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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass tognana-pasta-dish-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5 handle6 handle7
attention0
))
(defmethod tognana-pasta-dish-object
(:init
(&rest args &key (name "tognana-pasta-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 :tognana-pasta-dish-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 76.5 0.0 23.0) (float-vector 70.6768 -29.2753 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 70.6768 -29.2753 23.0) (float-vector 54.0937 -54.0937 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 54.0937 -54.0937 23.0) (float-vector 29.2753 -70.6768 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 29.2753 -70.6768 23.0) (float-vector -6.935093e-13 -76.5 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -6.935093e-13 -76.5 23.0) (float-vector -29.2753 -70.6768 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -29.2753 -70.6768 23.0) (float-vector -54.0937 -54.0937 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -54.0937 -54.0937 23.0) (float-vector -70.6768 -29.2753 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -70.6768 -29.2753 23.0) (float-vector -76.5 4.170424e-13 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -76.5 4.170424e-13 23.0) (float-vector -70.6768 29.2753 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -70.6768 29.2753 23.0) (float-vector -54.0937 54.0937 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -54.0937 54.0937 23.0) (float-vector -29.2753 70.6768 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector -29.2753 70.6768 23.0) (float-vector 7.262992e-14 76.5 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 7.262992e-14 76.5 23.0) (float-vector 29.2753 70.6768 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 29.2753 70.6768 23.0) (float-vector 54.0937 54.0937 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 54.0937 54.0937 23.0) (float-vector 70.6768 29.2753 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 70.6768 29.2753 23.0) (float-vector 76.5 0.0 23.0) (float-vector 0.0 0.0 23.0)))
(instance face :init :vertices (list (float-vector 70.6768 -29.2753 0.0) (float-vector 70.6768 -29.2753 23.0) (float-vector 76.5 0.0 23.0) (float-vector 76.5 0.0 0.0)))
(instance face :init :vertices (list (float-vector 54.0937 -54.0937 0.0) (float-vector 54.0937 -54.0937 23.0) (float-vector 70.6768 -29.2753 23.0) (float-vector 70.6768 -29.2753 0.0)))
(instance face :init :vertices (list (float-vector 29.2753 -70.6768 0.0) (float-vector 29.2753 -70.6768 23.0) (float-vector 54.0937 -54.0937 23.0) (float-vector 54.0937 -54.0937 0.0)))
(instance face :init :vertices (list (float-vector -6.935093e-13 -76.5 0.0) (float-vector -6.935093e-13 -76.5 23.0) (float-vector 29.2753 -70.6768 23.0) (float-vector 29.2753 -70.6768 0.0)))
(instance face :init :vertices (list (float-vector -29.2753 -70.6768 0.0) (float-vector -29.2753 -70.6768 23.0) (float-vector -6.935093e-13 -76.5 23.0) (float-vector -6.935093e-13 -76.5 0.0)))
(instance face :init :vertices (list (float-vector -54.0937 -54.0937 0.0) (float-vector -54.0937 -54.0937 23.0) (float-vector -29.2753 -70.6768 23.0) (float-vector -29.2753 -70.6768 0.0)))
(instance face :init :vertices (list (float-vector -70.6768 -29.2753 0.0) (float-vector -70.6768 -29.2753 23.0) (float-vector -54.0937 -54.0937 23.0) (float-vector -54.0937 -54.0937 0.0)))
(instance face :init :vertices (list (float-vector -76.5 4.170424e-13 0.0) (float-vector -76.5 4.170424e-13 23.0) (float-vector -70.6768 -29.2753 23.0) (float-vector -70.6768 -29.2753 0.0)))
(instance face :init :vertices (list (float-vector -70.6768 29.2753 0.0) (float-vector -70.6768 29.2753 23.0) (float-vector -76.5 4.170424e-13 23.0) (float-vector -76.5 4.170424e-13 0.0)))
