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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass hrp2-shelf-object
:super cascaded-link
:slots (sensors
handle0
))
(defmethod hrp2-shelf-object
(:init
(&rest args &key (name "hrp2-shelf") (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 :hrp2-shelf-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 222.5 390.0 30.0) (float-vector -222.5 390.0 30.0) (float-vector -222.5 -390.0 30.0) (float-vector 222.5 -390.0 30.0)))
(instance face :init :vertices (list (float-vector -222.5 390.0 0.0) (float-vector 222.5 390.0 0.0) (float-vector 222.5 -390.0 0.0) (float-vector -222.5 -390.0 0.0)))
(instance face :init :vertices (list (float-vector 222.5 390.0 30.0) (float-vector 222.5 390.0 0.0) (float-vector -222.5 390.0 0.0) (float-vector -222.5 390.0 30.0)))
(instance face :init :vertices (list (float-vector 222.5 -390.0 30.0) (float-vector 222.5 -390.0 0.0) (float-vector 222.5 390.0 0.0) (float-vector 222.5 390.0 30.0)))
(instance face :init :vertices (list (float-vector -222.5 -390.0 30.0) (float-vector -222.5 -390.0 0.0) (float-vector 222.5 -390.0 0.0) (float-vector 222.5 -390.0 30.0)))
(instance face :init :vertices (list (float-vector -222.5 390.0 30.0) (float-vector -222.5 390.0 0.0) (float-vector -222.5 -390.0 0.0) (float-vector -222.5 -390.0 30.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 222.5 390.0 1040.0) (float-vector -222.5 390.0 1040.0) (float-vector -222.5 -390.0 1040.0) (float-vector 222.5 -390.0 1040.0)))
(instance face :init :vertices (list (float-vector -222.5 390.0 1010.0) (float-vector 222.5 390.0 1010.0) (float-vector 222.5 -390.0 1010.0) (float-vector -222.5 -390.0 1010.0)))
(instance face :init :vertices (list (float-vector 222.5 390.0 1040.0) (float-vector 222.5 390.0 1010.0) (float-vector -222.5 390.0 1010.0) (float-vector -222.5 390.0 1040.0)))
(instance face :init :vertices (list (float-vector 222.5 -390.0 1040.0) (float-vector 222.5 -390.0 1010.0) (float-vector 222.5 390.0 1010.0) (float-vector 222.5 390.0 1040.0)))
(instance face :init :vertices (list (float-vector -222.5 -390.0 1040.0) (float-vector -222.5 -390.0 1010.0) (float-vector 222.5 -390.0 1010.0) (float-vector 222.5 -390.0 1040.0)))
(instance face :init :vertices (list (float-vector -222.5 390.0 1040.0) (float-vector -222.5 390.0 1010.0) (float-vector -222.5 -390.0 1010.0) (float-vector -222.5 -390.0 1040.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -192.0 375.0 1010.0) (float-vector -222.0 375.0 1010.0) (float-vector -222.0 -375.0 1010.0) (float-vector -192.0 -375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.0 375.0 30.0) (float-vector -192.0 375.0 30.0) (float-vector -192.0 -375.0 30.0) (float-vector -222.0 -375.0 30.0)))
(instance face :init :vertices (list (float-vector -192.0 375.0 1010.0) (float-vector -192.0 375.0 30.0) (float-vector -222.0 375.0 30.0) (float-vector -222.0 375.0 1010.0)))
(instance face :init :vertices (list (float-vector -192.0 -375.0 1010.0) (float-vector -192.0 -375.0 30.0) (float-vector -192.0 375.0 30.0) (float-vector -192.0 375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.0 -375.0 1010.0) (float-vector -222.0 -375.0 30.0) (float-vector -192.0 -375.0 30.0) (float-vector -192.0 -375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.0 375.0 1010.0) (float-vector -222.0 375.0 30.0) (float-vector -222.0 -375.0 30.0) (float-vector -222.0 -375.0 1010.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 222.5 405.0 1010.0) (float-vector -222.5 405.0 1010.0) (float-vector -222.5 375.0 1010.0) (float-vector 222.5 375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 405.0 30.0) (float-vector 222.5 405.0 30.0) (float-vector 222.5 375.0 30.0) (float-vector -222.5 375.0 30.0)))
(instance face :init :vertices (list (float-vector 222.5 405.0 1010.0) (float-vector 222.5 405.0 30.0) (float-vector -222.5 405.0 30.0) (float-vector -222.5 405.0 1010.0)))
(instance face :init :vertices (list (float-vector 222.5 375.0 1010.0) (float-vector 222.5 375.0 30.0) (float-vector 222.5 405.0 30.0) (float-vector 222.5 405.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 375.0 1010.0) (float-vector -222.5 375.0 30.0) (float-vector 222.5 375.0 30.0) (float-vector 222.5 375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 405.0 1010.0) (float-vector -222.5 405.0 30.0) (float-vector -222.5 375.0 30.0) (float-vector -222.5 375.0 1010.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 222.5 -375.0 1010.0) (float-vector -222.5 -375.0 1010.0) (float-vector -222.5 -405.0 1010.0) (float-vector 222.5 -405.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 -375.0 30.0) (float-vector 222.5 -375.0 30.0) (float-vector 222.5 -405.0 30.0) (float-vector -222.5 -405.0 30.0)))
