288 239 239 288 228 237 228 233 233 242 237 233 246 242 233 228 224 224 246 233 228 225 224 225 228 288 224 225 226 230 224 226 247 246 224 230 247 224 246 329 290 247 329 246 247 328 329 93 329 308 290 329 322 329 328 308 327 328 223 223 328 247 328 327 307 308 328 307 94 308 307 93 308 94 94 307 205 307 309 205 307 327 309 223 205 327 327 205 309 94 205 16 16 205 17 17 205 187 187 205 223 13 16 14 16 17 14 16 13 94 184 185 17 187 184 17 17 12 14 185 12 17 12 13 14 12 10 13 13 10 62 13 62 94 9 10 11 12 11 10 62 10 9 11 15 9 62 9 15 202 15 11 288 11 12 203 11 288 11 203 202 203 204 202 202 204 15 203 255 248 282 255 203 288 282 203 248 204 203 258 204 248 42 204 258 204 42 43 15 204 43 30 37 42 37 41 42 41 43 42 30 42 383 383 42 258 43 39 15 39 43 41 41 37 36 41 36 39 35 36 37 30 35 37 35 38 36 39 36 38 39 38 40 15 39 40 63 15 61 15 40 61 63 62 15 38 58 40 72 40 58 61 40 73 40 72 73 38 35 58 71 72 58 35 71 58 71 83 72 87 76 72 87 72 83 73 72 76 35 59 71 21 71 59 84 83 71 71 21 84 113 87 83 84 113 83 21 23 84 89 84 23 89 113 84 21 22 23 89 23 22 21 24 22 21 29 24 29 21 59 24 27 22 22 27 60 22 60 89 25 27 24 24 29 25 25 26 27 26 60 27 79 60 26 79 89 60 25 28 26 28 68 26 68 79 26 29 28 25 28 65 78 28 29 65 78 68 28 68 80 79 78 105 68 107 80 68 107 68 105 77 78 65 77 105 78 105 77 106 134 135 105 105 135 107 105 106 134 107 101 80 107 135 101 80 100 79 101 100 80 135 167 101 101 167 100 135 134 166 166 167 135 166 134 168 166 169 167 166 171 169 168 171 166 170 171 168 168 134 136 168 137 170 137 168 136 173 171 170 173 177 171 177 175 171 171 175 169 170 137 179 179 173 170 180 177 173 179 180 173 177 200 175 180 200 177 175 174 169 175 178 174 200 178 175 200 163 178 200 180 164 163 200 164 180 179 164 163 164 156 163 156 159 159 162 163 163 162 178 199 174 178 199 178 161 178 162 161 159 161 162 156 122 159 159 122 126 161 159 126 126 128 161 199 161 128 174 199 128 126 127 128 144 172 128 174 128 172 144 128 127 129 126 119 129 127 126 126 122 119 144 127 145 145 127 182 127 129 182 119 121 129 121 130 129 182 129 130 119 118 121 121 131 130 118 131 121 182 130 183 130 131 183 182 146 145 182 183 146 146 183 147 148 183 131 148 147 183 131 118 132 131 132 148 147 148 143 149 143 148 148 132 149 146 147 142 147 143 142 146 142 145 141 142 114 114 142 143 141 145 142 145 141 144 20 19 144 20 144 141 167 144 133 133 144 19 167 172 144 18 19 20 19 18 99 19 99 133 104 133 99 133 104 167 100 167 104 172 167 169 169 174 172 100 104 79 79 104 20 20 104 99 18 20 99 79 20 103 103 20 141 79 103 89 102 90 103 90 89 103 103 141 102 102 141 113 141 114 113 90 102 113 88 89 90 90 113 88 89 88 113 113 114 87 115 87 114 114 143 115 76 87 86 86 87 115 86 115 116 143 117 115 116 115 117 149 151 143 151 117 143 91 116 117 91 117 95 117 97 95 151 97 117 86 116 91 85 76 86 91 85 86 95 92 91 92 85 91 92 95 96 95 97 96 96 97 92 92 97 98 97 93 98 98 93 92 92 93 94 94 64 92 85 92 75 64 75 92 85 75 76 74 73 75 75 73 76 74 75 64 73 74 64 64 62 61 73 64 61 94 62 64 61 62 63 132 151 149 136 112 137 138 137 139 109 137 112 137 109 139 136 134 108 108 112 136 112 110 109 112 108 110 109 110 111 109 111 139 138 139 140 139 111 140 331 111 110 111 387 140 108 81 110 81 69 110 69 331 110 69 330 331 330 496 331 67 69 70 81 70 69 69 8 330 69 67 8 81 82 70 82 81 108 56 67 70 56 70 106 70 82 106 8 67 56 8 56 57 54 56 47 54 57 56 47 56 77 56 106 77 108 134 106 108 106 82 47 77 65 44 47 45 54 47 44 47 65 45 44 55 54 57 54 55 57 55 34 44 46 55 34 55 46 44 45 46 31 34 45 34 46 45 31 45 65 33 34 31 33 384 34 31 30 33 30 383 33 383 384 33 30 31 32 35 30 32 32 31 52 52 35 32 35 52 59 31 51 52 51 53 52 53 59 52 29 59 53 53 51 29 29 51 65 48 50 51 48 51 31 65 51 66 50 66 51 66 48 65 31 65 48 48 49 50 49 48 66 50 49 66 256 257 258 257 268 258 258 269 273 278 272 258 248 256 258 268 278 258 258 272 269 273 293 258 258 293 295 268 257 275 268 275 278 278 275 274 274 272 278 269 272 270 274 277 272 270 272 277 274 275 276 274 276 277 289 275 257 276 275 289 277 276 279 289 279 276 277 279 270 269 270 271 279 271 270 289 271 279 273 271 280 269 271 273 271 289 280 280 281 273 286 273 281 286 293 273 280 284 281 289 284 280 284 285 281 281 285 286 286 285 287 295 286 324 295 293 286 287 324 286 289 285 284 287 285 289 324 287 323 289 323 287 324 323 295 294 295 296 323 296 295 296 323 289 238 289 288 257 288 289 296 289 312 256 265 257 288 257 265 250 256 248 266 265 256 250 266 256 266 267 265 288 265 267 250 252 266 252 267 266 248 249 250 249 252 250 248 253 254 248 255 253 254 249 248 249 251 252 254 251 249 260 267 252 252 251 260 260 283 267 288 267 283 251 259 260 264 283 260 259 264 260 254 261 251 251 261 259 253 261 254 255 261 253 255 282 262 255 262 261 261 262 259 259 263 264 262 263 259 264 263 288 288 283 264 282 263 262 288 263 282 209 288 218 221 288 209 218 288 12 288 229 225 231 288 221 229 288 231 215 12 185 215 214 12 218 12 214 212 215 216 215 185 216 212 214 215 186 185 184 216 185 186 187 216 186 216 227 212 187 227 216 212 213 214 212 227 213 219 218 214 213 219 214 227 223 213 213 223 219 187 223 227 186 184 187 219 223 217 210 223 220 223 247 220 217 223 210 217 218 219 210 218 217 209 218 210 209 210 211 211 210 220 220 221 222 232 221 220 211 220 222 220 247 232 232 247 230 230 231 232 232 231 221 222 221 209 211 222 209 230 229 231 226 229 230 226 225 229 313 314 312 314 315 312 316 312 315 316 321 312 312 304 296 312 321 304 313 315 314 313 317 315 317 316 315 318 316 317 321 