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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass frying-pan-object
:super cascaded-link
:slots (sensors
handle0
))
(defmethod frying-pan-object
(:init
(&rest args &key (name "frying-pan") (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 :frying-pan-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 105.0 0.0 -25.0) (float-vector 101.422 27.176 -25.0) (float-vector 101.422 27.176 25.0) (float-vector 105.0 0.0 25.0)))
(instance face :init :vertices (list (float-vector 90.9327 52.5 -25.0) (float-vector 90.9327 52.5 25.0) (float-vector 101.422 27.176 25.0) (float-vector 101.422 27.176 -25.0)))
(instance face :init :vertices (list (float-vector 74.2462 74.2462 -25.0) (float-vector 74.2462 74.2462 25.0) (float-vector 90.9327 52.5 25.0) (float-vector 90.9327 52.5 -25.0)))
(instance face :init :vertices (list (float-vector 52.5 90.9327 -25.0) (float-vector 52.5 90.9327 25.0) (float-vector 74.2462 74.2462 25.0) (float-vector 74.2462 74.2462 -25.0)))
(instance face :init :vertices (list (float-vector 27.176 101.422 -25.0) (float-vector 27.176 101.422 25.0) (float-vector 52.5 90.9327 25.0) (float-vector 52.5 90.9327 -25.0)))
(instance face :init :vertices (list (float-vector 5.329071e-14 105.0 -25.0) (float-vector 5.329071e-14 105.0 25.0) (float-vector 27.176 101.422 25.0) (float-vector 27.176 101.422 -25.0)))
(instance face :init :vertices (list (float-vector -27.176 101.422 -25.0) (float-vector -27.176 101.422 25.0) (float-vector 5.329071e-14 105.0 25.0) (float-vector 5.329071e-14 105.0 -25.0)))
(instance face :init :vertices (list (float-vector -52.5 90.9327 -25.0) (float-vector -52.5 90.9327 25.0) (float-vector -27.176 101.422 25.0) (float-vector -27.176 101.422 -25.0)))
(instance face :init :vertices (list (float-vector -74.2462 74.2462 -25.0) (float-vector -74.2462 74.2462 25.0) (float-vector -52.5 90.9327 25.0) (float-vector -52.5 90.9327 -25.0)))
(instance face :init :vertices (list (float-vector -90.9327 52.5 -25.0) (float-vector -90.9327 52.5 25.0) (float-vector -74.2462 74.2462 25.0) (float-vector -74.2462 74.2462 -25.0)))
(instance face :init :vertices (list (float-vector -101.422 27.176 -25.0) (float-vector -101.422 27.176 25.0) (float-vector -90.9327 52.5 25.0) (float-vector -90.9327 52.5 -25.0)))
(instance face :init :vertices (list (float-vector -105.0 1.101341e-13 -25.0) (float-vector -105.0 1.101341e-13 25.0) (float-vector -101.422 27.176 25.0) (float-vector -101.422 27.176 -25.0)))
(instance face :init :vertices (list (float-vector -101.422 -27.176 -25.0) (float-vector -101.422 -27.176 25.0) (float-vector -105.0 1.101341e-13 25.0) (float-vector -105.0 1.101341e-13 -25.0)))
(instance face :init :vertices (list (float-vector -90.9327 -52.5 -25.0) (float-vector -90.9327 -52.5 25.0) (float-vector -101.422 -27.176 25.0) (float-vector -101.422 -27.176 -25.0)))
(instance face :init :vertices (list (float-vector -74.2462 -74.2462 -25.0) (float-vector -74.2462 -74.2462 25.0) (float-vector -90.9327 -52.5 25.0) (float-vector -90.9327 -52.5 -25.0)))
(instance face :init :vertices (list (float-vector -52.5 -90.9327 -25.0) (float-vector -52.5 -90.9327 25.0) (float-vector -74.2462 -74.2462 25.0) (float-vector -74.2462 -74.2462 -25.0)))
(instance face :init :vertices (list (float-vector -27.176 -101.422 -25.0) (float-vector -27.176 -101.422 25.0) (float-vector -52.5 -90.9327 25.0) (float-vector -52.5 -90.9327 -25.0)))
(instance face :init :vertices (list (float-vector -1.705303e-13 -105.0 -25.0) (float-vector -1.705303e-13 -105.0 25.0) (float-vector -27.176 -101.422 25.0) (float-vector -27.176 -101.422 -25.0)))
(instance face :init :vertices (list (float-vector 27.176 -101.422 -25.0) (float-vector 27.176 -101.422 25.0) (float-vector -1.705303e-13 -105.0 25.0) (float-vector -1.705303e-13 -105.0 -25.0)))
