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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass square-600-closet-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5
joint0 joint1 joint2 joint3 joint4 joint5 ))
(defmethod square-600-closet-object
(:init
(&rest args &key (name "square-600-closet") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2 blink3 blink4 blink5 blink6
)
(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 290.0 300.0 1720.0) (float-vector -290.0 300.0 1720.0) (float-vector -290.0 -300.0 1720.0) (float-vector 290.0 -300.0 1720.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 1690.0) (float-vector 290.0 300.0 1690.0) (float-vector 290.0 -300.0 1690.0) (float-vector -290.0 -300.0 1690.0)))
(instance face :init :vertices (list (float-vector 290.0 300.0 1720.0) (float-vector 290.0 300.0 1690.0) (float-vector -290.0 300.0 1690.0) (float-vector -290.0 300.0 1720.0)))
(instance face :init :vertices (list (float-vector 290.0 -300.0 1720.0) (float-vector 290.0 -300.0 1690.0) (float-vector 290.0 300.0 1690.0) (float-vector 290.0 300.0 1720.0)))
(instance face :init :vertices (list (float-vector -290.0 -300.0 1720.0) (float-vector -290.0 -300.0 1690.0) (float-vector 290.0 -300.0 1690.0) (float-vector 290.0 -300.0 1720.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 1720.0) (float-vector -290.0 300.0 1690.0) (float-vector -290.0 -300.0 1690.0) (float-vector -290.0 -300.0 1720.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 290.0 300.0 32.0) (float-vector -290.0 300.0 32.0) (float-vector -290.0 -300.0 32.0) (float-vector 290.0 -300.0 32.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 0.0) (float-vector 290.0 300.0 0.0) (float-vector 290.0 -300.0 0.0) (float-vector -290.0 -300.0 0.0)))
(instance face :init :vertices (list (float-vector 290.0 300.0 32.0) (float-vector 290.0 300.0 0.0) (float-vector -290.0 300.0 0.0) (float-vector -290.0 300.0 32.0)))
(instance face :init :vertices (list (float-vector 290.0 -300.0 32.0) (float-vector 290.0 -300.0 0.0) (float-vector 290.0 300.0 0.0) (float-vector 290.0 300.0 32.0)))
(instance face :init :vertices (list (float-vector -290.0 -300.0 32.0) (float-vector -290.0 -300.0 0.0) (float-vector 290.0 -300.0 0.0) (float-vector 290.0 -300.0 32.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 32.0) (float-vector -290.0 300.0 0.0) (float-vector -290.0 -300.0 0.0) (float-vector -290.0 -300.0 32.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -272.0 282.0 1690.0) (float-vector -290.0 282.0 1690.0) (float-vector -290.0 -282.0 1690.0) (float-vector -272.0 -282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 282.0 32.0) (float-vector -272.0 282.0 32.0) (float-vector -272.0 -282.0 32.0) (float-vector -290.0 -282.0 32.0)))
(instance face :init :vertices (list (float-vector -272.0 282.0 1690.0) (float-vector -272.0 282.0 32.0) (float-vector -290.0 282.0 32.0) (float-vector -290.0 282.0 1690.0)))
(instance face :init :vertices (list (float-vector -272.0 -282.0 1690.0) (float-vector -272.0 -282.0 32.0) (float-vector -272.0 282.0 32.0) (float-vector -272.0 282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 -282.0 1690.0) (float-vector -290.0 -282.0 32.0) (float-vector -272.0 -282.0 32.0) (float-vector -272.0 -282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 282.0 1690.0) (float-vector -290.0 282.0 32.0) (float-vector -290.0 -282.0 32.0) (float-vector -290.0 -282.0 1690.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 300.0 1690.0) (float-vector -290.0 300.0 1690.0) (float-vector -290.0 282.0 1690.0) (float-vector 272.0 282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 32.0) (float-vector 272.0 300.0 32.0) (float-vector 272.0 282.0 32.0) (float-vector -290.0 282.0 32.0)))
(instance face :init :vertices (list (float-vector 272.0 300.0 1690.0) (float-vector 272.0 300.0 32.0) (float-vector -290.0 300.0 32.0) (float-vector -290.0 300.0 1690.0)))
(instance face :init :vertices (list (float-vector 272.0 282.0 1690.0) (float-vector 272.0 282.0 32.0) (float-vector 272.0 300.0 32.0) (float-vector 272.0 300.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 282.0 1690.0) (float-vector -290.0 282.0 32.0) (float-vector 272.0 282.0 32.0) (float-vector 272.0 282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 300.0 1690.0) (float-vector -290.0 300.0 32.0) (float-vector -290.0 282.0 32.0) (float-vector -290.0 282.0 1690.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 -282.0 1690.0) (float-vector -290.0 -282.0 1690.0) (float-vector -290.0 -300.0 1690.0) (float-vector 272.0 -300.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 -282.0 32.0) (float-vector 272.0 -282.0 32.0) (float-vector 272.0 -300.0 32.0) (float-vector -290.0 -300.0 32.0)))
(instance face :init :vertices (list (float-vector 272.0 -282.0 1690.0) (float-vector 272.0 -282.0 32.0) (float-vector -290.0 -282.0 32.0) (float-vector -290.0 -282.0 1690.0)))
(instance face :init :vertices (list (float-vector 272.0 -300.0 1690.0) (float-vector 272.0 -300.0 32.0) (float-vector 272.0 -282.0 32.0) (float-vector 272.0 -282.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 -300.0 1690.0) (float-vector -290.0 -300.0 32.0) (float-vector 272.0 -300.0 32.0) (float-vector 272.0 -300.0 1690.0)))
