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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass picaladder-object
:super cascaded-link
:slots (sensors
))
(defmethod picaladder-object
(:init
(&rest args &key (name "picaladder") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
)
(send-super* :init :name name args)
;; definition of link
;; definition of :root
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -40.0 259.0 1814.0) (float-vector -40.0 259.0 1834.0) (float-vector 40.0 259.0 1834.0) (float-vector 40.0 259.0 1814.0)))
(instance face :init :vertices (list (float-vector -40.0 -259.0 1834.0) (float-vector -40.0 -259.0 1814.0) (float-vector 40.0 -259.0 1814.0) (float-vector 40.0 -259.0 1834.0)))
(instance face :init :vertices (list (float-vector -40.0 259.0 1814.0) (float-vector -40.0 -259.0 1814.0) (float-vector -40.0 -259.0 1834.0) (float-vector -40.0 259.0 1834.0)))
(instance face :init :vertices (list (float-vector 40.0 259.0 1814.0) (float-vector 40.0 -259.0 1814.0) (float-vector -40.0 -259.0 1814.0) (float-vector -40.0 259.0 1814.0)))
(instance face :init :vertices (list (float-vector 40.0 259.0 1834.0) (float-vector 40.0 -259.0 1834.0) (float-vector 40.0 -259.0 1814.0) (float-vector 40.0 259.0 1814.0)))
(instance face :init :vertices (list (float-vector -40.0 259.0 1834.0) (float-vector -40.0 -259.0 1834.0) (float-vector 40.0 -259.0 1834.0) (float-vector 40.0 259.0 1834.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 562.0 -476.0 10.0) (float-vector 562.0 -456.0 10.0) (float-vector 622.0 -456.0 10.0) (float-vector 622.0 -476.0 10.0)))
(instance face :init :vertices (list (float-vector 10.0 -249.0 1834.0) (float-vector 10.0 -269.0 1834.0) (float-vector 70.0 -269.0 1834.0) (float-vector 70.0 -249.0 1834.0)))
(instance face :init :vertices (list (float-vector 562.0 -476.0 10.0) (float-vector 10.0 -269.0 1834.0) (float-vector 10.0 -249.0 1834.0) (float-vector 562.0 -456.0 10.0)))
(instance face :init :vertices (list (float-vector 622.0 -476.0 10.0) (float-vector 70.0 -269.0 1834.0) (float-vector 10.0 -269.0 1834.0) (float-vector 562.0 -476.0 10.0)))
(instance face :init :vertices (list (float-vector 622.0 -456.0 10.0) (float-vector 70.0 -249.0 1834.0) (float-vector 70.0 -269.0 1834.0) (float-vector 622.0 -476.0 10.0)))
(instance face :init :vertices (list (float-vector 562.0 -456.0 10.0) (float-vector 10.0 -249.0 1834.0) (float-vector 70.0 -249.0 1834.0) (float-vector 622.0 -456.0 10.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 562.0 456.0 10.0) (float-vector 562.0 476.0 10.0) (float-vector 622.0 476.0 10.0) (float-vector 622.0 456.0 10.0)))
(instance face :init :vertices (list (float-vector 10.0 269.0 1834.0) (float-vector 10.0 249.0 1834.0) (float-vector 70.0 249.0 1834.0) (float-vector 70.0 269.0 1834.0)))
(instance face :init :vertices (list (float-vector 562.0 456.0 10.0) (float-vector 10.0 249.0 1834.0) (float-vector 10.0 269.0 1834.0) (float-vector 562.0 476.0 10.0)))
(instance face :init :vertices (list (float-vector 622.0 456.0 10.0) (float-vector 70.0 249.0 1834.0) (float-vector 10.0 249.0 1834.0) (float-vector 562.0 456.0 10.0)))
(instance face :init :vertices (list (float-vector 622.0 476.0 10.0) (float-vector 70.0 269.0 1834.0) (float-vector 70.0 249.0 1834.0) (float-vector 622.0 456.0 10.0)))
