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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room73b2-dish-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5 handle6 handle7
attention0
))
(defmethod room73b2-dish-object
(:init
(&rest args &key (name "room73b2-dish") (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 :room73b2-dish-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 75.5 0.0 0.0) (float-vector 69.7529 -28.8926 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 69.7529 -28.8926 0.0) (float-vector 53.3866 -53.3866 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 53.3866 -53.3866 0.0) (float-vector 28.8926 -69.7529 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 28.8926 -69.7529 0.0) (float-vector -6.821210e-13 -75.5 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -6.821210e-13 -75.5 0.0) (float-vector -28.8926 -69.7529 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -28.8926 -69.7529 0.0) (float-vector -53.3866 -53.3866 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -53.3866 -53.3866 0.0) (float-vector -69.7529 -28.8926 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -69.7529 -28.8926 0.0) (float-vector -75.5 4.547474e-13 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -75.5 4.547474e-13 0.0) (float-vector -69.7529 28.8926 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -69.7529 28.8926 0.0) (float-vector -53.3866 53.3866 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -53.3866 53.3866 0.0) (float-vector -28.8926 69.7529 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -28.8926 69.7529 0.0) (float-vector 5.684342e-14 75.5 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 5.684342e-14 75.5 0.0) (float-vector 28.8926 69.7529 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 28.8926 69.7529 0.0) (float-vector 53.3866 53.3866 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 53.3866 53.3866 0.0) (float-vector 69.7529 28.8926 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 69.7529 28.8926 0.0) (float-vector 75.5 0.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 69.7529 -28.8926 0.0) (float-vector 69.7529 -28.8926 0.0) (float-vector 75.5 0.0 0.0) (float-vector 75.5 0.0 0.0)))
(instance face :init :vertices (list (float-vector 53.3866 -53.3866 0.0) (float-vector 53.3866 -53.3866 0.0) (float-vector 69.7529 -28.8926 0.0) (float-vector 69.7529 -28.8926 0.0)))
(instance face :init :vertices (list (float-vector 28.8926 -69.7529 0.0) (float-vector 28.8926 -69.7529 0.0) (float-vector 53.3866 -53.3866 0.0) (float-vector 53.3866 -53.3866 0.0)))
(instance face :init :vertices (list (float-vector -6.821210e-13 -75.5 0.0) (float-vector -6.821210e-13 -75.5 0.0) (float-vector 28.8926 -69.7529 0.0) (float-vector 28.8926 -69.7529 0.0)))
(instance face :init :vertices (list (float-vector -28.8926 -69.7529 0.0) (float-vector -28.8926 -69.7529 0.0) (float-vector -6.821210e-13 -75.5 0.0) (float-vector -6.821210e-13 -75.5 0.0)))
(instance face :init :vertices (list (float-vector -53.3866 -53.3866 0.0) (float-vector -53.3866 -53.3866 0.0) (float-vector -28.8926 -69.7529 0.0) (float-vector -28.8926 -69.7529 0.0)))
(instance face :init :vertices (list (float-vector -69.7529 -28.8926 0.0) (float-vector -69.7529 -28.8926 0.0) (float-vector -53.3866 -53.3866 0.0) (float-vector -53.3866 -53.3866 0.0)))
(instance face :init :vertices (list (float-vector -75.5 4.547474e-13 0.0) (float-vector -75.5 4.547474e-13 0.0) (float-vector -69.7529 -28.8926 0.0) (float-vector -69.7529 -28.8926 0.0)))
(instance face :init :vertices (list (float-vector -69.7529 28.8926 0.0) (float-vector -69.7529 28.8926 0.0) (float-vector -75.5 4.547474e-13 0.0) (float-vector -75.5 4.547474e-13 0.0)))
(instance face :init :vertices (list (float-vector -53.3866 53.3866 0.0) (float-vector -53.3866 53.3866 0.0) (float-vector -69.7529 28.8926 0.0) (float-vector -69.7529 28.8926 0.0)))
(instance face :init :vertices (list (float-vector -28.8926 69.7529 0.0) (float-vector -28.8926 69.7529 0.0) (float-vector -53.3866 53.3866 0.0) (float-vector -53.3866 53.3866 0.0)))
(instance face :init :vertices (list (float-vector 5.684342e-14 75.5 0.0) (float-vector 5.684342e-14 75.5 0.0) (float-vector -28.8926 69.7529 0.0) (float-vector -28.8926 69.7529 0.0)))
(instance face :init :vertices (list (float-vector 28.8926 69.7529 0.0) (float-vector 28.8926 69.7529 0.0) (float-vector 5.684342e-14 75.5 0.0) (float-vector 5.684342e-14 75.5 0.0)))
(instance face :init :vertices (list (float-vector 53.3866 53.3866 0.0) (float-vector 53.3866 53.3866 0.0) (float-vector 28.8926 69.7529 0.0) (float-vector 28.8926 69.7529 0.0)))
(instance face :init :vertices (list (float-vector 69.7529 28.8926 0.0) (float-vector 69.7529 28.8926 0.0) (float-vector 53.3866 53.3866 0.0) (float-vector 53.3866 53.3866 0.0)))