(instance face :init :vertices (list (float-vector -290.0 -282.0 1690.0) (float-vector -290.0 -282.0 32.0) (float-vector -290.0 -300.0 32.0) (float-vector -290.0 -300.0 1690.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 -12.0 740.0) (float-vector -272.0 -12.0 740.0) (float-vector -272.0 -282.0 740.0) (float-vector 272.0 -282.0 740.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 722.0) (float-vector 272.0 -12.0 722.0) (float-vector 272.0 -282.0 722.0) (float-vector -272.0 -282.0 722.0)))
(instance face :init :vertices (list (float-vector 272.0 -12.0 740.0) (float-vector 272.0 -12.0 722.0) (float-vector -272.0 -12.0 722.0) (float-vector -272.0 -12.0 740.0)))
(instance face :init :vertices (list (float-vector 272.0 -282.0 740.0) (float-vector 272.0 -282.0 722.0) (float-vector 272.0 -12.0 722.0) (float-vector 272.0 -12.0 740.0)))
(instance face :init :vertices (list (float-vector -272.0 -282.0 740.0) (float-vector -272.0 -282.0 722.0) (float-vector 272.0 -282.0 722.0) (float-vector 272.0 -282.0 740.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 740.0) (float-vector -272.0 -12.0 722.0) (float-vector -272.0 -282.0 722.0) (float-vector -272.0 -282.0 740.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 -12.0 588.0) (float-vector -272.0 -12.0 588.0) (float-vector -272.0 -282.0 588.0) (float-vector 272.0 -282.0 588.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 570.0) (float-vector 272.0 -12.0 570.0) (float-vector 272.0 -282.0 570.0) (float-vector -272.0 -282.0 570.0)))
(instance face :init :vertices (list (float-vector 272.0 -12.0 588.0) (float-vector 272.0 -12.0 570.0) (float-vector -272.0 -12.0 570.0) (float-vector -272.0 -12.0 588.0)))
(instance face :init :vertices (list (float-vector 272.0 -282.0 588.0) (float-vector 272.0 -282.0 570.0) (float-vector 272.0 -12.0 570.0) (float-vector 272.0 -12.0 588.0)))
(instance face :init :vertices (list (float-vector -272.0 -282.0 588.0) (float-vector -272.0 -282.0 570.0) (float-vector 272.0 -282.0 570.0) (float-vector 272.0 -282.0 588.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 588.0) (float-vector -272.0 -12.0 570.0) (float-vector -272.0 -282.0 570.0) (float-vector -272.0 -282.0 588.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 -12.0 437.0) (float-vector -272.0 -12.0 437.0) (float-vector -272.0 -282.0 437.0) (float-vector 272.0 -282.0 437.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 419.0) (float-vector 272.0 -12.0 419.0) (float-vector 272.0 -282.0 419.0) (float-vector -272.0 -282.0 419.0)))
(instance face :init :vertices (list (float-vector 272.0 -12.0 437.0) (float-vector 272.0 -12.0 419.0) (float-vector -272.0 -12.0 419.0) (float-vector -272.0 -12.0 437.0)))
(instance face :init :vertices (list (float-vector 272.0 -282.0 437.0) (float-vector 272.0 -282.0 419.0) (float-vector 272.0 -12.0 419.0) (float-vector 272.0 -12.0 437.0)))
(instance face :init :vertices (list (float-vector -272.0 -282.0 437.0) (float-vector -272.0 -282.0 419.0) (float-vector 272.0 -282.0 419.0) (float-vector 272.0 -282.0 437.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 437.0) (float-vector -272.0 -12.0 419.0) (float-vector -272.0 -282.0 419.0) (float-vector -272.0 -282.0 437.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 272.0 -12.0 235.0) (float-vector -272.0 -12.0 235.0) (float-vector -272.0 -282.0 235.0) (float-vector 272.0 -282.0 235.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 217.0) (float-vector 272.0 -12.0 217.0) (float-vector 272.0 -282.0 217.0) (float-vector -272.0 -282.0 217.0)))
(instance face :init :vertices (list (float-vector 272.0 -12.0 235.0) (float-vector 272.0 -12.0 217.0) (float-vector -272.0 -12.0 217.0) (float-vector -272.0 -12.0 235.0)))
(instance face :init :vertices (list (float-vector 272.0 -282.0 235.0) (float-vector 272.0 -282.0 217.0) (float-vector 272.0 -12.0 217.0) (float-vector 272.0 -12.0 235.0)))
(instance face :init :vertices (list (float-vector -272.0 -282.0 235.0) (float-vector -272.0 -282.0 217.0) (float-vector 272.0 -282.0 217.0) (float-vector 272.0 -282.0 235.0)))
(instance face :init :vertices (list (float-vector -272.0 -12.0 235.0) (float-vector -272.0 -12.0 217.0) (float-vector -272.0 -282.0 217.0) (float-vector -272.0 -282.0 235.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 263.0 6.0 1690.0) (float-vector -281.0 6.0 1690.0) (float-vector -281.0 -12.0 1690.0) (float-vector 263.0 -12.0 1690.0)))
(instance face :init :vertices (list (float-vector -281.0 6.0 32.0) (float-vector 263.0 6.0 32.0) (float-vector 263.0 -12.0 32.0) (float-vector -281.0 -12.0 32.0)))
(instance face :init :vertices (list (float-vector 263.0 6.0 1690.0) (float-vector 263.0 6.0 32.0) (float-vector -281.0 6.0 32.0) (float-vector -281.0 6.0 1690.0)))
(instance face :init :vertices (list (float-vector 263.0 -12.0 1690.0) (float-vector 263.0 -12.0 32.0) (float-vector 263.0 6.0 32.0) (float-vector 263.0 6.0 1690.0)))
(instance face :init :vertices (list (float-vector -281.0 -12.0 1690.0) (float-vector -281.0 -12.0 32.0) (float-vector 263.0 -12.0 32.0) (float-vector 263.0 -12.0 1690.0)))
(instance face :init :vertices (list (float-vector -281.0 6.0 1690.0) (float-vector -281.0 6.0 32.0) (float-vector -281.0 -12.0 32.0) (float-vector -281.0 -12.0 1690.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :sienna4)