(instance face :init :vertices (list (float-vector 562.0 476.0 10.0) (float-vector 10.0 269.0 1834.0) (float-vector 70.0 269.0 1834.0) (float-vector 622.0 476.0 10.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 470.0 431.5 314.0) (float-vector 530.0 431.5 314.0) (float-vector 531.0 431.5 295.0) (float-vector 480.0 431.5 278.0)))
(instance face :init :vertices (list (float-vector 530.0 -431.5 314.0) (float-vector 470.0 -431.5 314.0) (float-vector 480.0 -431.5 278.0) (float-vector 531.0 -431.5 295.0)))
(instance face :init :vertices (list (float-vector 470.0 431.5 314.0) (float-vector 470.0 -431.5 314.0) (float-vector 530.0 -431.5 314.0) (float-vector 530.0 431.5 314.0)))
(instance face :init :vertices (list (float-vector 480.0 431.5 278.0) (float-vector 480.0 -431.5 278.0) (float-vector 470.0 -431.5 314.0) (float-vector 470.0 431.5 314.0)))
(instance face :init :vertices (list (float-vector 531.0 431.5 295.0) (float-vector 531.0 -431.5 295.0) (float-vector 480.0 -431.5 278.0) (float-vector 480.0 431.5 278.0)))
(instance face :init :vertices (list (float-vector 530.0 431.5 314.0) (float-vector 530.0 -431.5 314.0) (float-vector 531.0 -431.5 295.0) (float-vector 531.0 431.5 295.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 378.0 397.0 618.0) (float-vector 438.0 397.0 618.0) (float-vector 439.0 397.0 599.0) (float-vector 388.0 397.0 582.0)))
(instance face :init :vertices (list (float-vector 438.0 -397.0 618.0) (float-vector 378.0 -397.0 618.0) (float-vector 388.0 -397.0 582.0) (float-vector 439.0 -397.0 599.0)))
(instance face :init :vertices (list (float-vector 378.0 397.0 618.0) (float-vector 378.0 -397.0 618.0) (float-vector 438.0 -397.0 618.0) (float-vector 438.0 397.0 618.0)))
(instance face :init :vertices (list (float-vector 388.0 397.0 582.0) (float-vector 388.0 -397.0 582.0) (float-vector 378.0 -397.0 618.0) (float-vector 378.0 397.0 618.0)))
(instance face :init :vertices (list (float-vector 439.0 397.0 599.0) (float-vector 439.0 -397.0 599.0) (float-vector 388.0 -397.0 582.0) (float-vector 388.0 397.0 582.0)))
(instance face :init :vertices (list (float-vector 438.0 397.0 618.0) (float-vector 438.0 -397.0 618.0) (float-vector 439.0 -397.0 599.0) (float-vector 439.0 397.0 599.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 286.0 362.5 922.0) (float-vector 346.0 362.5 922.0) (float-vector 347.0 362.5 903.0) (float-vector 296.0 362.5 886.0)))
(instance face :init :vertices (list (float-vector 346.0 -362.5 922.0) (float-vector 286.0 -362.5 922.0) (float-vector 296.0 -362.5 886.0) (float-vector 347.0 -362.5 903.0)))
(instance face :init :vertices (list (float-vector 286.0 362.5 922.0) (float-vector 286.0 -362.5 922.0) (float-vector 346.0 -362.5 922.0) (float-vector 346.0 362.5 922.0)))
(instance face :init :vertices (list (float-vector 296.0 362.5 886.0) (float-vector 296.0 -362.5 886.0) (float-vector 286.0 -362.5 922.0) (float-vector 286.0 362.5 922.0)))
(instance face :init :vertices (list (float-vector 347.0 362.5 903.0) (float-vector 347.0 -362.5 903.0) (float-vector 296.0 -362.5 886.0) (float-vector 296.0 362.5 886.0)))
(instance face :init :vertices (list (float-vector 346.0 362.5 922.0) (float-vector 346.0 -362.5 922.0) (float-vector 347.0 -362.5 903.0) (float-vector 347.0 362.5 903.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 194.0 328.0 1226.0) (float-vector 254.0 328.0 1226.0) (float-vector 255.0 328.0 1207.0) (float-vector 204.0 328.0 1190.0)))
(instance face :init :vertices (list (float-vector 254.0 -328.0 1226.0) (float-vector 194.0 -328.0 1226.0) (float-vector 204.0 -328.0 1190.0) (float-vector 255.0 -328.0 1207.0)))