316 318 318 317 319 317 313 319 320 318 319 320 321 318 336 337 319 336 319 313 321 319 305 305 319 337 320 319 321 336 392 337 305 337 339 340 339 337 392 340 337 303 301 305 301 321 305 338 305 339 305 338 303 301 303 302 303 359 302 303 361 359 338 361 303 300 301 302 300 304 301 304 321 301 359 300 302 359 360 358 359 358 300 361 360 359 338 364 361 361 364 360 339 364 338 364 363 360 364 365 363 365 364 382 364 339 382 360 357 358 360 363 357 358 355 300 358 357 355 357 356 355 357 362 356 363 362 357 363 378 362 363 365 378 378 365 379 365 382 379 382 381 379 381 382 339 378 379 377 379 374 380 377 379 380 379 381 374 362 378 377 356 362 353 362 377 353 353 377 368 377 369 368 377 380 369 369 380 374 369 370 368 369 374 370 374 373 370 374 376 373 381 376 374 381 339 376 376 375 373 376 339 375 366 373 371 373 375 371 370 373 366 368 370 366 354 366 367 368 366 354 366 371 367 371 372 367 371 375 372 354 367 342 367 372 342 354 342 351 352 354 351 352 368 354 341 342 343 341 346 342 346 351 342 350 351 346 352 351 350 349 353 352 349 352 350 353 368 352 298 349 350 347 350 346 298 350 347 341 347 346 343 345 341 345 347 341 306 345 343 306 343 294 299 347 345 299 345 306 298 347 299 297 298 299 299 306 297 297 306 294 294 296 297 297 296 298 296 304 298 304 300 298 300 348 298 300 355 348 348 349 298 355 356 348 348 356 349 356 353 349 392 339 340)) + (list :vertices (let ((mat (make-matrix 502 3))) (fvector-replace (array-entity mat) #f(1.1006800079345703e+02 1.4304899597167969e+02 -5.8909704589843750e+02 1.0717199707031250e+02 1.3988900756835938e+02 -5.8938098144531250e+02 1.0693299865722656e+02 1.4009300231933594e+02 -5.8959301757812500e+02 1.0659200286865234e+02 1.4034899902343750e+02 -5.8967797851562500e+02 1.1192700195312500e+02 1.4696099853515625e+02 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(nreverse (list (float-vector -2.1220999956130981e+02 1.8981699645519257e+02 -5.3838002681732178e+02) (float-vector -2.1655599772930145e+02 2.0198699831962585e+02 -7.8457599878311157e+02) (float-vector 3.4876901656389236e+01 2.6142400503158569e+02 -5.8955198526382446e+02) (float-vector 4.6578399837017059e+01 2.6357299089431763e+02 -5.7835900783538818e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 9.1386601328849792e+01 2.5099799036979675e+02 -5.7846498489379883e+02) (float-vector 1.0531499981880188e+02 2.0570600032806396e+02 -4.5325300097465515e+02) (float-vector 4.6578399837017059e+01 2.6357299089431763e+02 -5.7835900783538818e+02) (float-vector 7.0479802787303925e+01 2.6147800683975220e+02 -5.8943897485733032e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.6677498370409012e+01 2.0574699342250824e+02 -4.5159399509429932e+02) (float-vector 6.0268901288509369e+01 1.9486600160598755e+02 -4.3244901299476624e+02) (float-vector -3.8815401494503021e+01 1.9121900200843811e+02 -4.3100199103355408e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 6.0268901288509369e+01 1.9486600160598755e+02 -4.3244901299476624e+02) (float-vector -3.6677498370409012e+01 2.0574699342250824e+02 -4.5159399509429932e+02) (float-vector 4.6578399837017059e+01 2.6357299089431763e+02 -5.7835900783538818e+02) (float-vector 1.0531499981880188e+02 2.0570600032806396e+02 -4.5325300097465515e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector -3.8815401494503021e+01 1.9121900200843811e+02 -4.3100199103355408e+02) (float-vector 6.0268901288509369e+01 1.9486600160598755e+02 -4.3244901299476624e+02) (float-vector 1.0912799835205078e+02 1.7892999947071075e+02 -4.2861899733543396e+02) (float-vector 6.1044398695230484e+01 1.7959499359130859e+02 -4.2708700895309448e+02) (float-vector -5.2175700664520264e+01 1.6535000503063202e+02 -4.2710900306701660e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 6.0268901288509369e+01 1.9486600160598755e+02 -4.3244901299476624e+02) (float-vector 1.1213400214910507e+02 1.8991300463676453e+02 -4.3602299690246582e+02) (float-vector 1.0912799835205078e+02 1.7892999947071075e+02 -4.2861899733543396e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1213400214910507e+02 1.8991300463676453e+02 -4.3602299690246582e+02) (float-vector 6.0268901288509369e+01 1.9486600160598755e+02 -4.3244901299476624e+02) (float-vector 1.0531499981880188e+02 2.0570600032806396e+02 -4.5325300097465515e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1213400214910507e+02 1.8991300463676453e+02 -4.3602299690246582e+02) (float-vector 1.0531499981880188e+02 2.0570600032806396e+02 -4.5325300097465515e+02) (float-vector 1.1303800344467163e+02 2.2921000421047211e+02 -5.8932399749755859e+02) (float-vector 1.3851499557495117e+02 1.6910600662231445e+02 -5.1382297277450562e+02) (float-vector 1.1662600189447403e+02 1.8145099282264709e+02 -4.3553501367568970e+02))))) + (instance face :init :vertices + (mapcar #'(lambda (v) (send local-cds :transform-vector v)) + (nreverse (list (float-vector 1.1213400214910507e+02 1.8991300463676453e+02 -4.3602299690246582e+02) (float-vector 1.1662600189447403e+02 1.8145099282264709e+02 -4.3553501367568970e+02) (float-vector 1.4398899674415588e+02 1.0713200084865093e+01 -4.2358800768852234e+02) (float-vector 1.0912799835205078e+02 1.7892999947071075e+02 -4.2861899733543396e+02))))) + )) + ) + (setq geom (instance collada-body :init :replace-obj qhull :name "torso_lift_link_geom0")) + (when glv + (setq (geom . gl::aglvertices) glv) + (send geom :assoc glv)) + geom)) ) - -(provide :pr2 "/home/furushchev/ros/hydro/src/jsk-ros-pkg/jsk_pr2eus/pr2eus//tmp/pr2_21717.l") +(provide :pr2 "(ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 06:41:50 UTC") ;; ;; additional robot model description from camera_info -;; based on EusLisp 9.12(fada0ef 1.0.4) for Linux64 created on pr1012(Thu Jun 18 07:20:07 PDT 2015) -;; and irteus "ff5d0b3" +;; based on EusLisp 9.26( 1.2.1) for Linux64 created on ip-172-30-1-118(Tue Oct 8 16:03:51 UTC 2019) +;; and irteus "1.7.4-11-gbca736a" ;; ;; make-camera-from-ros-camera-info-aux is defined in roseus since 1.0.1, but to use this code in jskeus, we re-define here -(defun make-camera-from-ros-camera-info-aux (pwidth pheight p frame-coords &rest args) - (let* ((fx (elt p 0))(fy (elt p 5)) - (cx (elt p 2))(cy (elt p 6)) - (fx*tx (elt p 3))(fy*ty (elt p 7)) - (tx (* 1000 (/ fx*tx fx))) - (ty (* 1000 (/ fy*ty fy))) - ) - (apply #'make-camera-from-param :pwidth pwidth :pheight pheight - :fx fx :fy fy :cx cx :cy cy - :tx tx :ty ty :parent-coords frame-coords args))) +(defun make-camera-from-ros-camera-info-aux (pwidth pheight p frame-coords &rest args) (let* ((fx (elt p 0)) (fy (elt p 5)) (cx (elt p 2)) (cy (elt p 6)) (fx*tx (elt p 3)) (fy*ty (elt p 7)) (tx (* 1000 (/ fx*tx fx))) (ty (* 1000 (/ fy*ty fy)))) (apply #'make-camera-from-param :pwidth pwidth :pheight pheight :fx fx :fy fy :cx cx :cy cy :tx tx :ty ty :parent-coords frame-coords args))) ;; (defun pr2 () (setq *pr2* (instance pr2-sensor-robot :init))) @@ -10550,28 +12439,28 @@ get frame coordinates data from pr1012:/etc/ros/distro/urdf/robot.xml |# ;; define cameras - ;; # #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) (setq kinect_head-depth (make-camera-from-ros-camera-info-aux 640 480 #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_ir_optical_frame_lk :name :kinect_head/depth)) - ;; # #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) (setq kinect_head-rgb (make-camera-from-ros-camera-info-aux 640 480 #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_rgb_optical_frame_lk :name :kinect_head/rgb)) - ;; # #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) - ;; # #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) - ;; # #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) - ;; # #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) - ;; # #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) - ;; # #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) (setq cameras (list (send self :kinect_head-depth) (send self :kinect_head-rgb) (send self :r_forearm_cam) (send self :l_forearm_cam) (send self :wide_stereo-right) (send self :wide_stereo-left) (send self :narrow_stereo-right) (send self :narrow_stereo-left))) From 1451fc9fc575f05be0087a47056ec48ba6a69e8c Mon Sep 17 00:00:00 2001 From: Yuto Uchimi Date: Fri, 18 Oct 2019 15:52:20 +0900 Subject: [PATCH 03/12] Update pr2 model file from pr1040 urdf and camera_info --- pr2eus/test/pr1040_camera_info.bag | Bin 0 -> 504097 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 pr2eus/test/pr1040_camera_info.bag diff --git a/pr2eus/test/pr1040_camera_info.bag b/pr2eus/test/pr1040_camera_info.bag new file mode 100644 index 0000000000000000000000000000000000000000..11940fc29090cc0136ac3b49e9d511c99f09d59f GIT binary patch literal 504097 zcmeFa2YeJ&_y3>X2qdJDKthIuG*UN(6bxBeQ05r|NndP5_e~J%H8?Q``mNy{mh-j z@#PZ+4j3j(&dtgR8sg#M5eomR>z$TamDN_K#Zl@B%OUug)nZ{E1;Sz&{4-f5gJKxcr?0G$Ck19S%H4A2?S z@)<~jX1v%BU~Oo$8SQqH)lzD)T8ylD?~5G(cGDbV>1P-DdEmc(@Bw~^odl)uDs=?- zC%}7$wb4{vnmx;8F;+V&>y3t*Y+GGbcD13wXfsrrEVb5e<2^idxVgb>Hrh-z?N^p< zSZT4=7|ljUWrM+Ds59DvU?a1^QC)Ac)RpF>z*0j^f!*0qT3u`?D5};~G+hJ-6*twjQiG5q_6= 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z!R;CtUBkE>*qeeL7v_>50J0tV!NtTJ4IvrK79)&idRj+)8mskcH3Uh)&Hfo1;D4PB z@E2$6Z$bu8!bHA5PUhEHbQ7v!b$Vft9~{C5C-D_}7;7&?vOp*JgQYjs7}TZk(j&{O z+?EzZ3mXZz1;CFGwZ&+rpHIWjEBl^IM{WTudM|W@?=twqPXZj^F@8J2cNh3`hQCPo a!{qSW75-A-591Z!G45G_aS$*){QiFoPC(26 literal 0 HcmV?d00001 From b3e273876dbaea46f40c0711d953ddb756c10e5a Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 17 Dec 2019 12:02:12 +0000 Subject: [PATCH 04/12] fix make-pr2-model-file.l to support multiple robot --- pr2eus/make-pr2-model-file.l | 182 ++++++++++++++++++++++------------- 1 file changed, 115 insertions(+), 67 deletions(-) diff --git a/pr2eus/make-pr2-model-file.l b/pr2eus/make-pr2-model-file.l index 1b549992f..250f461ab 100644 --- a/pr2eus/make-pr2-model-file.l +++ b/pr2eus/make-pr2-model-file.l @@ -1,11 +1,18 @@ -(defun make-pr2-model-file (&key (output-directory (ros::rospack-find "pr2eus"))) - (let ((robot "pr2") s - fname_urdf fname_collada fname_yaml fname_lisp - valid-cameras camera-paths) - (unless (setq s (ros::get-param "/robot_description")) - (ros::ros-error "could not load model file from /robot_description~%") - (return-from make-pr2-model-file)) +;; re-define until https://github.com/jsk-ros-pkg/jsk_roseus/pull/629 is merged +(defun ros::list-param () + "Get the list of all the parameters in the server" + (let ((s (piped-fork "rosparam list")) tmp ret) + (while (setq tmp (read s nil)) + (push (format nil "~A" tmp) ret)) + ret)) + +(defun get-pr2-names () + ;; get list of rosparam + (reverse (mapcan #'(lambda (x) (if (substringp "robot_description" x) (list (string-left-trim "/" (string-right-trim "/robot_description" x))))) + (ros::list-param)))) +(defun make-pr2-robot-model (robot robot-description) + (let (fname_urdf fname_collada fname_yaml fname_lisp) ;; variable setup (setq fname_urdf (format nil "/tmp/~a_~d.urdf" robot (unix::getpid))) (setq fname_collada (format nil "/tmp/~a_~d.dae" robot (unix::getpid))) @@ -16,15 +23,20 @@ (unless (probe-file fname_lisp) (with-open-file (f fname_urdf :direction :output) - (format f s)) + (format f robot-description)) (unix::system (format nil "rosrun collada_urdf urdf_to_collada ~A ~A" fname_urdf fname_collada)) (unix::system (format nil "rosrun euscollada collada2eus ~A ~A ~A" fname_collada fname_yaml fname_lisp)) (warning-message 2 "load model file from parameter server /robot_description to ~A~%" fname_lisp) ) + )) - ;; camera setup +(defun make-pr2-sensor-model (robot robot-camera-map) + (let (fname_list robot-names all-valid-cameras) + (setq robot-names (mapcar #'car robot-camera-map)) + (setq all-valid-cameras (remove-duplicates (mapcan #'cdr (copy-object robot-camera-map)) :test #'string= :key #'(lambda (x) (cdr (assoc :camera-name x))))) + (setq fname_lisp (format nil "/tmp/~a_~d.l" robot (unix::getpid))) (with-open-file (f fname_lisp :direction :output :if-exists :append) (format f ";;~%") @@ -35,85 +47,121 @@ (format f ";; make-camera-from-ros-camera-info-aux is defined in roseus since 1.0.1, but to use this code in jskeus, we re-define here~%") (format f "~A~%" (nconc (list 'defun 'make-camera-from-ros-camera-info-aux) (cddddr #'make-camera-from-ros-camera-info-aux))) (format f ";;~%") - (format f "(defun pr2 () (setq *pr2* (instance pr2-sensor-robot :init)))~%") + (format f "(defun pr2 (&optional (name :~A)) (setq *pr2* (instance pr2-sensor-robot :init name)))~%" (car robot-names)) (format f "~%") - (setq camera-paths - (list "narrow_stereo/left" - "narrow_stereo/right" - "wide_stereo/left" - "wide_stereo/right" - "l_forearm_cam" - "r_forearm_cam" - "prosilica" - "kinect_head/rgb" - "kinect_head/depth" - )) - (dolist (camera-path camera-paths) - (let* ((camera-info (format nil "~A/camera_info" camera-path)) - (camera-name (substitute #\- #\/ (string-downcase camera-path))) - (var (intern (string-upcase camera-name))) - (frame-id) - (i 0)) - (ros::subscribe camera-info sensor_msgs::CameraInfo - #'(lambda (msg) - (set var msg) - var)) - - (ros::rate 10) - (while (and (ros::ok) (not (boundp var)) (< (incf i) 50)) - (ros::spin-once) - (ros::sleep)) - (ros::unsubscribe camera-info) - (if (boundp var) - (progn - (setq var (eval var)) - (setq frame-id (send var :header :frame_id)) - (if (eq (elt frame-id 0) #\/) (setq frame-id (subseq frame-id 1))) - (warning-message 2 "received ~A ~A ~A~%" camera-info var frame-id) - (push (list (cons :camera-path camera-path) (cons :camera-name camera-name) (cons :camera-info camera-info) (cons :frame-id frame-id)) valid-cameras)) - (ros::ros-error "could not receive ~A ~A" camera-info var)) - ) ;; let - ) ;; dolist + ;; (format f "(defclass ~A-sensor-robot~%" robot) (format f " :super pr2-robot~%") - (format f " :slots (") - (dolist (valid-camera valid-cameras) + (format f " :slots (name ") + (dolist (valid-camera all-valid-cameras) (let* ((camera-name (cdr (assoc :camera-name valid-camera)))) - (format f "~A " camera-name))) + (format f "~A " camera-name))) (format f "))~%") (format f "~%") (format f "(defmethod ~A-sensor-robot~%" robot) - (format f " (:init (&rest args)~%") + (format f " (:init (n &rest args)~%") (format f " (send-super* :init args)~%") + (format f " (setq name n)~%") ;; pr2 specific kinect_head frames (format f " ;; kinect_head frame definition, this data is taken from jsk_pr2_startup kinect_head_launch ~%") (format f "#|~%") (format f " get frame coordinates data from pr1012:/etc/ros/distro/urdf/robot.xml~%") (format f "|#~%") - (format f " ;; define cameras~%") - (dolist (valid-camera valid-cameras) - (let* ((camera-path (cdr (assoc :camera-path valid-camera))) - (camera-name (cdr (assoc :camera-name valid-camera))) - (frame-id (cdr (assoc :frame-id valid-camera))) - (var (eval (intern (string-upcase camera-name))))) - (format f " ;; ~A ~A~%" var (send var :P)) - (format f " (setq ~A (make-camera-from-ros-camera-info-aux ~A ~A ~A ~A_lk :name :~A))~%~%" camera-name (send var :width) (send var :height) (send var :p) frame-id camera-path))) - ;; :cameras - (format f " (setq cameras (list ") - (dolist (valid-camera valid-cameras) - (let ((camera-name (cdr (assoc :camera-name valid-camera)))) - (format f " (send self :~A)" camera-name))) - (format f "))~%") + (format f " (case name~%") + (dolist (robot-name robot-names) + (setq valid-cameras (cdr (assoc robot-name robot-camera-map :test #'string=))) + (format f " ;; define cameras for ~A~%" robot-name) + (format f " (:~A~%" robot-name) + (dolist (valid-camera valid-cameras) + (let* ((camera-path (cdr (assoc :camera-path valid-camera))) + (camera-name (cdr (assoc :camera-name valid-camera))) + (frame-id (cdr (assoc :frame-id valid-camera))) + (var (eval (intern (string-upcase (format nil "~A_~A" robot-name camera-name)))))) + (format f " ;; ~A ~A~%" (send (class var) :name) (send var :P)) + (format f " (setq ~A (make-camera-from-ros-camera-info-aux ~A ~A ~A ~A_lk :name :~A))~%~%" camera-name (send var :width) (send var :height) (send var :p) frame-id camera-path))) + ;; :cameras + (format f " (setq cameras (list ") + (dolist (valid-camera valid-cameras) + (let ((camera-name (cdr (assoc :camera-name valid-camera)))) + (format f " (send self :~A)" camera-name))) + (format f "))~%") + (format f " ) ;; case ~A~%" robot-name)) ;; ease + (format f " )~%") (format f " self)~%") (format f "~%") ;; accessor to camera - (dolist (valid-camera valid-cameras) + (dolist (valid-camera all-valid-cameras) (let* ((camera-name (cdr (assoc :camera-name valid-camera)))) (format f " (:~A (&rest args) (forward-message-to ~A args))~%" camera-name camera-name))) (format f " ) ;; defmethod ~A-robot~%~%~%" robot) ) ;; with-open-file - (warning-message 1 "copy model file from ~A to ~A/~A.l~%" fname_lisp output-directory robot) + )) + +(defun make-pr2-model-file (&key (output-directory (ros::rospack-find "pr2eus"))) + (let ((robot "pr2") robot-description robot-names + robot-camera-map camera-paths) + + ;; get robot naems from robot_description + (setq robot-names (get-pr2-names)) + (ros::ros-info "found ~A robots, ~A" (length robot-names) robot-names) + + (unless (setq robot-description (ros::get-param (format nil "/~A/robot_description" (car robot-names)))) + (ros::ros-error "could not load model file from /robot_description~%") + (return-from make-pr2-model-file)) + + (make-pr2-robot-model robot robot-description) + + (setq camera-paths + (list "narrow_stereo/left" + "narrow_stereo/right" + "wide_stereo/left" + "wide_stereo/right" + "l_forearm_cam" + "r_forearm_cam" + "prosilica" + "kinect_head/rgb" + "kinect_head/depth" + )) + (dolist (robot-name robot-names) + (let (valid-cameras) + (dolist (camera-path camera-paths) + (let* ((camera-info (format nil "/~A/~A/camera_info" robot-name camera-path)) + (camera-name (substitute #\- #\/ (string-downcase camera-path))) + (var (intern (string-upcase (format nil "~A_~A" robot-name camera-name)))) + (frame-id) + (i 0)) + (ros::subscribe camera-info sensor_msgs::CameraInfo + #'(lambda (msg) + (set var msg) + var)) + (ros::rate 10) + (while (and (ros::ok) (not (boundp var)) (< (incf i) 50)) + (ros::spin-once) + (ros::sleep)) + (ros::unsubscribe camera-info) + (if (boundp var) + (progn + (setq var (eval var)) + (setq frame-id (send var :header :frame_id)) + (if (eq (elt frame-id 0) #\/) (setq frame-id (subseq frame-id 1))) + (warning-message 2 "received ~A ~A ~A~%" camera-info (send var :P) frame-id) + (push (list (cons :camera-path camera-path) (cons :camera-name camera-name) (cons :camera-info camera-info) (cons :frame-id frame-id)) valid-cameras)) + (ros::ros-error "could not receive ~A ~A" camera-info var)) + )) ;; dolist (let * + (setq robot-name (if (string= robot-name "") "pr2" robot-name)) ;; for blank robot name + (push (cons robot-name valid-cameras) robot-camera-map) + )) + (setq robot-camera-map (reverse robot-camera-map)) + (make-pr2-sensor-model robot robot-camera-map) + + + (warning-message 2 ";;~%") + (warning-message 2 ";; copy model file from ~A to ~A/~A.l~%" fname_lisp output-directory robot) + (warning-message 2 ";;~%") (unix::system (format nil "mv ~A ~A/~A.l" fname_lisp output-directory robot)) + (warning-message 2 ";;~%") + (warning-message 2 ";; successfully generated ~A/~A robot file, now exiting program...~%" output-directory robot) + (warning-message 2 ";;~%") )) ;;(ros::roseus "make-pr2-modle-file") From 81034eaf3ceb241a7d6681fff2a91b248e5bacf0 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 17 Dec 2019 12:04:09 +0000 Subject: [PATCH 05/12] update pr2.l for both pr1012/pr1040 --- pr2eus/pr2.l | 83 +++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 60 insertions(+), 23 deletions(-) diff --git a/pr2eus/pr2.l b/pr2eus/pr2.l index 9ec613c25..a46b3e0cc 100644 --- a/pr2eus/pr2.l +++ b/pr2eus/pr2.l @@ -1,7 +1,7 @@ ;; ;; DO NOT EDIT THIS FILE ;; -;; this file is automatically generated from /tmp/pr2_30199.l on (Linux ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 06:41:50 UTC +;; this file is automatically generated from /tmp/pr2_3668.l on (Linux ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 12:03:24 UTC ;; ;; /home/user/.ros $ ;; @@ -12415,7 +12415,7 @@ ) -(provide :pr2 "(ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 06:41:50 UTC") +(provide :pr2 "(ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 12:03:24 UTC") ;; ;; additional robot model description from camera_info @@ -12425,49 +12425,86 @@ ;; make-camera-from-ros-camera-info-aux is defined in roseus since 1.0.1, but to use this code in jskeus, we re-define here (defun make-camera-from-ros-camera-info-aux (pwidth pheight p frame-coords &rest args) (let* ((fx (elt p 0)) (fy (elt p 5)) (cx (elt p 2)) (cy (elt p 6)) (fx*tx (elt p 3)) (fy*ty (elt p 7)) (tx (* 1000 (/ fx*tx fx))) (ty (* 1000 (/ fy*ty fy)))) (apply #'make-camera-from-param :pwidth pwidth :pheight pheight :fx fx :fy fy :cx cx :cy cy :tx tx :ty ty :parent-coords frame-coords args))) ;; -(defun pr2 () (setq *pr2* (instance pr2-sensor-robot :init))) +(defun pr2 (&optional (name :pr1012)) (setq *pr2* (instance pr2-sensor-robot :init name))) (defclass pr2-sensor-robot :super pr2-robot - :slots (kinect_head-depth kinect_head-rgb r_forearm_cam l_forearm_cam wide_stereo-right wide_stereo-left narrow_stereo-right narrow_stereo-left )) + :slots (name kinect_head-depth kinect_head-rgb prosilica r_forearm_cam l_forearm_cam wide_stereo-right wide_stereo-left narrow_stereo-right narrow_stereo-left )) (defmethod pr2-sensor-robot - (:init (&rest args) + (:init (n &rest args) (send-super* :init args) + (setq name n) ;; kinect_head frame definition, this data is taken from jsk_pr2_startup kinect_head_launch #| get frame coordinates data from pr1012:/etc/ros/distro/urdf/robot.xml |# - ;; define cameras - ;; sensor_msgs::camerainfo #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) - (setq