(send (elt bc 1) :set-color :sienna4)
(send (elt bc 2) :set-color :sienna4)
(send (elt bc 3) :set-color :sienna4)
(send (elt bc 4) :set-color :sienna4)
(send (elt bc 5) :set-color :sienna4)
(send (elt bc 6) :set-color :sienna4)
(send (elt bc 7) :set-color :sienna4)
(send (elt bc 8) :set-color :sienna4)
(send (elt bc 9) :set-color :sienna4)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :square-600-closet-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -264.0 129.0 -89.5) (float-vector -264.0 -129.0 -89.5) (float-vector -264.0 -129.0 89.5) (float-vector -264.0 129.0 89.5)))
(instance face :init :vertices (list (float-vector 264.0 -129.0 -89.5) (float-vector 264.0 -129.0 89.5) (float-vector -264.0 -129.0 89.5) (float-vector -264.0 -129.0 -89.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -89.5) (float-vector 264.0 129.0 89.5) (float-vector 264.0 111.0 89.5) (float-vector 264.0 111.0 -71.5) (float-vector 264.0 -111.0 -71.5) (float-vector 264.0 -111.0 89.5) (float-vector 264.0 -129.0 89.5) (float-vector 264.0 -129.0 -89.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 89.5) (float-vector -264.0 -129.0 89.5) (float-vector 264.0 -129.0 89.5) (float-vector 264.0 -111.0 89.5) (float-vector -246.0 -111.0 89.5) (float-vector -246.0 111.0 89.5) (float-vector 264.0 111.0 89.5) (float-vector 264.0 129.0 89.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -89.5) (float-vector 264.0 -129.0 -89.5) (float-vector -264.0 -129.0 -89.5) (float-vector -264.0 129.0 -89.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 -89.5) (float-vector -264.0 129.0 89.5) (float-vector 264.0 129.0 89.5) (float-vector 264.0 129.0 -89.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 89.5) (float-vector -246.0 -111.0 89.5) (float-vector -246.0 -111.0 -71.5) (float-vector -246.0 111.0 -71.5)))
(instance face :init :vertices (list (float-vector -246.0 -111.0 -71.5) (float-vector -246.0 -111.0 89.5) (float-vector 264.0 -111.0 89.5) (float-vector 264.0 -111.0 -71.5)))
(instance face :init :vertices (list (float-vector 264.0 111.0 -71.5) (float-vector 264.0 111.0 89.5) (float-vector -246.0 111.0 89.5) (float-vector -246.0 111.0 -71.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 -71.5) (float-vector -246.0 -111.0 -71.5) (float-vector 264.0 -111.0 -71.5) (float-vector 264.0 111.0 -71.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 264.0 147.0 -89.5) (float-vector 264.0 -147.0 -89.5) (float-vector 264.0 -147.0 107.5) (float-vector 264.0 147.0 107.5)))
(instance face :init :vertices (list (float-vector 282.0 -147.0 -89.5) (float-vector 282.0 -147.0 107.5) (float-vector 264.0 -147.0 107.5) (float-vector 264.0 -147.0 -89.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -89.5) (float-vector 282.0 147.0 107.5) (float-vector 282.0 -147.0 107.5) (float-vector 282.0 -147.0 -89.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 264.0 147.0 107.5) (float-vector 264.0 -147.0 107.5) (float-vector 282.0 -147.0 107.5) (float-vector 282.0 147.0 107.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -89.5) (float-vector 282.0 -147.0 -89.5) (float-vector 264.0 -147.0 -89.5) (float-vector 264.0 147.0 -89.5)))
(instance face :init :vertices (list (float-vector 264.0 147.0 -89.5) (float-vector 264.0 147.0 107.5) (float-vector 282.0 147.0 107.5) (float-vector 282.0 147.0 -89.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 272.0 36.0 14.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 -3.5) (float-vector 272.0 -36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 36.0 -3.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 49.0 27.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 287.0 -49.0 -12.5) (float-vector 287.0 -49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 -49.0 -12.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 -49.0 -12.5))
:holes (list
(instance hole :init :vertices (list (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 36.0 14.5) (float-vector 287.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 282.0 49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 49.0 27.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 -49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 49.0 27.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 -3.5) (float-vector 287.0 36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 36.0 -3.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :wheat1)
(send (elt bc 1) :set-color :sienna4)
(send (elt bc 2) :set-color :gainsboro)
(setq blink6 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-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 :square-600-closet-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -264.0 129.0 -89.5) (float-vector -264.0 -129.0 -89.5) (float-vector -264.0 -129.0 89.5) (float-vector -264.0 129.0 89.5)))