(instance face :init :vertices (list (float-vector -54.0937 54.0937 0.0) (float-vector -54.0937 54.0937 23.0) (float-vector -70.6768 29.2753 23.0) (float-vector -70.6768 29.2753 0.0)))
(instance face :init :vertices (list (float-vector -29.2753 70.6768 0.0) (float-vector -29.2753 70.6768 23.0) (float-vector -54.0937 54.0937 23.0) (float-vector -54.0937 54.0937 0.0)))
(instance face :init :vertices (list (float-vector 7.262992e-14 76.5 0.0) (float-vector 7.262992e-14 76.5 23.0) (float-vector -29.2753 70.6768 23.0) (float-vector -29.2753 70.6768 0.0)))
(instance face :init :vertices (list (float-vector 29.2753 70.6768 0.0) (float-vector 29.2753 70.6768 23.0) (float-vector 7.262992e-14 76.5 23.0) (float-vector 7.262992e-14 76.5 0.0)))
(instance face :init :vertices (list (float-vector 54.0937 54.0937 0.0) (float-vector 54.0937 54.0937 23.0) (float-vector 29.2753 70.6768 23.0) (float-vector 29.2753 70.6768 0.0)))
(instance face :init :vertices (list (float-vector 70.6768 29.2753 0.0) (float-vector 70.6768 29.2753 23.0) (float-vector 54.0937 54.0937 23.0) (float-vector 54.0937 54.0937 0.0)))
(instance face :init :vertices (list (float-vector 76.5 0.0 0.0) (float-vector 76.5 0.0 23.0) (float-vector 70.6768 29.2753 23.0) (float-vector 70.6768 29.2753 0.0)))
(instance face :init :vertices (list (float-vector 75.2962 -31.1887 0.0) (float-vector 70.6768 -29.2753 0.0) (float-vector 76.5 0.0 0.0) (float-vector 81.5 0.0 0.0)))
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(instance face :init :vertices (list (float-vector 31.1887 -75.2962 0.0) (float-vector 29.2753 -70.6768 0.0) (float-vector 54.0937 -54.0937 0.0) (float-vector 57.6292 -57.6292 0.0)))
(instance face :init :vertices (list (float-vector -7.388367e-13 -81.5 0.0) (float-vector -6.935093e-13 -76.5 0.0) (float-vector 29.2753 -70.6768 0.0) (float-vector 31.1887 -75.2962 0.0)))
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(instance face :init :vertices (list (float-vector -75.2962 31.1887 0.0) (float-vector -70.6768 29.2753 0.0) (float-vector -76.5 4.170424e-13 0.0) (float-vector -81.5 4.443001e-13 0.0)))
(instance face :init :vertices (list (float-vector -57.6292 57.6292 0.0) (float-vector -54.0937 54.0937 0.0) (float-vector -70.6768 29.2753 0.0) (float-vector -75.2962 31.1887 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 :tognana-pasta-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 69.4809 -69.4809 38.0) :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 -5.416893e-13 -98.2609 38.0) :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 -69.4809 -69.4809 38.0) :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 -98.2609 1.865799e-13 38.0) :rot #2f((0.766044 -0.642788 2.442491e-15) (-2.886580e-15 3.538836e-16 1.0) (-0.642788 -0.766044 -1.575129e-15)) :name "handle3"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -69.4809 69.4809 38.0) :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 6.016743e-15 98.2609 38.0) :rot #2f((-1.276756e-15 -6.106227e-16 1.0) (-0.766044 0.642788 -6.106227e-16) (-0.642788 -0.766044 -1.276756e-15)) :name "handle5"))
(send blink0 :assoc handle5)
(setq handle6 (make-cascoords :pos (float-vector 69.4809 69.4809 38.0) :rot #2f((-0.541675 0.454519 0.707107) (-0.541675 0.454519 -0.707107) (-0.642788 -0.766044 -1.720846e-15)) :name "handle6"))
(send blink0 :assoc handle6)
(setq handle7 (make-cascoords :pos (float-vector 98.2609 0.0 38.0) :rot #2f((-0.766044 0.642788 1.110223e-15) (2.220446e-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 tognana-pasta-dish (&rest args) (instance* tognana-pasta-dish-object :init args))
;; (format *error-output* "(instance tognana-pasta-dish-object :init) for generating model~%")
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