kinect_head-depth (make-camera-from-ros-camera-info-aux 640 480 #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_ir_optical_frame_lk :name :kinect_head/depth)) + (case name + ;; define cameras for pr1012 + (:pr1012 + ;; sensor_msgs::camerainfo #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) + (setq kinect_head-depth (make-camera-from-ros-camera-info-aux 640 480 #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_ir_optical_frame_lk :name :kinect_head/depth)) - ;; sensor_msgs::camerainfo #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) - (setq kinect_head-rgb (make-camera-from-ros-camera-info-aux 640 480 #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_rgb_optical_frame_lk :name :kinect_head/rgb)) + ;; sensor_msgs::camerainfo #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) + (setq kinect_head-rgb (make-camera-from-ros-camera-info-aux 640 480 #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_rgb_optical_frame_lk :name :kinect_head/rgb)) - ;; sensor_msgs::camerainfo #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) - (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) + ;; sensor_msgs::camerainfo #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) + (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) - ;; sensor_msgs::camerainfo #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) - (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) + ;; sensor_msgs::camerainfo #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) + (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) - ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) - (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) - ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) - (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) - ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) - (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) - ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) - (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) - (setq cameras (list (send self :kinect_head-depth) (send self :kinect_head-rgb) (send self :r_forearm_cam) (send self :l_forearm_cam) (send self :wide_stereo-right) (send self :wide_stereo-left) (send self :narrow_stereo-right) (send self :narrow_stereo-left))) + (setq cameras (list (send self :kinect_head-depth) (send self :kinect_head-rgb) (send self :r_forearm_cam) (send self :l_forearm_cam) (send self :wide_stereo-right) (send self :wide_stereo-left) (send self :narrow_stereo-right) (send self :narrow_stereo-left))) + ) ;; case pr1012 + ;; define cameras for pr1040 + (:pr1040 + ;; sensor_msgs::camerainfo #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) + (setq kinect_head-depth (make-camera-from-ros-camera-info-aux 640 480 #f(575.816 0.0 315.0 0.0 0.0 575.816 237.0 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_ir_optical_frame_lk :name :kinect_head/depth)) + + ;; sensor_msgs::camerainfo #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) + (setq kinect_head-rgb (make-camera-from-ros-camera-info-aux 640 480 #f(525.0 0.0 319.5 0.0 0.0 525.0 239.5 0.0 0.0 0.0 1.0 0.0) head_mount_kinect_rgb_optical_frame_lk :name :kinect_head/rgb)) + + ;; sensor_msgs::camerainfo #f(2014.54 0.0 1197.49 0.0 0.0 2099.84 980.052 0.0 0.0 0.0 1.0 0.0) + (setq prosilica (make-camera-from-ros-camera-info-aux 2448 2050 #f(2014.54 0.0 1197.49 0.0 0.0 2099.84 980.052 0.0 0.0 0.0 1.0 0.0) high_def_optical_frame_lk :name :prosilica)) + + ;; sensor_msgs::camerainfo #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) + (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) + + ;; sensor_msgs::camerainfo #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) + (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) + + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) + + ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) + + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) + + ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) + + (setq cameras (list (send self :kinect_head-depth) (send self :kinect_head-rgb) (send self :prosilica) (send self :r_forearm_cam) (send self :l_forearm_cam) (send self :wide_stereo-right) (send self :wide_stereo-left) (send self :narrow_stereo-right) (send self :narrow_stereo-left))) + ) ;; case pr1040 + ) self) (:kinect_head-depth (&rest args) (forward-message-to kinect_head-depth args)) (:kinect_head-rgb (&rest args) (forward-message-to kinect_head-rgb args)) + (:prosilica (&rest args) (forward-message-to prosilica args)) (:r_forearm_cam (&rest args) (forward-message-to r_forearm_cam args)) (:l_forearm_cam (&rest args) (forward-message-to l_forearm_cam args)) (:wide_stereo-right (&rest args) (forward-message-to wide_stereo-right args)) From 7db436bbf3d486f74391e3d1a07e452a3c361734 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 19 Dec 2019 10:19:54 +0000 Subject: [PATCH 06/12] add launch file to generate pr2.l --- pr2eus/make-pr2-model-file.launch | 11 +++++++++++ pr2eus/pr2.l | 28 ++++++++++++++-------------- 2 files changed, 25 insertions(+), 14 deletions(-) create mode 100644 pr2eus/make-pr2-model-file.launch diff --git a/pr2eus/make-pr2-model-file.launch b/pr2eus/make-pr2-model-file.launch new file mode 100644 index 000000000..3e55b6eae --- /dev/null +++ b/pr2eus/make-pr2-model-file.launch @@ -0,0 +1,11 @@ + + + + + + + + diff --git a/pr2eus/pr2.l b/pr2eus/pr2.l index a46b3e0cc..16fbc4a97 100644 --- a/pr2eus/pr2.l +++ b/pr2eus/pr2.l @@ -1,7 +1,7 @@ ;; ;; DO NOT EDIT THIS FILE ;; -;; this file is automatically generated from /tmp/pr2_3668.l on (Linux ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 12:03:24 UTC +;; this file is automatically generated from /tmp/pr2_16412.l on (Linux ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-19 10:43:01 UTC ;; ;; /home/user/.ros $ ;; @@ -12415,7 +12415,7 @@ ) -(provide :pr2 "(ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-17 12:03:24 UTC") +(provide :pr2 "(ubuntu-18 4.15.0-29-generic x86_64) at 2019-12-19 10:43:01 UTC") ;; ;; additional robot model description from camera_info @@ -12479,23 +12479,23 @@ ;; sensor_msgs::camerainfo #f(2014.54 0.0 1197.49 0.0 0.0 2099.84 980.052 0.0 0.0 0.0 1.0 0.0) (setq prosilica (make-camera-from-ros-camera-info-aux 2448 2050 #f(2014.54 0.0 1197.49 0.0 0.0 2099.84 980.052 0.0 0.0 0.0 1.0 0.0) high_def_optical_frame_lk :name :prosilica)) - ;; sensor_msgs::camerainfo #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) - (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(341.275 0.0 326.117 0.0 0.0 382.992 244.101 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) + ;; sensor_msgs::camerainfo #f(334.856 0.0 325.141 0.0 0.0 377.534 252.949 0.0 0.0 0.0 1.0 0.0) + (setq r_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(334.856 0.0 325.141 0.0 0.0 377.534 252.949 0.0 0.0 0.0 1.0 0.0) r_forearm_cam_optical_frame_lk :name :r_forearm_cam)) - ;; sensor_msgs::camerainfo #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) - (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(338.589 0.0 290.813 0.0 0.0 378.466 241.389 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) + ;; sensor_msgs::camerainfo #f(335.132 0.0 314.528 0.0 0.0 375.06 218.474 0.0 0.0 0.0 1.0 0.0) + (setq l_forearm_cam (make-camera-from-ros-camera-info-aux 640 480 #f(335.132 0.0 314.528 0.0 0.0 375.06 218.474 0.0 0.0 0.0 1.0 0.0) l_forearm_cam_optical_frame_lk :name :l_forearm_cam)) - ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) - (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 -39.9524 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) + ;; sensor_msgs::camerainfo #f(386.179 0.0 321.406 -34.5313 0.0 386.179 241.11 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(386.179 0.0 321.406 -34.5313 0.0 386.179 241.11 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/right)) - ;; sensor_msgs::camerainfo #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) - (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(445.634 0.0 240.474 0.0 0.0 445.634 193.274 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) + ;; sensor_msgs::camerainfo #f(386.179 0.0 321.406 0.0 0.0 386.179 241.11 0.0 0.0 0.0 1.0 0.0) + (setq wide_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(386.179 0.0 321.406 0.0 0.0 386.179 241.11 0.0 0.0 0.0 1.0 0.0) wide_stereo_optical_frame_lk :name :wide_stereo/left)) - ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) - (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 -81.6247 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) + ;; sensor_msgs::camerainfo #f(904.762 0.0 324.702 -81.3571 0.0 904.762 232.22 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-right (make-camera-from-ros-camera-info-aux 640 480 #f(904.762 0.0 324.702 -81.3571 0.0 904.762 232.22 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/right)) - ;; sensor_msgs::camerainfo #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) - (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(910.712 0.0 320.414 0.0 0.0 910.712 263.573 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) + ;; sensor_msgs::camerainfo #f(904.762 0.0 324.702 0.0 0.0 904.762 232.22 0.0 0.0 0.0 1.0 0.0) + (setq narrow_stereo-left (make-camera-from-ros-camera-info-aux 640 480 #f(904.762 0.0 324.702 0.0 0.0 904.762 232.22 0.0 0.0 0.0 1.0 0.0) narrow_stereo_optical_frame_lk :name :narrow_stereo/left)) (setq cameras (list (send self :kinect_head-depth) (send self :kinect_head-rgb) (send self :prosilica) (send self :r_forearm_cam) (send self :l_forearm_cam) (send self :wide_stereo-right) (send self :wide_stereo-left) (send self :narrow_stereo-right) (send self :narrow_stereo-left))) ) ;; case pr1040 From cd4c8582a6dd196cefa10b24f0532cbd46fc492f Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 19 Dec 2019 10:57:38 +0000 Subject: [PATCH 07/12] use subseq, according to @pazeshun 's comment --- pr2eus/make-pr2-model-file.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2eus/make-pr2-model-file.l b/pr2eus/make-pr2-model-file.l index 250f461ab..c137b3fd0 100644 --- a/pr2eus/make-pr2-model-file.l +++ b/pr2eus/make-pr2-model-file.l @@ -8,7 +8,7 @@ (defun get-pr2-names () ;; get list of rosparam - (reverse (mapcan #'(lambda (x) (if (substringp "robot_description" x) (list (string-left-trim "/" (string-right-trim "/robot_description" x))))) + (reverse (mapcan #'(lambda (x) (if (and (substringp "robot_description" x) (> (length x) (+ (length "robot_description") 1))) (list (subseq x 1 (- (length x) (length "/robot_description")))))) (ros::list-param)))) (defun make-pr2-robot-model (robot robot-description) From b84c4435540478580a2006e63af50928f63993af Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Sat, 21 Dec 2019 08:02:58 +0000 Subject: [PATCH 08/12] fix for backword compatibility (robot_description without prefix) --- pr2eus/make-pr2-model-file.l | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/pr2eus/make-pr2-model-file.l