(instance face :init :vertices (list (float-vector 264.0 -129.0 -89.5) (float-vector 264.0 -129.0 89.5) (float-vector -264.0 -129.0 89.5) (float-vector -264.0 -129.0 -89.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -89.5) (float-vector 264.0 129.0 89.5) (float-vector 264.0 111.0 89.5) (float-vector 264.0 111.0 -71.5) (float-vector 264.0 -111.0 -71.5) (float-vector 264.0 -111.0 89.5) (float-vector 264.0 -129.0 89.5) (float-vector 264.0 -129.0 -89.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 89.5) (float-vector -264.0 -129.0 89.5) (float-vector 264.0 -129.0 89.5) (float-vector 264.0 -111.0 89.5) (float-vector -246.0 -111.0 89.5) (float-vector -246.0 111.0 89.5) (float-vector 264.0 111.0 89.5) (float-vector 264.0 129.0 89.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -89.5) (float-vector 264.0 -129.0 -89.5) (float-vector -264.0 -129.0 -89.5) (float-vector -264.0 129.0 -89.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 -89.5) (float-vector -264.0 129.0 89.5) (float-vector 264.0 129.0 89.5) (float-vector 264.0 129.0 -89.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 89.5) (float-vector -246.0 -111.0 89.5) (float-vector -246.0 -111.0 -71.5) (float-vector -246.0 111.0 -71.5)))
(instance face :init :vertices (list (float-vector -246.0 -111.0 -71.5) (float-vector -246.0 -111.0 89.5) (float-vector 264.0 -111.0 89.5) (float-vector 264.0 -111.0 -71.5)))
(instance face :init :vertices (list (float-vector 264.0 111.0 -71.5) (float-vector 264.0 111.0 89.5) (float-vector -246.0 111.0 89.5) (float-vector -246.0 111.0 -71.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 -71.5) (float-vector -246.0 -111.0 -71.5) (float-vector 264.0 -111.0 -71.5) (float-vector 264.0 111.0 -71.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 264.0 147.0 -89.5) (float-vector 264.0 -147.0 -89.5) (float-vector 264.0 -147.0 107.5) (float-vector 264.0 147.0 107.5)))
(instance face :init :vertices (list (float-vector 282.0 -147.0 -89.5) (float-vector 282.0 -147.0 107.5) (float-vector 264.0 -147.0 107.5) (float-vector 264.0 -147.0 -89.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -89.5) (float-vector 282.0 147.0 107.5) (float-vector 282.0 -147.0 107.5) (float-vector 282.0 -147.0 -89.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 264.0 147.0 107.5) (float-vector 264.0 -147.0 107.5) (float-vector 282.0 -147.0 107.5) (float-vector 282.0 147.0 107.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -89.5) (float-vector 282.0 -147.0 -89.5) (float-vector 264.0 -147.0 -89.5) (float-vector 264.0 147.0 -89.5)))
(instance face :init :vertices (list (float-vector 264.0 147.0 -89.5) (float-vector 264.0 147.0 107.5) (float-vector 282.0 147.0 107.5) (float-vector 282.0 147.0 -89.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 272.0 36.0 14.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 -3.5) (float-vector 272.0 -36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 36.0 -3.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 49.0 27.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 287.0 -49.0 -12.5) (float-vector 287.0 -49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 -49.0 -12.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 -49.0 -12.5))
:holes (list
(instance hole :init :vertices (list (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 36.0 14.5) (float-vector 287.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 282.0 49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 49.0 27.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 -49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 49.0 27.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 -3.5) (float-vector 287.0 36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 36.0 -3.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :wheat1)
(send (elt bc 1) :set-color :sienna4)
(send (elt bc 2) :set-color :gainsboro)
(setq blink5 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-bodyset3 :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 :square-600-closet-bodyset4
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -264.0 129.0 -64.0) (float-vector -264.0 -129.0 -64.0) (float-vector -264.0 -129.0 64.0) (float-vector -264.0 129.0 64.0)))
(instance face :init :vertices (list (float-vector 264.0 -129.0 -64.0) (float-vector 264.0 -129.0 64.0) (float-vector -264.0 -129.0 64.0) (float-vector -264.0 -129.0 -64.0)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -64.0) (float-vector 264.0 129.0 64.0) (float-vector 264.0 111.0 64.0) (float-vector 264.0 111.0 -46.0) (float-vector 264.0 -111.0 -46.0) (float-vector 264.0 -111.0 64.0) (float-vector 264.0 -129.0 64.0) (float-vector 264.0 -129.0 -64.0)))
(instance face :init :vertices (list (float-vector -264.0 129.0 64.0) (float-vector -264.0 -129.0 64.0) (float-vector 264.0 -129.0 64.0) (float-vector 264.0 -111.0 64.0) (float-vector -246.0 -111.0 64.0) (float-vector -246.0 111.0 64.0) (float-vector 264.0 111.0 64.0) (float-vector 264.0 129.0 64.0)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -64.0) (float-vector 264.0 -129.0 -64.0) (float-vector -264.0 -129.0 -64.0) (float-vector -264.0 129.0 -64.0)))
(instance face :init :vertices (list (float-vector -264.0 129.0 -64.0) (float-vector -264.0 129.0 64.0) (float-vector 264.0 129.0 64.0) (float-vector 264.0 129.0 -64.0)))
(instance face :init :vertices (list (float-vector -246.0 111.0 64.0) (float-vector -246.0 -111.0 64.0) (float-vector -246.0 -111.0 -46.0) (float-vector -246.0 111.0 -46.0)))
(instance face :init :vertices (list (float-vector -246.0 -111.0 -46.0) (float-vector -246.0 -111.0 64.0) (float-vector 264.0 -111.0 64.0) (float-vector 264.0 -111.0 -46.0)))
