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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass kettle-object
:super cascaded-link
:slots (sensors
handle0
attention0
joint0 ))
(defmethod kettle-object
(:init
(&rest args &key (name "kettle") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1
)
(send-super* :init :name name args)
;; definition of link
;; definition of :kettle-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 72.5 0.0 0.0) (float-vector 66.9813 -27.7445 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 66.9813 -27.7445 0.0) (float-vector 51.2652 -51.2652 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 51.2652 -51.2652 0.0) (float-vector 27.7445 -66.9813 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 27.7445 -66.9813 0.0) (float-vector -6.572474e-13 -72.5 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -6.572474e-13 -72.5 0.0) (float-vector -27.7445 -66.9813 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -27.7445 -66.9813 0.0) (float-vector -51.2652 -51.2652 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -51.2652 -51.2652 0.0) (float-vector -66.9813 -27.7445 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -66.9813 -27.7445 0.0) (float-vector -72.5 3.952363e-13 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -72.5 3.952363e-13 0.0) (float-vector -66.9813 27.7445 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -66.9813 27.7445 0.0) (float-vector -51.2652 51.2652 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -51.2652 51.2652 0.0) (float-vector -27.7445 66.9813 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -27.7445 66.9813 0.0) (float-vector 6.883228e-14 72.5 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 6.883228e-14 72.5 0.0) (float-vector 27.7445 66.9813 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 27.7445 66.9813 0.0) (float-vector 51.2652 51.2652 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 51.2652 51.2652 0.0) (float-vector 66.9813 27.7445 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 66.9813 27.7445 0.0) (float-vector 72.5 0.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 83.1492 -34.4415 10.0) (float-vector 66.9813 -27.7445 0.0) (float-vector 72.5 0.0 0.0) (float-vector 90.0 0.0 10.0)))
(instance face :init :vertices (list (float-vector 63.6396 -63.6396 10.0) (float-vector 51.2652 -51.2652 0.0) (float-vector 66.9813 -27.7445 0.0) (float-vector 83.1492 -34.4415 10.0)))
(instance face :init :vertices (list (float-vector 34.4415 -83.1492 10.0) (float-vector 27.7445 -66.9813 0.0) (float-vector 51.2652 -51.2652 0.0) (float-vector 63.6396 -63.6396 10.0)))
(instance face :init :vertices (list (float-vector -8.158933e-13 -90.0 10.0) (float-vector -6.572474e-13 -72.5 0.0) (float-vector 27.7445 -66.9813 0.0) (float-vector 34.4415 -83.1492 10.0)))
(instance face :init :vertices (list (float-vector -34.4415 -83.1492 10.0) (float-vector -27.7445 -66.9813 0.0) (float-vector -6.572474e-13 -72.5 0.0) (float-vector -8.158933e-13 -90.0 10.0)))
(instance face :init :vertices (list (float-vector -63.6396 -63.6396 10.0) (float-vector -51.2652 -51.2652 0.0) (float-vector -27.7445 -66.9813 0.0) (float-vector -34.4415 -83.1492 10.0)))
(instance face :init :vertices (list (float-vector -83.1492 -34.4415 10.0) (float-vector -66.9813 -27.7445 0.0) (float-vector -51.2652 -51.2652 0.0) (float-vector -63.6396 -63.6396 10.0)))
(instance face :init :vertices (list (float-vector -90.0 4.906382e-13 10.0) (float-vector -72.5 3.952363e-13 0.0) (float-vector -66.9813 -27.7445 0.0) (float-vector -83.1492 -34.4415 10.0)))
(instance face :init :vertices (list (float-vector -83.1492 34.4415 10.0) (float-vector -66.9813 27.7445 0.0) (float-vector -72.5 3.952363e-13 0.0) (float-vector -90.0 4.906382e-13 10.0)))
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(instance face :init :vertices (list (float-vector -34.4415 83.1492 10.0) (float-vector -27.7445 66.9813 0.0) (float-vector -51.2652 51.2652 0.0) (float-vector -63.6396 63.6396 10.0)))
(instance face :init :vertices (list (float-vector 8.544697e-14 90.0 10.0) (float-vector 6.883228e-14 72.5 0.0) (float-vector -27.7445 66.9813 0.0) (float-vector -34.4415 83.1492 10.0)))
(instance face :init :vertices (list (float-vector 34.4415 83.1492 10.0) (float-vector 27.7445 66.9813 0.0) (float-vector 6.883228e-14 72.5 0.0) (float-vector 8.544697e-14 90.0 10.0)))
(instance face :init :vertices (list (float-vector 63.6396 63.6396 10.0) (float-vector 51.2652 51.2652 0.0) (float-vector 27.7445 66.9813 0.0) (float-vector 34.4415 83.1492 10.0)))