b/pr2eus/make-pr2-model-file.l index c137b3fd0..3404e965c 100644 --- a/pr2eus/make-pr2-model-file.l +++ b/pr2eus/make-pr2-model-file.l @@ -7,8 +7,9 @@ ret)) (defun get-pr2-names () - ;; get list of rosparam - (reverse (mapcan #'(lambda (x) (if (and (substringp "robot_description" x) (> (length x) (+ (length "robot_description") 1))) (list (subseq x 1 (- (length x) (length "/robot_description")))))) + ;; get list of rosparam, if /robot_description found, returns (list "") + (reverse (mapcan #'(lambda (x) (if (substringp "robot_description" x) + (if (> (length x) (+ (length "robot_description") 1)) (list (subseq x 1 (- (length x) (length "/robot_description")))) (list "")))) (ros::list-param)))) (defun make-pr2-robot-model (robot robot-description) @@ -47,7 +48,7 @@ (format f ";; make-camera-from-ros-camera-info-aux is defined in roseus since 1.0.1, but to use this code in jskeus, we re-define here~%") (format f "~A~%" (nconc (list 'defun 'make-camera-from-ros-camera-info-aux) (cddddr #'make-camera-from-ros-camera-info-aux))) (format f ";;~%") - (format f "(defun pr2 (&optional (name :~A)) (setq *pr2* (instance pr2-sensor-robot :init name)))~%" (car robot-names)) + (format f "(defun pr2 (&optional (name :~A)) (setq *pr2* (instance pr2-sensor-robot :init name)))~%" (if (string= (car robot-names) "") "pr2" (car robot-names))) (format f "~%") ;; (format f "(defclass ~A-sensor-robot~%" robot) @@ -71,7 +72,7 @@ (dolist (robot-name robot-names) (setq valid-cameras (cdr (assoc robot-name robot-camera-map :test #'string=))) (format f " ;; define cameras for ~A~%" robot-name) - (format f " (:~A~%" robot-name) + (format f " (:~A~%" (if (string= robot-name "") "pr2" robot-name)) (dolist (valid-camera valid-cameras) (let* ((camera-path (cdr (assoc :camera-path valid-camera))) (camera-name (cdr (assoc :camera-name valid-camera))) @@ -148,7 +149,6 @@ (push (list (cons :camera-path camera-path) (cons :camera-name camera-name) (cons :camera-info camera-info) (cons :frame-id frame-id)) valid-cameras)) (ros::ros-error "could not receive ~A ~A" camera-info var)) )) ;; dolist (let * - (setq robot-name (if (string= robot-name "") "pr2" robot-name)) ;; for blank robot name (push (cons robot-name valid-cameras) robot-camera-map) )) (setq robot-camera-map (reverse robot-camera-map)) From c1b65f4ffa885b26ccc751554c3ec26f6bb2f5c1 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 12 Nov 2021 09:54:00 +0900 Subject: [PATCH 09/12] [pr2eus/make-pr2-model-file.l] fix indent on (setq camera-paths --- pr2eus/make-pr2-model-file.l | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/pr2eus/make-pr2-model-file.l b/pr2eus/make-pr2-model-file.l index 3404e965c..3f6e050ab 100644 --- a/pr2eus/make-pr2-model-file.l +++ b/pr2eus/make-pr2-model-file.l @@ -117,12 +117,12 @@ "narrow_stereo/right" "wide_stereo/left" "wide_stereo/right" - "l_forearm_cam" - "r_forearm_cam" - "prosilica" - "kinect_head/rgb" - "kinect_head/depth" - )) + "l_forearm_cam" + "r_forearm_cam" + "prosilica" + "kinect_head/rgb" + "kinect_head/depth" + )) (dolist (robot-name robot-names) (let (valid-cameras) (dolist (camera-path camera-paths) From f05e592ffbc87b2e35a0d14e4e2d6d078c074874 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 12 Nov 2021 18:54:29 +0900 Subject: [PATCH 10/12] need tose gazebo/enable_ros_network to publish /clock, see https://github.com/ros-simulation/gazebo_ros_pkgs/pull/704 for more info --- pr2eus/test/pr2-ri-test-bringup.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/pr2eus/test/pr2-ri-test-bringup.launch b/pr2eus/test/pr2-ri-test-bringup.launch index 38dccc9dc..d0fa14902 100644 --- a/pr2eus/test/pr2-ri-test-bringup.launch +++ b/pr2eus/test/pr2-ri-test-bringup.launch @@ -12,6 +12,7 @@ doc="launch pr2_base_trajectory_action for debugging" /> + From 266b27d31ff4398b0aa80237571750d4e02ba3ad Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Fri, 12 Nov 2021 18:55:29 +0900 Subject: [PATCH 11/12] fix test name for test/pr2-ri-test-simple.launch, which is already used in test/pr2-ri-test.launch --- pr2eus/test/pr2-ri-test-simple.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pr2eus/test/pr2-ri-test-simple.launch b/pr2eus/test/pr2-ri-test-simple.launch index ff3d30fbc..4165f26b7 100644 --- a/pr2eus/test/pr2-ri-test-simple.launch +++ b/pr2eus/test/pr2-ri-test-simple.launch @@ -1,5 +1,5 @@ - From 37e44f7f2852a251d930632a53e8710bfe799d56 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 17 Nov 2021 12:15:28 +0900 Subject: [PATCH 12/12] pr2eus/test/pr2-ri-test-simple.l: add (send *ri* :wait-interpolation) before (send *ri* :angle-vector-duration (send *ri* :state :potentio-vector) (send *pr2* :angle-vector) 5 1.0) --- pr2eus/test/pr2-ri-test-simple.l | 1 + 1 file changed, 1 insertion(+) diff --git a/pr2eus/test/pr2-ri-test-simple.l b/pr2eus/test/pr2-ri-test-simple.l index 1305687b8..3d5745742 100644 --- a/pr2eus/test/pr2-ri-test-simple.l +++ b/pr2eus/test/pr2-ri-test-simple.l @@ -40,6 +40,7 @@ (setq *ri* (instance pr2-interface :init)) (assert (send *pr2* :reset-pose)) (assert (send *ri* :angle-vector (send *pr2* :angle-vector))) + (send *ri* :wait-interpolation) (assert (= (send *ri* :angle-vector-duration (send *ri* :state :potentio-vector) (send *pr2* :angle-vector) 5 1.0) 1)) (send *pr2* :larm :shoulder-p :joint-angle 0) (setq tm (send *ri* :angle-vector-duration (send *ri* :state :potentio-vector) (send *pr2* :angle-vector) 5 1.0 :larm-controller))