(instance face :init :vertices (list (float-vector 264.0 111.0 -46.0) (float-vector 264.0 111.0 64.0) (float-vector -246.0 111.0 64.0) (float-vector -246.0 111.0 -46.0)))
(instance face :init :vertices (list (float-vector -246.0 111.0 -46.0) (float-vector -246.0 -111.0 -46.0) (float-vector 264.0 -111.0 -46.0) (float-vector 264.0 111.0 -46.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 264.0 147.0 -64.0) (float-vector 264.0 -147.0 -64.0) (float-vector 264.0 -147.0 82.0) (float-vector 264.0 147.0 82.0)))
(instance face :init :vertices (list (float-vector 282.0 -147.0 -64.0) (float-vector 282.0 -147.0 82.0) (float-vector 264.0 -147.0 82.0) (float-vector 264.0 -147.0 -64.0)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -64.0) (float-vector 282.0 147.0 82.0) (float-vector 282.0 -147.0 82.0) (float-vector 282.0 -147.0 -64.0))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 264.0 147.0 82.0) (float-vector 264.0 -147.0 82.0) (float-vector 282.0 -147.0 82.0) (float-vector 282.0 147.0 82.0)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -64.0) (float-vector 282.0 -147.0 -64.0) (float-vector 264.0 -147.0 -64.0) (float-vector 264.0 147.0 -64.0)))
(instance face :init :vertices (list (float-vector 264.0 147.0 -64.0) (float-vector 264.0 147.0 82.0) (float-vector 282.0 147.0 82.0) (float-vector 282.0 147.0 -64.0)))
(instance face :init :vertices (list (float-vector 272.0 36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 272.0 36.0 14.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 -3.5) (float-vector 272.0 -36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 36.0 -3.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 49.0 27.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 287.0 -49.0 -12.5) (float-vector 287.0 -49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 -49.0 -12.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 -49.0 -12.5))
:holes (list
(instance hole :init :vertices (list (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 36.0 14.5) (float-vector 287.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 282.0 49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 49.0 27.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 -49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 49.0 27.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 -3.5) (float-vector 287.0 36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 36.0 -3.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :wheat1)
(send (elt bc 1) :set-color :sienna4)
(send (elt bc 2) :set-color :gainsboro)
(setq blink4 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-bodyset4 :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 :square-600-closet-bodyset5
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -264.0 129.0 -64.5) (float-vector -264.0 -129.0 -64.5) (float-vector -264.0 -129.0 64.5) (float-vector -264.0 129.0 64.5)))
(instance face :init :vertices (list (float-vector 264.0 -129.0 -64.5) (float-vector 264.0 -129.0 64.5) (float-vector -264.0 -129.0 64.5) (float-vector -264.0 -129.0 -64.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -64.5) (float-vector 264.0 129.0 64.5) (float-vector 264.0 111.0 64.5) (float-vector 264.0 111.0 -46.5) (float-vector 264.0 -111.0 -46.5) (float-vector 264.0 -111.0 64.5) (float-vector 264.0 -129.0 64.5) (float-vector 264.0 -129.0 -64.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 64.5) (float-vector -264.0 -129.0 64.5) (float-vector 264.0 -129.0 64.5) (float-vector 264.0 -111.0 64.5) (float-vector -246.0 -111.0 64.5) (float-vector -246.0 111.0 64.5) (float-vector 264.0 111.0 64.5) (float-vector 264.0 129.0 64.5)))
(instance face :init :vertices (list (float-vector 264.0 129.0 -64.5) (float-vector 264.0 -129.0 -64.5) (float-vector -264.0 -129.0 -64.5) (float-vector -264.0 129.0 -64.5)))
(instance face :init :vertices (list (float-vector -264.0 129.0 -64.5) (float-vector -264.0 129.0 64.5) (float-vector 264.0 129.0 64.5) (float-vector 264.0 129.0 -64.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 64.5) (float-vector -246.0 -111.0 64.5) (float-vector -246.0 -111.0 -46.5) (float-vector -246.0 111.0 -46.5)))
(instance face :init :vertices (list (float-vector -246.0 -111.0 -46.5) (float-vector -246.0 -111.0 64.5) (float-vector 264.0 -111.0 64.5) (float-vector 264.0 -111.0 -46.5)))
(instance face :init :vertices (list (float-vector 264.0 111.0 -46.5) (float-vector 264.0 111.0 64.5) (float-vector -246.0 111.0 64.5) (float-vector -246.0 111.0 -46.5)))
(instance face :init :vertices (list (float-vector -246.0 111.0 -46.5) (float-vector -246.0 -111.0 -46.5) (float-vector 264.0 -111.0 -46.5) (float-vector 264.0 111.0 -46.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 264.0 147.0 -64.5) (float-vector 264.0 -147.0 -64.5) (float-vector 264.0 -147.0 82.5) (float-vector 264.0 147.0 82.5)))
(instance face :init :vertices (list (float-vector 282.0 -147.0 -64.5) (float-vector 282.0 -147.0 82.5) (float-vector 264.0 -147.0 82.5) (float-vector 264.0 -147.0 -64.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -64.5) (float-vector 282.0 147.0 82.5) (float-vector 282.0 -147.0 82.5) (float-vector 282.0 -147.0 -64.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 264.0 147.0 82.5) (float-vector 264.0 -147.0 82.5) (float-vector 282.0 -147.0 82.5) (float-vector 282.0 147.0 82.5)))