(instance face :init :vertices (list (float-vector 75.5 0.0 0.0) (float-vector 75.5 0.0 0.0) (float-vector 69.7529 28.8926 0.0) (float-vector 69.7529 28.8926 0.0)))
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(instance face :init :vertices (list (float-vector 30.806 -74.3723 0.0) (float-vector 28.8926 -69.7529 0.0) (float-vector 53.3866 -53.3866 0.0) (float-vector 56.9221 -56.9221 0.0)))
(instance face :init :vertices (list (float-vector -7.389644e-13 -80.5 0.0) (float-vector -6.821210e-13 -75.5 0.0) (float-vector 28.8926 -69.7529 0.0) (float-vector 30.806 -74.3723 0.0)))
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(instance face :init :vertices (list (float-vector -56.9221 -56.9221 0.0) (float-vector -53.3866 -53.3866 0.0) (float-vector -28.8926 -69.7529 0.0) (float-vector -30.806 -74.3723 0.0)))
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(instance face :init :vertices (list (float-vector -56.9221 56.9221 0.0) (float-vector -53.3866 53.3866 0.0) (float-vector -69.7529 28.8926 0.0) (float-vector -74.3723 30.806 0.0)))
(instance face :init :vertices (list (float-vector -30.806 74.3723 0.0) (float-vector -28.8926 69.7529 0.0) (float-vector -53.3866 53.3866 0.0) (float-vector -56.9221 56.9221 0.0)))
(instance face :init :vertices (list (float-vector 1.136868e-13 80.5 0.0) (float-vector 5.684342e-14 75.5 0.0) (float-vector -28.8926 69.7529 0.0) (float-vector -30.806 74.3723 0.0)))
(instance face :init :vertices (list (float-vector 30.806 74.3723 0.0) (float-vector 28.8926 69.7529 0.0) (float-vector 5.684342e-14 75.5 0.0) (float-vector 1.136868e-13 80.5 0.0)))
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(instance face :init :vertices (list (float-vector 74.3723 -30.806 0.0) (float-vector 74.3723 -30.806 0.0) (float-vector 80.5 0.0 0.0) (float-vector 80.5 0.0 0.0)))
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(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room73b2-dish-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 70.7107 -70.7107 34.5) :rot #2f((-0.541675 0.454519 -0.707107) (0.541675 -0.454519 -0.707107) (-0.642788 -0.766044 -1.498801e-15)) :name "handle0"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -5.684342e-13 -100.0 34.5) :rot #2f((4.440892e-15 -1.665335e-15 -1.0) (0.766044 -0.642788 4.496403e-15) (-0.642788 -0.766044 -1.554312e-15)) :name "handle1"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector -70.7107 -70.7107 34.5) :rot #2f((0.541675 -0.454519 -0.707107) (0.541675 -0.454519 0.707107) (-0.642788 -0.766044 -9.714451e-16)) :name "handle2"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector -100.0 0.0 34.5) :rot #2f((0.766044 -0.642788 2.386980e-15) (-2.775558e-15 3.261280e-16 1.0) (-0.642788 -0.766044 -1.547373e-15)) :name "handle3"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -70.7107 70.7107 34.5) :rot #2f((0.541675 -0.454519 0.707107) (-0.541675 0.454519 0.707107) (-0.642788 -0.766044 -1.490127e-15)) :name "handle4"))
(send blink0 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector 0.0 100.0 34.5) :rot #2f((-1.235123e-15 -6.661338e-16 1.0) (-0.766044 0.642788 -4.996004e-16) (-0.642788 -0.766044 -1.318390e-15)) :name "handle5"))
(send blink0 :assoc handle5)
(setq handle6 (make-cascoords :pos (float-vector 70.7107 70.7107 34.5) :rot #2f((-0.541675 0.454519 0.707107) (-0.541675 0.454519 -0.707107) (-0.642788 -0.766044 -1.776357e-15)) :name "handle6"))
(send blink0 :assoc handle6)
(setq handle7 (make-cascoords :pos (float-vector 100.0 0.0 34.5) :rot #2f((-0.766044 0.642788 1.054712e-15) (1.665335e-16 1.942890e-15 -1.0) (-0.642788 -0.766044 -1.609823e-15)) :name "handle7"))
(send blink0 :assoc handle7)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "attention0"))
(send blink0 :assoc attention0)
;; 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 handle0 handle1 handle2 handle3 handle4 handle5 handle6 handle7) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:handle-handle1 (&rest args) (forward-message-to handle1 args))
(:handle-handle2 (&rest args) (forward-message-to handle2 args))
(:handle-handle3 (&rest args) (forward-message-to handle3 args))
(:handle-handle4 (&rest args) (forward-message-to handle4 args))
(:handle-handle5 (&rest args) (forward-message-to handle5 args))
(:handle-handle6 (&rest args) (forward-message-to handle6 args))
(:handle-handle7 (&rest args) (forward-message-to handle7 args))
(:attention (&rest args) (forward-message-to-all (list attention0) args))
(:attention-attention0 (&rest args) (forward-message-to attention0 args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room73b2-dish (&rest args) (instance* room73b2-dish-object :init args))
;; (format *error-output* "(instance room73b2-dish-object :init) for generating model~%")
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