(instance face :init :vertices (list (float-vector 222.5 -375.0 1010.0) (float-vector 222.5 -375.0 30.0) (float-vector -222.5 -375.0 30.0) (float-vector -222.5 -375.0 1010.0)))
(instance face :init :vertices (list (float-vector 222.5 -405.0 1010.0) (float-vector 222.5 -405.0 30.0) (float-vector 222.5 -375.0 30.0) (float-vector 222.5 -375.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 -405.0 1010.0) (float-vector -222.5 -405.0 30.0) (float-vector 222.5 -405.0 30.0) (float-vector 222.5 -405.0 1010.0)))
(instance face :init :vertices (list (float-vector -222.5 -375.0 1010.0) (float-vector -222.5 -375.0 30.0) (float-vector -222.5 -405.0 30.0) (float-vector -222.5 -405.0 1010.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 215.0 382.5 660.0) (float-vector -215.0 382.5 660.0) (float-vector -215.0 -382.5 660.0) (float-vector 215.0 -382.5 660.0)))
(instance face :init :vertices (list (float-vector -215.0 382.5 630.0) (float-vector 215.0 382.5 630.0) (float-vector 215.0 -382.5 630.0) (float-vector -215.0 -382.5 630.0)))
(instance face :init :vertices (list (float-vector 215.0 382.5 660.0) (float-vector 215.0 382.5 630.0) (float-vector -215.0 382.5 630.0) (float-vector -215.0 382.5 660.0)))
(instance face :init :vertices (list (float-vector 215.0 -382.5 660.0) (float-vector 215.0 -382.5 630.0) (float-vector 215.0 382.5 630.0) (float-vector 215.0 382.5 660.0)))
(instance face :init :vertices (list (float-vector -215.0 -382.5 660.0) (float-vector -215.0 -382.5 630.0) (float-vector 215.0 -382.5 630.0) (float-vector 215.0 -382.5 660.0)))
(instance face :init :vertices (list (float-vector -215.0 382.5 660.0) (float-vector -215.0 382.5 630.0) (float-vector -215.0 -382.5 630.0) (float-vector -215.0 -382.5 660.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 215.0 382.5 380.0) (float-vector -215.0 382.5 380.0) (float-vector -215.0 -382.5 380.0) (float-vector 215.0 -382.5 380.0)))
(instance face :init :vertices (list (float-vector -215.0 382.5 350.0) (float-vector 215.0 382.5 350.0) (float-vector 215.0 -382.5 350.0) (float-vector -215.0 -382.5 350.0)))
(instance face :init :vertices (list (float-vector 215.0 382.5 380.0) (float-vector 215.0 382.5 350.0) (float-vector -215.0 382.5 350.0) (float-vector -215.0 382.5 380.0)))
(instance face :init :vertices (list (float-vector 215.0 -382.5 380.0) (float-vector 215.0 -382.5 350.0) (float-vector 215.0 382.5 350.0) (float-vector 215.0 382.5 380.0)))
(instance face :init :vertices (list (float-vector -215.0 -382.5 380.0) (float-vector -215.0 -382.5 350.0) (float-vector 215.0 -382.5 350.0) (float-vector 215.0 -382.5 380.0)))
(instance face :init :vertices (list (float-vector -215.0 382.5 380.0) (float-vector -215.0 382.5 350.0) (float-vector -215.0 -382.5 350.0) (float-vector -215.0 -382.5 380.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 205.0 397.5 0.0) (float-vector -200.0 397.5 0.0) (float-vector -200.0 -397.5 0.0) (float-vector 205.0 -397.5 0.0)))
(instance face :init :vertices (list (float-vector -200.0 397.5 -64.0) (float-vector 205.0 397.5 -64.0) (float-vector 205.0 -397.5 -64.0) (float-vector -200.0 -397.5 -64.0)))
(instance face :init :vertices (list (float-vector 205.0 397.5 0.0) (float-vector 205.0 397.5 -64.0) (float-vector -200.0 397.5 -64.0) (float-vector -200.0 397.5 0.0)))
(instance face :init :vertices (list (float-vector 205.0 -397.5 0.0) (float-vector 205.0 -397.5 -64.0) (float-vector 205.0 397.5 -64.0) (float-vector 205.0 397.5 0.0)))
(instance face :init :vertices (list (float-vector -200.0 -397.5 0.0) (float-vector -200.0 -397.5 -64.0) (float-vector 205.0 -397.5 -64.0) (float-vector 205.0 -397.5 0.0)))
(instance face :init :vertices (list (float-vector -200.0 397.5 0.0) (float-vector -200.0 397.5 -64.0) (float-vector -200.0 -397.5 -64.0) (float-vector -200.0 -397.5 0.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :cornsilk)
(send (elt bc 1) :set-color :cornsilk)
(send (elt bc 2) :set-color :cornsilk)
(send (elt bc 3) :set-color :cornsilk)
(send (elt bc 4) :set-color :cornsilk)
(send (elt bc 5) :set-color :cornsilk)
(send (elt bc 6) :set-color :cornsilk)
(send (elt bc 7) :set-color :slategray)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :hrp2-shelf-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 64.0) :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)
;; 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 ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun hrp2-shelf (&rest args) (instance* hrp2-shelf-object :init args))
;; (format *error-output* "(instance hrp2-shelf-object :init) for generating model~%")
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