(instance face :init :vertices (list (float-vector 282.0 147.0 -64.5) (float-vector 282.0 -147.0 -64.5) (float-vector 264.0 -147.0 -64.5) (float-vector 264.0 147.0 -64.5)))
(instance face :init :vertices (list (float-vector 264.0 147.0 -64.5) (float-vector 264.0 147.0 82.5) (float-vector 282.0 147.0 82.5) (float-vector 282.0 147.0 -64.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 -36.0 -3.5) (float-vector 272.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 272.0 -36.0 14.5) (float-vector 272.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 272.0 36.0 14.5) (float-vector 272.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 272.0 36.0 -3.5) (float-vector 272.0 -36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 36.0 -3.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 49.0 27.5))
:holes (list
(instance hole :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 -36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 287.0 -49.0 -12.5) (float-vector 287.0 -49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 282.0 -49.0 -12.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 -49.0 -12.5))
:holes (list
(instance hole :init :vertices (list (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 36.0 14.5) (float-vector 287.0 36.0 -3.5)))
))
(instance face :init :vertices (list (float-vector 282.0 49.0 27.5) (float-vector 282.0 -49.0 27.5) (float-vector 287.0 -49.0 27.5) (float-vector 287.0 49.0 27.5)))
(instance face :init :vertices (list (float-vector 287.0 49.0 -12.5) (float-vector 287.0 -49.0 -12.5) (float-vector 282.0 -49.0 -12.5) (float-vector 282.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 49.0 -12.5) (float-vector 282.0 49.0 27.5) (float-vector 287.0 49.0 27.5) (float-vector 287.0 49.0 -12.5)))
(instance face :init :vertices (list (float-vector 282.0 -36.0 -3.5) (float-vector 282.0 -36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 287.0 -36.0 -3.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 14.5) (float-vector 287.0 -36.0 14.5) (float-vector 282.0 -36.0 14.5) (float-vector 282.0 36.0 14.5)))
(instance face :init :vertices (list (float-vector 287.0 36.0 -3.5) (float-vector 287.0 36.0 14.5) (float-vector 282.0 36.0 14.5) (float-vector 282.0 36.0 -3.5)))
(instance face :init :vertices (list (float-vector 282.0 36.0 -3.5) (float-vector 282.0 -36.0 -3.5) (float-vector 287.0 -36.0 -3.5) (float-vector 287.0 36.0 -3.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :wheat1)
(send (elt bc 1) :set-color :sienna4)
(send (elt bc 2) :set-color :gainsboro)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-bodyset5 :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 :square-600-closet-bodyset6
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -9.0 285.0 -0.5) (float-vector -9.0 -9.0 -0.5) (float-vector -9.0 -9.0 948.5) (float-vector -9.0 285.0 948.5)))
(instance face :init :vertices (list (float-vector 9.0 -9.0 -0.5) (float-vector 9.0 -9.0 948.5) (float-vector -9.0 -9.0 948.5) (float-vector -9.0 -9.0 -0.5)))
(instance face :init :vertices (list (float-vector 9.0 285.0 -0.5) (float-vector 9.0 285.0 948.5) (float-vector 9.0 -9.0 948.5) (float-vector 9.0 -9.0 -0.5))
:holes (list
(instance hole :init :vertices (list (float-vector 9.0 230.0 438.0) (float-vector 9.0 230.0 510.0) (float-vector 9.0 248.0 510.0) (float-vector 9.0 248.0 438.0)))
))
(instance face :init :vertices (list (float-vector -9.0 285.0 948.5) (float-vector -9.0 -9.0 948.5) (float-vector 9.0 -9.0 948.5) (float-vector 9.0 285.0 948.5)))
(instance face :init :vertices (list (float-vector 9.0 285.0 -0.5) (float-vector 9.0 -9.0 -0.5) (float-vector -9.0 -9.0 -0.5) (float-vector -9.0 285.0 -0.5)))
(instance face :init :vertices (list (float-vector -9.0 285.0 -0.5) (float-vector -9.0 285.0 948.5) (float-vector 9.0 285.0 948.5) (float-vector 9.0 285.0 -0.5)))
(instance face :init :vertices (list (float-vector -1.0 248.0 510.0) (float-vector -1.0 230.0 510.0) (float-vector -1.0 230.0 438.0) (float-vector -1.0 248.0 438.0)))
(instance face :init :vertices (list (float-vector -1.0 230.0 438.0) (float-vector -1.0 230.0 510.0) (float-vector 9.0 230.0 510.0) (float-vector 9.0 230.0 438.0)))
(instance face :init :vertices (list (float-vector 9.0 248.0 510.0) (float-vector 9.0 230.0 510.0) (float-vector -1.0 230.0 510.0) (float-vector -1.0 248.0 510.0)))
(instance face :init :vertices (list (float-vector 9.0 248.0 438.0) (float-vector 9.0 248.0 510.0) (float-vector -1.0 248.0 510.0) (float-vector -1.0 248.0 438.0)))
(instance face :init :vertices (list (float-vector -1.0 248.0 438.0) (float-vector -1.0 230.0 438.0) (float-vector 9.0 230.0 438.0) (float-vector 9.0 248.0 438.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 6.5 261.0 425.0) (float-vector 6.5 221.0 425.0) (float-vector 6.5 221.0 523.0) (float-vector 6.5 261.0 523.0))
:holes (list
(instance hole :init :vertices (list (float-vector 6.5 248.0 438.0) (float-vector 6.5 248.0 510.0) (float-vector 6.5 230.0 510.0) (float-vector 6.5 230.0 438.0)))
))
(instance face :init :vertices (list (float-vector 11.5 221.0 425.0) (float-vector 11.5 221.0 523.0) (float-vector 6.5 221.0 523.0) (float-vector 6.5 221.0 425.0)))
