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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass dewalt-drill-object
:super cascaded-link
:slots (sensors
))
(defmethod dewalt-drill-object
(:init
(&rest args &key (name "dewalt-drill") (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 'dewalt-drill
(setq bc (list
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 60.0 0.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector 23.0 37.0 0.0)))
(instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 23.0 -37.0 0.0) (float-vector 60.0 0.0 0.0) (float-vector 60.0 0.0 68.0)))
(instance face :init :vertices (list (float-vector -45.0 -37.0 68.0) (float-vector -45.0 -37.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector 23.0 -37.0 68.0)))
(instance face :init :vertices (list (float-vector -75.0 -20.0 68.0) (float-vector -75.0 -20.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -45.0 -37.0 68.0)))
(instance face :init :vertices (list (float-vector -75.0 20.0 68.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 -20.0 68.0)))
(instance face :init :vertices (list (float-vector -45.0 37.0 68.0) (float-vector -45.0 37.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 20.0 68.0)))
(instance face :init :vertices (list (float-vector 23.0 37.0 68.0) (float-vector 23.0 37.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector -45.0 37.0 68.0)))
(instance face :init :vertices (list (float-vector 60.0 0.0 68.0) (float-vector 60.0 0.0 0.0) (float-vector 23.0 37.0 0.0) (float-vector 23.0 37.0 68.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 28.0 0.0 200.0) (float-vector 24.2487 14.0 200.0) (float-vector 14.0 24.2487 200.0) (float-vector 1.421085e-14 28.0 200.0) (float-vector -14.0 24.2487 200.0) (float-vector -24.2487 14.0 200.0) (float-vector -28.0 2.842171e-14 200.0) (float-vector -24.2487 -14.0 200.0) (float-vector -14.0 -24.2487 200.0) (float-vector -4.440892e-14 -28.0 200.0) (float-vector 14.0 -24.2487 200.0)))
(instance face :init :vertices (list (float-vector 28.0 0.0 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 24.2487 14.0 68.0)))
(instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 24.2487 -14.0 68.0) (float-vector 28.0 0.0 68.0) (float-vector 28.0 0.0 200.0)))
(instance face :init :vertices (list (float-vector 14.0 -24.2487 200.0) (float-vector 14.0 -24.2487 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 24.2487 -14.0 200.0)))
(instance face :init :vertices (list (float-vector -4.440892e-14 -28.0 200.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector 14.0 -24.2487 200.0)))
(instance face :init :vertices (list (float-vector -14.0 -24.2487 200.0) (float-vector -14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -4.440892e-14 -28.0 200.0)))
(instance face :init :vertices (list (float-vector -24.2487 -14.0 200.0) (float-vector -24.2487 -14.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -14.0 -24.2487 200.0)))
(instance face :init :vertices (list (float-vector -28.0 2.842171e-14 200.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -24.2487 -14.0 200.0)))
(instance face :init :vertices (list (float-vector -24.2487 14.0 200.0) (float-vector -24.2487 14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -28.0 2.842171e-14 200.0)))
(instance face :init :vertices (list (float-vector -14.0 24.2487 200.0) (float-vector -14.0 24.2487 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -24.2487 14.0 200.0)))
(instance face :init :vertices (list (float-vector 1.421085e-14 28.0 200.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector -14.0 24.2487 200.0)))
(instance face :init :vertices (list (float-vector 14.0 24.2487 200.0) (float-vector 14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 1.421085e-14 28.0 200.0)))
(instance face :init :vertices (list (float-vector 24.2487 14.0 200.0) (float-vector 24.2487 14.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 14.0 24.2487 200.0)))
(instance face :init :vertices (list (float-vector 28.0 0.0 200.0) (float-vector 28.0 0.0 68.0) (float-vector 24.2487 14.0 68.0) (float-vector 24.2487 14.0 200.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector -38.5 28.0 102.5) (float-vector -38.5 -28.0 102.5) (float-vector 0.5 -28.0 102.5)))
(instance face :init :vertices (list (float-vector -38.5 28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector -38.5 -28.0 67.5)))
(instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector 0.5 28.0 67.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 28.0 102.5)))
(instance face :init :vertices (list (float-vector 0.5 -28.0 102.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 28.0 102.5)))
(instance face :init :vertices (list (float-vector -38.5 -28.0 102.5) (float-vector -38.5 -28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 -28.0 102.5)))
(instance face :init :vertices (list (float-vector -38.5 28.0 102.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 -28.0 67.5) (float-vector -38.5 -28.0 102.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 35.0 0.0 230.0) (float-vector 30.3109 17.5 230.0) (float-vector 17.5 30.3109 230.0) (float-vector 1.953993e-14 35.0 230.0) (float-vector -17.5 30.3109 230.0) (float-vector -30.3109 17.5 230.0) (float-vector -35.0 4.085621e-14 230.0) (float-vector -30.3109 -17.5 230.0) (float-vector -17.5 -30.3109 230.0) (float-vector -6.394885e-14 -35.0 230.0) (float-vector 17.5 -30.3109 230.0)))
(instance face :init :vertices (list (float-vector 35.0 0.0 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 30.3109 17.5 200.0)))
(instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 30.3109 -17.5 200.0) (float-vector 35.0 0.0 200.0) (float-vector 35.0 0.0 230.0)))
(instance face :init :vertices (list (float-vector 17.5 -30.3109 230.0) (float-vector 17.5 -30.3109 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 30.3109 -17.5 230.0)))
(instance face :init :vertices (list (float-vector -6.394885e-14 -35.0 230.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector 17.5 -30.3109 230.0)))
(instance face :init :vertices (list (float-vector -17.5 -30.3109 230.0) (float-vector -17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -6.394885e-14 -35.0 230.0)))
(instance face :init :vertices (list (float-vector -30.3109 -17.5 230.0) (float-vector -30.3109 -17.5 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -17.5 -30.3109 230.0)))