(instance face :init :vertices (list (float-vector 52.5 -90.9327 -25.0) (float-vector 52.5 -90.9327 25.0) (float-vector 27.176 -101.422 25.0) (float-vector 27.176 -101.422 -25.0)))
(instance face :init :vertices (list (float-vector 74.2462 -74.2462 -25.0) (float-vector 74.2462 -74.2462 25.0) (float-vector 52.5 -90.9327 25.0) (float-vector 52.5 -90.9327 -25.0)))
(instance face :init :vertices (list (float-vector 90.9327 -52.5 -25.0) (float-vector 90.9327 -52.5 25.0) (float-vector 74.2462 -74.2462 25.0) (float-vector 74.2462 -74.2462 -25.0)))
(instance face :init :vertices (list (float-vector 101.422 -27.176 -25.0) (float-vector 101.422 -27.176 25.0) (float-vector 90.9327 -52.5 25.0) (float-vector 90.9327 -52.5 -25.0)))
(instance face :init :vertices (list (float-vector 105.0 0.0 25.0) (float-vector 101.422 27.176 25.0) (float-vector 90.9327 52.5 25.0) (float-vector 74.2462 74.2462 25.0) (float-vector 52.5 90.9327 25.0) (float-vector 27.176 101.422 25.0) (float-vector 5.329071e-14 105.0 25.0) (float-vector -27.176 101.422 25.0) (float-vector -52.5 90.9327 25.0) (float-vector -74.2462 74.2462 25.0) (float-vector -90.9327 52.5 25.0) (float-vector -101.422 27.176 25.0) (float-vector -105.0 1.101341e-13 25.0) (float-vector -101.422 -27.176 25.0) (float-vector -90.9327 -52.5 25.0) (float-vector -74.2462 -74.2462 25.0) (float-vector -52.5 -90.9327 25.0) (float-vector -27.176 -101.422 25.0) (float-vector -1.705303e-13 -105.0 25.0) (float-vector 27.176 -101.422 25.0) (float-vector 52.5 -90.9327 25.0) (float-vector 74.2462 -74.2462 25.0) (float-vector 90.9327 -52.5 25.0) (float-vector 101.422 -27.176 25.0))
:holes (list
(instance hole :init :vertices (list (float-vector 85.7365 -49.5 25.0) (float-vector 49.5 -85.7365 25.0) (float-vector -1.492140e-13 -99.0 25.0) (float-vector -49.5 -85.7365 25.0) (float-vector -85.7365 -49.5 25.0) (float-vector -99.0 1.065814e-13 25.0) (float-vector -85.7365 49.5 25.0) (float-vector -49.5 85.7365 25.0) (float-vector 5.684342e-14 99.0 25.0) (float-vector 49.5 85.7365 25.0) (float-vector 85.7365 49.5 25.0) (float-vector 99.0 0.0 25.0)))
))
(instance face :init :vertices (list (float-vector 101.422 -27.176 -25.0) (float-vector 90.9327 -52.5 -25.0) (float-vector 74.2462 -74.2462 -25.0) (float-vector 52.5 -90.9327 -25.0) (float-vector 27.176 -101.422 -25.0) (float-vector -1.705303e-13 -105.0 -25.0) (float-vector -27.176 -101.422 -25.0) (float-vector -52.5 -90.9327 -25.0) (float-vector -74.2462 -74.2462 -25.0) (float-vector -90.9327 -52.5 -25.0) (float-vector -101.422 -27.176 -25.0) (float-vector -105.0 1.101341e-13 -25.0) (float-vector -101.422 27.176 -25.0) (float-vector -90.9327 52.5 -25.0) (float-vector -74.2462 74.2462 -25.0) (float-vector -52.5 90.9327 -25.0) (float-vector -27.176 101.422 -25.0) (float-vector 5.329071e-14 105.0 -25.0) (float-vector 27.176 101.422 -25.0) (float-vector 52.5 90.9327 -25.0) (float-vector 74.2462 74.2462 -25.0) (float-vector 90.9327 52.5 -25.0) (float-vector 101.422 27.176 -25.0) (float-vector 105.0 0.0 -25.0)))
(instance face :init :vertices (list (float-vector 105.0 0.0 -25.0) (float-vector 105.0 0.0 25.0) (float-vector 101.422 -27.176 25.0) (float-vector 101.422 -27.176 -25.0)))
(instance face :init :vertices (list (float-vector 99.0 0.0 25.0) (float-vector 85.7365 49.5 25.0) (float-vector 85.7365 49.5 -19.0) (float-vector 99.0 0.0 -19.0)))
(instance face :init :vertices (list (float-vector 85.7365 49.5 -19.0) (float-vector 85.7365 49.5 25.0) (float-vector 49.5 85.7365 25.0) (float-vector 49.5 85.7365 -19.0)))
(instance face :init :vertices (list (float-vector 49.5 85.7365 -19.0) (float-vector 49.5 85.7365 25.0) (float-vector 5.684342e-14 99.0 25.0) (float-vector 5.684342e-14 99.0 -19.0)))
(instance face :init :vertices (list (float-vector 5.684342e-14 99.0 -19.0) (float-vector 5.684342e-14 99.0 25.0) (float-vector -49.5 85.7365 25.0) (float-vector -49.5 85.7365 -19.0)))