(instance face :init :vertices (list (float-vector 194.0 328.0 1226.0) (float-vector 194.0 -328.0 1226.0) (float-vector 254.0 -328.0 1226.0) (float-vector 254.0 328.0 1226.0)))
(instance face :init :vertices (list (float-vector 204.0 328.0 1190.0) (float-vector 204.0 -328.0 1190.0) (float-vector 194.0 -328.0 1226.0) (float-vector 194.0 328.0 1226.0)))
(instance face :init :vertices (list (float-vector 255.0 328.0 1207.0) (float-vector 255.0 -328.0 1207.0) (float-vector 204.0 -328.0 1190.0) (float-vector 204.0 328.0 1190.0)))
(instance face :init :vertices (list (float-vector 254.0 328.0 1226.0) (float-vector 254.0 -328.0 1226.0) (float-vector 255.0 -328.0 1207.0) (float-vector 255.0 328.0 1207.0)))
))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 162.0 -293.5 1530.0) (float-vector 102.0 -293.5 1530.0) (float-vector 112.0 -293.5 1494.0) (float-vector 163.0 -293.5 1511.0)))
(instance face :init :vertices (list (float-vector 102.0 293.5 1530.0) (float-vector 102.0 -293.5 1530.0) (float-vector 162.0 -293.5 1530.0) (float-vector 162.0 293.5 1530.0)))
(instance face :init :vertices (list (float-vector 112.0 293.5 1494.0) (float-vector 112.0 -293.5 1494.0) (float-vector 102.0 -293.5 1530.0) (float-vector 102.0 293.5 1530.0)))
(instance face :init :vertices (list (float-vector 163.0 293.5 1511.0) (float-vector 163.0 -293.5 1511.0) (float-vector 112.0 -293.5 1494.0) (float-vector 112.0 293.5 1494.0)))
(instance face :init :vertices (list (float-vector 162.0 293.5 1530.0) (float-vector 162.0 -293.5 1530.0) (float-vector 163.0 -293.5 1511.0) (float-vector 163.0 293.5 1511.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 259.0 1834.0) (float-vector 70.0 259.0 1834.0) (float-vector 71.0 259.0 1815.0) (float-vector 20.0 259.0 1798.0)))
(instance face :init :vertices (list (float-vector 70.0 -259.0 1834.0) (float-vector 10.0 -259.0 1834.0) (float-vector 20.0 -259.0 1798.0) (float-vector 71.0 -259.0 1815.0)))
(instance face :init :vertices (list (float-vector 10.0 259.0 1834.0) (float-vector 10.0 -259.0 1834.0) (float-vector 70.0 -259.0 1834.0) (float-vector 70.0 259.0 1834.0)))
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))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector -10.0 249.0 1834.0) (float-vector -10.0 269.0 1834.0) (float-vector -70.0 269.0 1834.0) (float-vector -70.0 249.0 1834.0)))
(instance face :init :vertices (list (float-vector -562.0 476.0 10.0) (float-vector -10.0 269.0 1834.0) (float-vector -10.0 249.0 1834.0) (float-vector -562.0 456.0 10.0)))
(instance face :init :vertices (list (float-vector -622.0 476.0 10.0) (float-vector -70.0 269.0 1834.0) (float-vector -10.0 269.0 1834.0) (float-vector -562.0 476.0 10.0)))
(instance face :init :vertices (list (float-vector -622.0 456.0 10.0) (float-vector -70.0 249.0 1834.0) (float-vector -70.0 269.0 1834.0) (float-vector -622.0 476.0 10.0)))
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))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector -10.0 -269.0 1834.0) (float-vector -10.0 -249.0 1834.0) (float-vector -70.0 -249.0 1834.0) (float-vector -70.0 -269.0 1834.0)))
(instance face :init :vertices (list (float-vector -562.0 -456.0 10.0) (float-vector -10.0 -249.0 1834.0) (float-vector -10.0 -269.0 1834.0) (float-vector -562.0 -476.0 10.0)))
(instance face :init :vertices (list (float-vector -622.0 -456.0 10.0) (float-vector -70.0 -249.0 1834.0) (float-vector -10.0 -249.0 1834.0) (float-vector -562.0 -456.0 10.0)))