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))
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(instance face :init :vertices (list (float-vector -4.78216 0.0 161.834) (float-vector -9.20029 0.0 159.886) (float-vector -7.59305 -4.54811 160.097)))
(instance face :init :vertices (list (float-vector -2.84305 -4.60015 161.643) (float-vector 0.0 0.0 162.5) (float-vector -4.78216 0.0 161.834)))
(instance face :init :vertices (list (float-vector 0.0 -9.20029 159.886) (float-vector -2.81089 -12.2858 157.141) (float-vector 2.81089 -12.2858 157.141)))
(instance face :init :vertices (list (float-vector 2.81089 -12.2858 157.141) (float-vector 5.4078 -8.75 159.158) (float-vector 0.0 -9.20029 159.886)))
(instance face :init :vertices (list (float-vector -2.81089 -12.2858 157.141) (float-vector 0.0 -14.8864 154.2) (float-vector 2.81089 -12.2858 157.141)))
(instance face :init :vertices (list (float-vector 0.0 -9.20029 159.886) (float-vector -5.4078 -8.75 159.158) (float-vector -2.81089 -12.2858 157.141)))
(instance face :init :vertices (list (float-vector 0.0 -9.20029 159.886) (float-vector 2.84305 -4.60015 161.643) (float-vector -2.84305 -4.60015 161.643)))
(instance face :init :vertices (list (float-vector -2.84305 -4.60015 161.643) (float-vector -5.4078 -8.75 159.158) (float-vector 0.0 -9.20029 159.886)))
(instance face :init :vertices (list (float-vector 2.84305 -4.60015 161.643) (float-vector 0.0 0.0 162.5) (float-vector -2.84305 -4.60015 161.643)))
(instance face :init :vertices (list (float-vector 0.0 -9.20029 159.886) (float-vector 5.4078 -8.75 159.158) (float-vector 2.84305 -4.60015 161.643)))
(instance face :init :vertices (list (float-vector 7.44319 12.0433 155.286) (float-vector 4.54811 15.0967 152.593) (float-vector 2.81089 12.2858 157.141)))
(instance face :init :vertices (list (float-vector 2.81089 12.2858 157.141) (float-vector 5.4078 8.75 159.158) (float-vector 7.44319 12.0433 155.286)))
(instance face :init :vertices (list (float-vector 4.54811 15.0967 152.593) (float-vector 0.0 14.8864 154.2) (float-vector 2.81089 12.2858 157.141)))
(instance face :init :vertices (list (float-vector 7.44319 12.0433 155.286) (float-vector 8.75 14.1578 150.408) (float-vector 4.54811 15.0967 152.593)))
(instance face :init :vertices (list (float-vector 10.2862 7.44319 157.043) (float-vector 7.59305 4.54811 160.097) (float-vector 12.1412 2.81089 157.286)))
(instance face :init :vertices (list (float-vector 12.1412 2.81089 157.286) (float-vector 14.1578 5.4078 153.75) (float-vector 10.2862 7.44319 157.043)))
(instance face :init :vertices (list (float-vector 7.59305 4.54811 160.097) (float-vector 9.20029 0.0 159.886) (float-vector 12.1412 2.81089 157.286)))
(instance face :init :vertices (list (float-vector 10.2862 7.44319 157.043) (float-vector 5.4078 8.75 159.158) (float-vector 7.59305 4.54811 160.097)))
(instance face :init :vertices (list (float-vector 12.0433 10.2862 152.443) (float-vector 15.0967 7.59305 149.548) (float-vector 12.2858 12.1412 147.811)))
(instance face :init :vertices (list (float-vector 12.2858 12.1412 147.811) (float-vector 8.75 14.1578 150.408) (float-vector 12.0433 10.2862 152.443)))
(instance face :init :vertices (list (float-vector 15.0967 7.59305 149.548) (float-vector 14.8864 9.20029 145.0) (float-vector 12.2858 12.1412 147.811)))
(instance face :init :vertices (list (float-vector 12.0433 10.2862 152.443) (float-vector 14.1578 5.4078 153.75) (float-vector 15.0967 7.59305 149.548)))
(instance face :init :vertices (list (float-vector 12.0433 10.2862 152.443) (float-vector 7.44319 12.0433 155.286) (float-vector 10.2862 7.44319 157.043)))
(instance face :init :vertices (list (float-vector 10.2862 7.44319 157.043) (float-vector 14.1578 5.4078 153.75) (float-vector 12.0433 10.2862 152.443)))
(instance face :init :vertices (list (float-vector 7.44319 12.0433 155.286) (float-vector 5.4078 8.75 159.158) (float-vector 10.2862 7.44319 157.043)))
(instance face :init :vertices (list (float-vector 12.0433 10.2862 152.443) (float-vector 8.75 14.1578 150.408) (float-vector 7.44319 12.0433 155.286)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :red)
(send (elt bc 1) :set-color :darkgreen)
(send (elt bc 2) :set-color :red)
(send (elt bc 3) :set-color :red)
(send (elt bc 4) :set-color :gray)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :kettle-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 :kettle-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 -82.4025 97.3895) (float-vector -10.0 -82.4025 97.3895) (float-vector -10.0 -91.7995 93.9693) (float-vector 10.0 -91.7995 93.9693)))