(instance face :init :vertices (list (float-vector -35.0 4.085621e-14 230.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -30.3109 -17.5 230.0)))
(instance face :init :vertices (list (float-vector -30.3109 17.5 230.0) (float-vector -30.3109 17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -35.0 4.085621e-14 230.0)))
(instance face :init :vertices (list (float-vector -17.5 30.3109 230.0) (float-vector -17.5 30.3109 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -30.3109 17.5 230.0)))
(instance face :init :vertices (list (float-vector 1.953993e-14 35.0 230.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector -17.5 30.3109 200.0) (float-vector -17.5 30.3109 230.0)))
(instance face :init :vertices (list (float-vector 17.5 30.3109 230.0) (float-vector 17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 1.953993e-14 35.0 230.0)))
(instance face :init :vertices (list (float-vector 30.3109 17.5 230.0) (float-vector 30.3109 17.5 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 17.5 30.3109 230.0)))
(instance face :init :vertices (list (float-vector 35.0 0.0 230.0) (float-vector 35.0 0.0 200.0) (float-vector 30.3109 17.5 200.0) (float-vector 30.3109 17.5 230.0)))
))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 23.0 0.0 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 19.9186 11.5 230.0)))
(instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 19.9186 -11.5 230.0) (float-vector 23.0 0.0 230.0) (float-vector 23.0 0.0 270.0)))
(instance face :init :vertices (list (float-vector 11.5 -19.9186 270.0) (float-vector 11.5 -19.9186 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 19.9186 -11.5 270.0)))
(instance face :init :vertices (list (float-vector -3.375078e-14 -23.0 270.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector 11.5 -19.9186 270.0)))
(instance face :init :vertices (list (float-vector -11.5 -19.9186 270.0) (float-vector -11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -3.375078e-14 -23.0 270.0)))
(instance face :init :vertices (list (float-vector -19.9186 -11.5 270.0) (float-vector -19.9186 -11.5 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -11.5 -19.9186 270.0)))
(instance face :init :vertices (list (float-vector -23.0 2.309264e-14 270.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -19.9186 -11.5 270.0)))
(instance face :init :vertices (list (float-vector -19.9186 11.5 270.0) (float-vector -19.9186 11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -23.0 2.309264e-14 270.0)))
(instance face :init :vertices (list (float-vector -11.5 19.9186 270.0) (float-vector -11.5 19.9186 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -19.9186 11.5 270.0)))
(instance face :init :vertices (list (float-vector 1.243450e-14 23.0 270.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector -11.5 19.9186 230.0) (float-vector -11.5 19.9186 270.0)))
(instance face :init :vertices (list (float-vector 11.5 19.9186 270.0) (float-vector 11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 1.243450e-14 23.0 270.0)))
(instance face :init :vertices (list (float-vector 19.9186 11.5 270.0) (float-vector 19.9186 11.5 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 11.5 19.9186 270.0)))
(instance face :init :vertices (list (float-vector 23.0 0.0 270.0) (float-vector 23.0 0.0 230.0) (float-vector 19.9186 11.5 230.0) (float-vector 19.9186 11.5 270.0)))
))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 4.0 -6.9282 280.0) (float-vector 4.0 -6.9282 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 6.9282 -4.0 280.0)))
(instance face :init :vertices (list (float-vector -1.376677e-14 -8.0 280.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector 4.0 -6.9282 280.0)))
(instance face :init :vertices (list (float-vector -4.0 -6.9282 280.0) (float-vector -4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -1.376677e-14 -8.0 280.0)))
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(instance face :init :vertices (list (float-vector 3.996803e-15 8.0 280.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector -4.0 6.9282 280.0)))
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))
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(instance face :init :vertices (list (float-vector -2.109424e-15 -1.5 315.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector 0.75 -1.29904 315.0)))
(instance face :init :vertices (list (float-vector -0.75 -1.29904 315.0) (float-vector -0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -2.109424e-15 -1.5 315.0)))
(instance face :init :vertices (list (float-vector -1.29904 -0.75 315.0) (float-vector -1.29904 -0.75 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -0.75 -1.29904 315.0)))
(instance face :init :vertices (list (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.29904 -0.75 315.0)))
(instance face :init :vertices (list (float-vector -1.29904 0.75 315.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.5 1.221245e-15 315.0)))
(instance face :init :vertices (list (float-vector -0.75 1.29904 315.0) (float-vector -0.75 1.29904 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.29904 0.75 315.0)))
(instance face :init :vertices (list (float-vector 6.661338e-16 1.5 315.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector -0.75 1.29904 280.0) (float-vector -0.75 1.29904 315.0)))
(instance face :init :vertices (list (float-vector 0.75 1.29904 315.0) (float-vector 0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 6.661338e-16 1.5 315.0)))
(instance face :init :vertices (list (float-vector 1.29904 0.75 315.0) (float-vector 1.29904 0.75 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 0.75 1.29904 315.0)))
(instance face :init :vertices (list (float-vector 1.5 0.0 315.0) (float-vector 1.5 0.0 280.0) (float-vector 1.29904 0.75 280.0) (float-vector 1.29904 0.75 315.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray20)
(send (elt bc 1) :set-color :gray20)
(send (elt bc 2) :set-color :yellow)
(send (elt bc 3) :set-color :yellow)
(send (elt bc 4) :set-color :gray20)
(send (elt bc 5) :set-color :gray20)
(send (elt bc 6) :set-color :gray20)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'dewalt-drill :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
;; 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 dewalt-drill (&rest args) (instance* dewalt-drill-object :init args))
;; (format *error-output* "(instance dewalt-drill-object :init) for generating model~%")
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