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))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector -530.0 431.5 314.0) (float-vector -470.0 431.5 314.0) (float-vector -480.0 431.5 278.0) (float-vector -531.0 431.5 295.0)))
(instance face :init :vertices (list (float-vector -470.0 -431.5 314.0) (float-vector -470.0 431.5 314.0) (float-vector -530.0 431.5 314.0) (float-vector -530.0 -431.5 314.0)))
(instance face :init :vertices (list (float-vector -480.0 -431.5 278.0) (float-vector -480.0 431.5 278.0) (float-vector -470.0 431.5 314.0) (float-vector -470.0 -431.5 314.0)))
(instance face :init :vertices (list (float-vector -531.0 -431.5 295.0) (float-vector -531.0 431.5 295.0) (float-vector -480.0 431.5 278.0) (float-vector -480.0 -431.5 278.0)))
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))
(instance faceset :init :faces (list
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))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector -296.0 -362.5 886.0) (float-vector -296.0 362.5 886.0) (float-vector -286.0 362.5 922.0) (float-vector -286.0 -362.5 922.0)))
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))
(instance faceset :init :faces (list
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(instance faceset :init :faces (list
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))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 -259.0 1834.0) (float-vector -70.0 -259.0 1834.0) (float-vector -71.0 -259.0 1815.0) (float-vector -20.0 -259.0 1798.0)))
(instance face :init :vertices (list (float-vector -70.0 259.0 1834.0) (float-vector -10.0 259.0 1834.0) (float-vector -20.0 259.0 1798.0) (float-vector -71.0 259.0 1815.0)))
(instance face :init :vertices (list (float-vector -10.0 -259.0 1834.0) (float-vector -10.0 259.0 1834.0) (float-vector -70.0 259.0 1834.0) (float-vector -70.0 -259.0 1834.0)))
(instance face :init :vertices (list (float-vector -20.0 -259.0 1798.0) (float-vector -20.0 259.0 1798.0) (float-vector -10.0 259.0 1834.0) (float-vector -10.0 -259.0 1834.0)))
(instance face :init :vertices (list (float-vector -71.0 -259.0 1815.0) (float-vector -71.0 259.0 1815.0) (float-vector -20.0 259.0 1798.0) (float-vector -20.0 -259.0 1798.0)))
(instance face :init :vertices (list (float-vector -70.0 -259.0 1834.0) (float-vector -70.0 259.0 1834.0) (float-vector -71.0 259.0 1815.0) (float-vector -71.0 -259.0 1815.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :yellow)
(send (elt bc 1) :set-color :yellow)
(send (elt bc 2) :set-color :yellow)
(send (elt bc 3) :set-color :yellow)
(send (elt bc 4) :set-color :yellow)
(send (elt bc 5) :set-color :yellow)
(send (elt bc 6) :set-color :yellow)
(send (elt bc 7) :set-color :yellow)
(send (elt bc 8) :set-color :yellow)
(send (elt bc 9) :set-color :yellow)
(send (elt bc 10) :set-color :yellow)
(send (elt bc 11) :set-color :yellow)
(send (elt bc 12) :set-color :yellow)
(send (elt bc 13) :set-color :yellow)
(send (elt bc 14) :set-color :yellow)
(send (elt bc 15) :set-color :yellow)
(send (elt bc 16) :set-color :yellow)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :weight 14300 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; init-ending
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun picaladder (&rest args) (instance* picaladder-object :init args))
;; (format *error-output* "(instance picaladder-object :init) for generating model~%")
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