(instance face :init :vertices (list (float-vector -49.5 85.7365 -19.0) (float-vector -49.5 85.7365 25.0) (float-vector -85.7365 49.5 25.0) (float-vector -85.7365 49.5 -19.0)))
(instance face :init :vertices (list (float-vector -85.7365 49.5 -19.0) (float-vector -85.7365 49.5 25.0) (float-vector -99.0 1.065814e-13 25.0) (float-vector -99.0 1.065814e-13 -19.0)))
(instance face :init :vertices (list (float-vector -99.0 1.065814e-13 -19.0) (float-vector -99.0 1.065814e-13 25.0) (float-vector -85.7365 -49.5 25.0) (float-vector -85.7365 -49.5 -19.0)))
(instance face :init :vertices (list (float-vector -85.7365 -49.5 -19.0) (float-vector -85.7365 -49.5 25.0) (float-vector -49.5 -85.7365 25.0) (float-vector -49.5 -85.7365 -19.0)))
(instance face :init :vertices (list (float-vector -49.5 -85.7365 -19.0) (float-vector -49.5 -85.7365 25.0) (float-vector -1.492140e-13 -99.0 25.0) (float-vector -1.492140e-13 -99.0 -19.0)))
(instance face :init :vertices (list (float-vector -1.492140e-13 -99.0 -19.0) (float-vector -1.492140e-13 -99.0 25.0) (float-vector 49.5 -85.7365 25.0) (float-vector 49.5 -85.7365 -19.0)))
(instance face :init :vertices (list (float-vector 49.5 -85.7365 -19.0) (float-vector 49.5 -85.7365 25.0) (float-vector 85.7365 -49.5 25.0) (float-vector 85.7365 -49.5 -19.0)))
(instance face :init :vertices (list (float-vector 85.7365 -49.5 -19.0) (float-vector 85.7365 -49.5 25.0) (float-vector 99.0 0.0 25.0) (float-vector 99.0 0.0 -19.0)))
(instance face :init :vertices (list (float-vector 99.0 0.0 -19.0) (float-vector 85.7365 49.5 -19.0) (float-vector 49.5 85.7365 -19.0) (float-vector 5.684342e-14 99.0 -19.0) (float-vector -49.5 85.7365 -19.0) (float-vector -85.7365 49.5 -19.0) (float-vector -99.0 1.065814e-13 -19.0) (float-vector -85.7365 -49.5 -19.0) (float-vector -49.5 -85.7365 -19.0) (float-vector -1.492140e-13 -99.0 -19.0) (float-vector 49.5 -85.7365 -19.0) (float-vector 85.7365 -49.5 -19.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -104.073 15.0 31.2273) (float-vector -303.312 15.0 48.6585) (float-vector -303.312 -15.0 48.6585) (float-vector -104.073 -15.0 31.2273)))
(instance face :init :vertices (list (float-vector -305.927 15.0 18.7727) (float-vector -106.688 15.0 1.34151) (float-vector -106.688 -15.0 1.34151) (float-vector -305.927 -15.0 18.7727)))
(instance face :init :vertices (list (float-vector -104.073 15.0 31.2273) (float-vector -106.688 15.0 1.34151) (float-vector -305.927 15.0 18.7727) (float-vector -303.312 15.0 48.6585)))
(instance face :init :vertices (list (float-vector -104.073 -15.0 31.2273) (float-vector -106.688 -15.0 1.34151) (float-vector -106.688 15.0 1.34151) (float-vector -104.073 15.0 31.2273)))
(instance face :init :vertices (list (float-vector -303.312 -15.0 48.6585) (float-vector -305.927 -15.0 18.7727) (float-vector -106.688 -15.0 1.34151) (float-vector -104.073 -15.0 31.2273)))
(instance face :init :vertices (list (float-vector -303.312 15.0 48.6585) (float-vector -305.927 15.0 18.7727) (float-vector -305.927 -15.0 18.7727) (float-vector -303.312 -15.0 48.6585)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :black)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :frying-pan-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 -205.0 0.0 25.0) :rot #2f((8.604228e-16 0.087156 0.996195) (1.0 -8.326673e-17 -8.881784e-16) (-5.551115e-17 0.996195 -0.087156)) :name "grip"))
(send blink0 :assoc handle0)
;; 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-grip (&rest args) (forward-message-to handle0 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun frying-pan (&rest args) (instance* frying-pan-object :init args))
;; (format *error-output* "(instance frying-pan-object :init) for generating model~%")
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