(instance face :init :vertices (list (float-vector 11.5 261.0 425.0) (float-vector 11.5 261.0 523.0) (float-vector 11.5 221.0 523.0) (float-vector 11.5 221.0 425.0))
:holes (list
(instance hole :init :vertices (list (float-vector 11.5 230.0 438.0) (float-vector 11.5 230.0 510.0) (float-vector 11.5 248.0 510.0) (float-vector 11.5 248.0 438.0)))
))
(instance face :init :vertices (list (float-vector 6.5 261.0 523.0) (float-vector 6.5 221.0 523.0) (float-vector 11.5 221.0 523.0) (float-vector 11.5 261.0 523.0)))
(instance face :init :vertices (list (float-vector 11.5 261.0 425.0) (float-vector 11.5 221.0 425.0) (float-vector 6.5 221.0 425.0) (float-vector 6.5 261.0 425.0)))
(instance face :init :vertices (list (float-vector 6.5 261.0 425.0) (float-vector 6.5 261.0 523.0) (float-vector 11.5 261.0 523.0) (float-vector 11.5 261.0 425.0)))
(instance face :init :vertices (list (float-vector 6.5 230.0 438.0) (float-vector 6.5 230.0 510.0) (float-vector 11.5 230.0 510.0) (float-vector 11.5 230.0 438.0)))
(instance face :init :vertices (list (float-vector 11.5 248.0 510.0) (float-vector 11.5 230.0 510.0) (float-vector 6.5 230.0 510.0) (float-vector 6.5 248.0 510.0)))
(instance face :init :vertices (list (float-vector 11.5 248.0 438.0) (float-vector 11.5 248.0 510.0) (float-vector 6.5 248.0 510.0) (float-vector 6.5 248.0 438.0)))
(instance face :init :vertices (list (float-vector 6.5 248.0 438.0) (float-vector 6.5 230.0 438.0) (float-vector 11.5 230.0 438.0) (float-vector 11.5 248.0 438.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :sienna4)
(send (elt bc 1) :set-color :gainsboro)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-bodyset6 :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 :square-600-closet-bodyset7
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -9.0 9.5 -0.5) (float-vector -9.0 -281.5 -0.5) (float-vector -9.0 -281.5 1652.5) (float-vector -9.0 9.5 1652.5)))
(instance face :init :vertices (list (float-vector 9.0 -281.5 -0.5) (float-vector 9.0 -281.5 1652.5) (float-vector -9.0 -281.5 1652.5) (float-vector -9.0 -281.5 -0.5)))
(instance face :init :vertices (list (float-vector 9.0 9.5 -0.5) (float-vector 9.0 9.5 1652.5) (float-vector 9.0 -281.5 1652.5) (float-vector 9.0 -281.5 -0.5))
:holes (list
(instance hole :init :vertices (list (float-vector 9.0 -248.0 861.0) (float-vector 9.0 -248.0 933.0) (float-vector 9.0 -230.0 933.0) (float-vector 9.0 -230.0 861.0)))
))
(instance face :init :vertices (list (float-vector -9.0 9.5 1652.5) (float-vector -9.0 -281.5 1652.5) (float-vector 9.0 -281.5 1652.5) (float-vector 9.0 9.5 1652.5)))
(instance face :init :vertices (list (float-vector 9.0 9.5 -0.5) (float-vector 9.0 -281.5 -0.5) (float-vector -9.0 -281.5 -0.5) (float-vector -9.0 9.5 -0.5)))
(instance face :init :vertices (list (float-vector -9.0 9.5 -0.5) (float-vector -9.0 9.5 1652.5) (float-vector 9.0 9.5 1652.5) (float-vector 9.0 9.5 -0.5)))
(instance face :init :vertices (list (float-vector -1.0 -230.0 933.0) (float-vector -1.0 -248.0 933.0) (float-vector -1.0 -248.0 861.0) (float-vector -1.0 -230.0 861.0)))
(instance face :init :vertices (list (float-vector -1.0 -248.0 861.0) (float-vector -1.0 -248.0 933.0) (float-vector 9.0 -248.0 933.0) (float-vector 9.0 -248.0 861.0)))
(instance face :init :vertices (list (float-vector 9.0 -230.0 933.0) (float-vector 9.0 -248.0 933.0) (float-vector -1.0 -248.0 933.0) (float-vector -1.0 -230.0 933.0)))
(instance face :init :vertices (list (float-vector 9.0 -230.0 861.0) (float-vector 9.0 -230.0 933.0) (float-vector -1.0 -230.0 933.0) (float-vector -1.0 -230.0 861.0)))
(instance face :init :vertices (list (float-vector -1.0 -230.0 861.0) (float-vector -1.0 -248.0 861.0) (float-vector 9.0 -248.0 861.0) (float-vector 9.0 -230.0 861.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 6.5 -221.0 848.0) (float-vector 6.5 -261.0 848.0) (float-vector 6.5 -261.0 946.0) (float-vector 6.5 -221.0 946.0))
:holes (list
(instance hole :init :vertices (list (float-vector 6.5 -230.0 861.0) (float-vector 6.5 -230.0 933.0) (float-vector 6.5 -248.0 933.0) (float-vector 6.5 -248.0 861.0)))
))
(instance face :init :vertices (list (float-vector 11.5 -261.0 848.0) (float-vector 11.5 -261.0 946.0) (float-vector 6.5 -261.0 946.0) (float-vector 6.5 -261.0 848.0)))
(instance face :init :vertices (list (float-vector 11.5 -221.0 848.0) (float-vector 11.5 -221.0 946.0) (float-vector 11.5 -261.0 946.0) (float-vector 11.5 -261.0 848.0))
:holes (list
(instance hole :init :vertices (list (float-vector 11.5 -248.0 861.0) (float-vector 11.5 -248.0 933.0) (float-vector 11.5 -230.0 933.0) (float-vector 11.5 -230.0 861.0)))
))
(instance face :init :vertices (list (float-vector 6.5 -221.0 946.0) (float-vector 6.5 -261.0 946.0) (float-vector 11.5 -261.0 946.0) (float-vector 11.5 -221.0 946.0)))
(instance face :init :vertices (list (float-vector 11.5 -221.0 848.0) (float-vector 11.5 -261.0 848.0) (float-vector 6.5 -261.0 848.0) (float-vector 6.5 -221.0 848.0)))
(instance face :init :vertices (list (float-vector 6.5 -221.0 848.0) (float-vector 6.5 -221.0 946.0) (float-vector 11.5 -221.0 946.0) (float-vector 11.5 -221.0 848.0)))
(instance face :init :vertices (list (float-vector 6.5 -248.0 861.0) (float-vector 6.5 -248.0 933.0) (float-vector 11.5 -248.0 933.0) (float-vector 11.5 -248.0 861.0)))