(instance face :init :vertices (list (float-vector -10.0 -48.2005 3.4202) (float-vector 10.0 -48.2005 3.4202) (float-vector 10.0 -57.5975 0.0) (float-vector -10.0 -57.5975 0.0)))
(instance face :init :vertices (list (float-vector 10.0 -82.4025 97.3895) (float-vector 10.0 -48.2005 3.4202) (float-vector -10.0 -48.2005 3.4202) (float-vector -10.0 -82.4025 97.3895)))
(instance face :init :vertices (list (float-vector 10.0 -91.7995 93.9693) (float-vector 10.0 -57.5975 0.0) (float-vector 10.0 -48.2005 3.4202) (float-vector 10.0 -82.4025 97.3895)))
(instance face :init :vertices (list (float-vector -10.0 -91.7995 93.9693) (float-vector -10.0 -57.5975 0.0) (float-vector 10.0 -57.5975 0.0) (float-vector 10.0 -91.7995 93.9693)))
(instance face :init :vertices (list (float-vector -10.0 -82.4025 97.3895) (float-vector -10.0 -48.2005 3.4202) (float-vector -10.0 -57.5975 0.0) (float-vector -10.0 -91.7995 93.9693)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 91.7995 93.9693) (float-vector -10.0 91.7995 93.9693) (float-vector -10.0 82.4025 97.3895) (float-vector 10.0 82.4025 97.3895)))
(instance face :init :vertices (list (float-vector -10.0 57.5975 1.421085e-14) (float-vector 10.0 57.5975 1.421085e-14) (float-vector 10.0 48.2005 3.4202) (float-vector -10.0 48.2005 3.4202)))
(instance face :init :vertices (list (float-vector 10.0 91.7995 93.9693) (float-vector 10.0 57.5975 1.421085e-14) (float-vector -10.0 57.5975 1.421085e-14) (float-vector -10.0 91.7995 93.9693)))
(instance face :init :vertices (list (float-vector 10.0 82.4025 97.3895) (float-vector 10.0 48.2005 3.4202) (float-vector 10.0 57.5975 1.421085e-14) (float-vector 10.0 91.7995 93.9693)))
(instance face :init :vertices (list (float-vector -10.0 82.4025 97.3895) (float-vector -10.0 48.2005 3.4202) (float-vector 10.0 48.2005 3.4202) (float-vector 10.0 82.4025 97.3895)))
(instance face :init :vertices (list (float-vector -10.0 91.7995 93.9693) (float-vector -10.0 57.5975 1.421085e-14) (float-vector -10.0 48.2005 3.4202) (float-vector -10.0 82.4025 97.3895)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 90.0 98.6947) (float-vector -10.0 90.0 98.6947) (float-vector -10.0 -90.0 98.6947) (float-vector 10.0 -90.0 98.6947)))
(instance face :init :vertices (list (float-vector -10.0 90.0 88.6947) (float-vector 10.0 90.0 88.6947) (float-vector 10.0 -90.0 88.6947) (float-vector -10.0 -90.0 88.6947)))
(instance face :init :vertices (list (float-vector 10.0 90.0 98.6947) (float-vector 10.0 90.0 88.6947) (float-vector -10.0 90.0 88.6947) (float-vector -10.0 90.0 98.6947)))
(instance face :init :vertices (list (float-vector 10.0 -90.0 98.6947) (float-vector 10.0 -90.0 88.6947) (float-vector 10.0 90.0 88.6947) (float-vector 10.0 90.0 98.6947)))
(instance face :init :vertices (list (float-vector -10.0 -90.0 98.6947) (float-vector -10.0 -90.0 88.6947) (float-vector 10.0 -90.0 88.6947) (float-vector 10.0 -90.0 98.6947)))
(instance face :init :vertices (list (float-vector -10.0 90.0 98.6947) (float-vector -10.0 90.0 88.6947) (float-vector -10.0 -90.0 88.6947) (float-vector -10.0 -90.0 98.6947)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color (list))
(send (elt bc 1) :set-color (list))
(send (elt bc 2) :set-color (list))
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :kettle-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 assoc
(send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 101.305) :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 self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :handle-joint
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :handle-joint :axis :y
:min -10.0 :max 105.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 195.0) :rot #2f((1.0 0.0 0.0) (0.0 2.220446e-16 -1.0) (0.0 1.0 2.220446e-16)) :name "handle0"))
(send blink0 :assoc handle0)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 -120.0 100.0) :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 blink1))
(setq joint-list (list joint0))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle-joint (&rest args) (forward-message-to joint0 args))
(: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 kettle (&rest args) (instance* kettle-object :init args))
;; (format *error-output* "(instance kettle-object :init) for generating model~%")
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