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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass cup-object
:super cascaded-link
:slots (sensors
handle0
attention0
))
(defmethod cup-object
(:init
(&rest args &key (name "cup") (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 :cup-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 25.0 0.0 0.0) (float-vector 23.097 -9.56709 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 23.097 -9.56709 0.0) (float-vector 17.6777 -17.6777 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 17.6777 -17.6777 0.0) (float-vector 9.56709 -23.097 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 9.56709 -23.097 0.0) (float-vector -2.266370e-13 -25.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -2.266370e-13 -25.0 0.0) (float-vector -9.56709 -23.097 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -9.56709 -23.097 0.0) (float-vector -17.6777 -17.6777 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -17.6777 -17.6777 0.0) (float-vector -23.097 -9.56709 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -23.097 -9.56709 0.0) (float-vector -25.0 1.362884e-13 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -25.0 1.362884e-13 0.0) (float-vector -23.097 9.56709 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -23.097 9.56709 0.0) (float-vector -17.6777 17.6777 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -17.6777 17.6777 0.0) (float-vector -9.56709 23.097 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -9.56709 23.097 0.0) (float-vector 2.373527e-14 25.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 2.373527e-14 25.0 0.0) (float-vector 9.56709 23.097 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 9.56709 23.097 0.0) (float-vector 17.6777 17.6777 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 17.6777 17.6777 0.0) (float-vector 23.097 9.56709 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 23.097 9.56709 0.0) (float-vector 25.0 0.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 36.9552 -15.3073 60.0) (float-vector 23.097 -9.56709 0.0) (float-vector 25.0 0.0 0.0) (float-vector 40.0 0.0 60.0)))
(instance face :init :vertices (list (float-vector 28.2843 -28.2843 60.0) (float-vector 17.6777 -17.6777 0.0) (float-vector 23.097 -9.56709 0.0) (float-vector 36.9552 -15.3073 60.0)))
(instance face :init :vertices (list (float-vector 15.3073 -36.9552 60.0) (float-vector 9.56709 -23.097 0.0) (float-vector 17.6777 -17.6777 0.0) (float-vector 28.2843 -28.2843 60.0)))
(instance face :init :vertices (list (float-vector -3.626192e-13 -40.0 60.0) (float-vector -2.266370e-13 -25.0 0.0) (float-vector 9.56709 -23.097 0.0) (float-vector 15.3073 -36.9552 60.0)))
(instance face :init :vertices (list (float-vector -15.3073 -36.9552 60.0) (float-vector -9.56709 -23.097 0.0) (float-vector -2.266370e-13 -25.0 0.0) (float-vector -3.626192e-13 -40.0 60.0)))
(instance face :init :vertices (list (float-vector -28.2843 -28.2843 60.0) (float-vector -17.6777 -17.6777 0.0) (float-vector -9.56709 -23.097 0.0) (float-vector -15.3073 -36.9552 60.0)))
(instance face :init :vertices (list (float-vector -36.9552 -15.3073 60.0) (float-vector -23.097 -9.56709 0.0) (float-vector -17.6777 -17.6777 0.0) (float-vector -28.2843 -28.2843 60.0)))
(instance face :init :vertices (list (float-vector -40.0 2.180614e-13 60.0) (float-vector -25.0 1.362884e-13 0.0) (float-vector -23.097 -9.56709 0.0) (float-vector -36.9552 -15.3073 60.0)))
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(instance face :init :vertices (list (float-vector -15.3073 36.9552 60.0) (float-vector -9.56709 23.097 0.0) (float-vector -17.6777 17.6777 0.0) (float-vector -28.2843 28.2843 60.0)))
(instance face :init :vertices (list (float-vector 3.797643e-14 40.0 60.0) (float-vector 2.373527e-14 25.0 0.0) (float-vector -9.56709 23.097 0.0) (float-vector -15.3073 36.9552 60.0)))
(instance face :init :vertices (list (float-vector 15.3073 36.9552 60.0) (float-vector 9.56709 23.097 0.0) (float-vector 2.373527e-14 25.0 0.0) (float-vector 3.797643e-14 40.0 60.0)))
(instance face :init :vertices (list (float-vector 28.2843 28.2843 60.0) (float-vector 17.6777 17.6777 0.0) (float-vector 9.56709 23.097 0.0) (float-vector 15.3073 36.9552 60.0)))
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(instance face :init :vertices (list (float-vector 40.0 0.0 60.0) (float-vector 25.0 0.0 0.0) (float-vector 23.097 9.56709 0.0) (float-vector 36.9552 15.3073 60.0)))
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(instance face :init :vertices (list (float-vector -40.0 2.180614e-13 100.0) (float-vector -40.0 2.180614e-13 60.0) (float-vector -36.9552 -15.3073 60.0) (float-vector -36.9552 -15.3073 100.0)))
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(instance face :init :vertices (list (float-vector -15.3073 36.9552 100.0) (float-vector -15.3073 36.9552 60.0) (float-vector -28.2843 28.2843 60.0) (float-vector -28.2843 28.2843 100.0)))
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(instance face :init :vertices (list (float-vector 17.6777 17.6777 5.0) (float-vector 24.7487 24.7487 60.0) (float-vector 13.3939 32.3358 60.0) (float-vector 9.56709 23.097 5.0)))
(instance face :init :vertices (list (float-vector 23.097 9.56709 5.0) (float-vector 32.3358 13.3939 60.0) (float-vector 24.7487 24.7487 60.0) (float-vector 17.6777 17.6777 5.0)))
(instance face :init :vertices (list (float-vector 25.0 0.0 5.0) (float-vector 35.0 0.0 60.0) (float-vector 32.3358 13.3939 60.0) (float-vector 23.097 9.56709 5.0)))
(instance face :init :vertices (list (float-vector 23.097 -9.56709 5.0) (float-vector 25.0 0.0 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 25.0 0.0 5.0) (float-vector 23.097 9.56709 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 23.097 9.56709 5.0) (float-vector 17.6777 17.6777 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 17.6777 17.6777 5.0) (float-vector 9.56709 23.097 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 9.56709 23.097 5.0) (float-vector 2.373527e-14 25.0 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 2.373527e-14 25.0 5.0) (float-vector -9.56709 23.097 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -9.56709 23.097 5.0) (float-vector -17.6777 17.6777 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -17.6777 17.6777 5.0) (float-vector -23.097 9.56709 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -23.097 9.56709 5.0) (float-vector -25.0 1.362884e-13 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -25.0 1.362884e-13 5.0) (float-vector -23.097 -9.56709 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -23.097 -9.56709 5.0) (float-vector -17.6777 -17.6777 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -17.6777 -17.6777 5.0) (float-vector -9.56709 -23.097 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -9.56709 -23.097 5.0) (float-vector -2.266370e-13 -25.0 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector -2.266370e-13 -25.0 5.0) (float-vector 9.56709 -23.097 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 9.56709 -23.097 5.0) (float-vector 17.6777 -17.6777 5.0) (float-vector 0.0 0.0 5.0)))
(instance face :init :vertices (list (float-vector 17.6777 -17.6777 5.0) (float-vector 23.097 -9.56709 5.0) (float-vector 0.0 0.0 5.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :green)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :cup-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 0.0 0.0 50.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
(send blink0 :assoc handle0)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 150.0) :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) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 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 cup (&rest args) (instance* cup-object :init args))
;; (format *error-output* "(instance cup-object :init) for generating model~%")
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