(instance face :init :vertices (list (float-vector 11.5 -230.0 933.0) (float-vector 11.5 -248.0 933.0) (float-vector 6.5 -248.0 933.0) (float-vector 6.5 -230.0 933.0)))
(instance face :init :vertices (list (float-vector 11.5 -230.0 861.0) (float-vector 11.5 -230.0 933.0) (float-vector 6.5 -230.0 933.0) (float-vector 6.5 -230.0 861.0)))
(instance face :init :vertices (list (float-vector 6.5 -230.0 861.0) (float-vector 6.5 -248.0 861.0) (float-vector 11.5 -248.0 861.0) (float-vector 11.5 -230.0 861.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :sienna4)
(send (elt bc 1) :set-color :gainsboro)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :square-600-closet-bodyset7 :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 blink2 :newcoords (make-coords :pos (float-vector 281.0 285.0 34.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink2)
(send blink1 :newcoords (make-coords :pos (float-vector 281.0 -285.0 738.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send blink3 :newcoords (make-coords :pos (float-vector 8.0 -147.0 652.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink3)
(send blink4 :newcoords (make-coords :pos (float-vector 8.0 -147.0 501.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink4)
(send blink5 :newcoords (make-coords :pos (float-vector 8.0 -147.0 324.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink5)
(send blink6 :newcoords (make-coords :pos (float-vector 8.0 -147.0 123.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink6)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :door-left
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :door-left :axis :-z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :door-right
(setq joint1 (instance rotational-joint :init
:parent-link blink0 :child-link blink2 :name :door-right :axis :z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :drawer1
(setq joint2 (instance linear-joint :init
:parent-link blink0 :child-link blink3 :name :drawer1 :axis (float-vector 1.0 0.0 0.0)
:min 0.0 :max 564.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :drawer2
(setq joint3 (instance linear-joint :init
:parent-link blink0 :child-link blink4 :name :drawer2 :axis (float-vector 1.0 0.0 0.0)
:min 0.0 :max 564.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :drawer3
(setq joint4 (instance linear-joint :init
:parent-link blink0 :child-link blink5 :name :drawer3 :axis (float-vector 1.0 0.0 0.0)
:min 0.0 :max 564.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :drawer4
(setq joint5 (instance linear-joint :init
:parent-link blink0 :child-link blink6 :name :drawer4 :axis (float-vector 1.0 0.0 0.0)
:min 0.0 :max 564.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 291.0 -37.0 1211.0) :rot #2f((-0.5 0.866025 0.0) (-0.866025 -0.5 0.0) (0.0 0.0 1.0)) :name "door-left-handle"))
(send blink1 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 291.0 46.0 931.0) :rot #2f((-0.5 -0.866025 0.0) (0.866025 -0.5 0.0) (0.0 0.0 1.0)) :name "door-right-handle"))
(send blink2 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 308.0 -147.0 657.5) :rot #2f((-0.5 -0.866025 -1.110223e-15) (9.436896e-16 7.216450e-16 -1.0) (0.866025 -0.5 3.885781e-16)) :name "drawer1-handle"))
(send blink3 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 308.0 -147.0 506.5) :rot #2f((-0.5 -0.866025 -1.110223e-15) (9.436896e-16 7.216450e-16 -1.0) (0.866025 -0.5 3.885781e-16)) :name "drawer2-handle"))
(send blink4 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector 308.0 -147.0 329.5) :rot #2f((-0.5 -0.866025 -1.110223e-15) (9.436896e-16 7.216450e-16 -1.0) (0.866025 -0.5 3.885781e-16)) :name "drawer3-handle"))
(send blink5 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector 308.0 -147.0 128.5) :rot #2f((-0.5 -0.866025 -1.110223e-15) (9.436896e-16 7.216450e-16 -1.0) (0.866025 -0.5 3.885781e-16)) :name "drawer4-handle"))
(send blink6 :assoc handle5)
;; init-ending
(setq links (list blink0 blink1 blink2 blink3 blink4 blink5 blink6))
(setq joint-list (list joint0 joint1 joint2 joint3 joint4 joint5))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:door-left (&rest args) (forward-message-to joint0 args))
(:door-right (&rest args) (forward-message-to joint1 args))
(:drawer1 (&rest args) (forward-message-to joint2 args))
(:drawer2 (&rest args) (forward-message-to joint3 args))
(:drawer3 (&rest args) (forward-message-to joint4 args))
(:drawer4 (&rest args) (forward-message-to joint5 args))
(:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2 handle3 handle4 handle5) args))
(:handle-door-left-handle (&rest args) (forward-message-to handle0 args))
(:handle-door-right-handle (&rest args) (forward-message-to handle1 args))
(:handle-drawer1-handle (&rest args) (forward-message-to handle2 args))
(:handle-drawer2-handle (&rest args) (forward-message-to handle3 args))
(:handle-drawer3-handle (&rest args) (forward-message-to handle4 args))
(:handle-drawer4-handle (&rest args) (forward-message-to handle5 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun square-600-closet (&rest args) (instance* square-600-closet-object :init args))
;; (format *error-output* "(instance square-600-closet-object :init) for generating model~%")
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