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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass nissen-1100-desk-object
:super cascaded-link
:slots (sensors
))
(defmethod nissen-1100-desk-object
(:init
(&rest args &key (name "nissen-1100-desk") (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 :nissen-1100-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 300.0 550.0 670.0) (float-vector -300.0 550.0 670.0) (float-vector -300.0 -550.0 670.0) (float-vector 300.0 -550.0 670.0)))
(instance face :init :vertices (list (float-vector -300.0 550.0 655.0) (float-vector 300.0 550.0 655.0) (float-vector 300.0 -550.0 655.0) (float-vector -300.0 -550.0 655.0)))
(instance face :init :vertices (list (float-vector 300.0 550.0 670.0) (float-vector 300.0 550.0 655.0) (float-vector -300.0 550.0 655.0) (float-vector -300.0 550.0 670.0)))
(instance face :init :vertices (list (float-vector 300.0 -550.0 670.0) (float-vector 300.0 -550.0 655.0) (float-vector 300.0 550.0 655.0) (float-vector 300.0 550.0 670.0)))
(instance face :init :vertices (list (float-vector -300.0 -550.0 670.0) (float-vector -300.0 -550.0 655.0) (float-vector 300.0 -550.0 655.0) (float-vector 300.0 -550.0 670.0)))
(instance face :init :vertices (list (float-vector -300.0 550.0 670.0) (float-vector -300.0 550.0 655.0) (float-vector -300.0 -550.0 655.0) (float-vector -300.0 -550.0 670.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 142.5 -296.657 642.462) (float-vector 140.825 -301.321 638.302)))
(instance face :init :vertices (list (float-vector 142.5 249.573 30.1556)))
(instance face :init :vertices (list (float-vector 140.923 245.524 25.8535)))
(instance face :init :vertices (list (float-vector 142.5 -296.657 642.462) (float-vector 140.825 -291.993 646.623) (float-vector 136.25 -288.579 649.669) (float-vector 130.0 -287.329 650.783) (float-vector 123.75 -288.579 649.669) (float-vector 119.175 -291.993 646.623) (float-vector 117.5 -296.657 642.462) (float-vector 119.175 -301.321 638.302) (float-vector 123.75 -304.735 635.256) (float-vector 130.0 -305.985 634.141) (float-vector 136.25 -304.735 635.256) (float-vector 140.825 -301.321 638.302)))
(instance face :init :vertices (list (float-vector 136.25 -304.735 635.256) (float-vector 136.25 244.14 19.9838) (float-vector 140.825 245.422 25.4202) (float-vector 140.825 -301.321 638.302)))
(instance face :init :vertices (list (float-vector 130.0 -305.985 634.141) (float-vector 130.0 243.671 17.9939) (float-vector 136.25 244.14 19.9838) (float-vector 136.25 -304.735 635.256)))
(instance face :init :vertices (list (float-vector 123.75 -304.735 635.256) (float-vector 123.75 244.14 19.9838) (float-vector 130.0 243.671 17.9939) (float-vector 130.0 -305.985 634.141)))
(instance face :init :vertices (list (float-vector 119.175 -301.321 638.302) (float-vector 119.175 245.422 25.4202) (float-vector 123.75 244.14 19.9838) (float-vector 123.75 -304.735 635.256)))
(instance face :init :vertices (list (float-vector 119.175 245.422 25.4202) (float-vector 119.175 -301.321 638.302)))
(instance face :init :vertices (list (float-vector 117.5 -296.657 642.462) (float-vector 117.5 249.573 30.1556)))
(instance face :init :vertices (list (float-vector 119.175 -291.993 646.623) (float-vector 119.175 255.02 33.4385) (float-vector 118.341 251.733 32.45) (float-vector 117.5 249.573 30.1556) (float-vector 117.5 -296.657 642.462)))
(instance face :init :vertices (list (float-vector 123.75 -288.579 649.669) (float-vector 123.75 259.854 34.8922) (float-vector 119.175 255.02 33.4385) (float-vector 119.175 -291.993 646.623)))
(instance face :init :vertices (list (float-vector 123.75 259.854 34.8922) (float-vector 123.75 -288.579 649.669)))
(instance face :init :vertices (list (float-vector 130.0 -287.329 650.783)))
(instance face :init :vertices (list (float-vector 130.0 262.361 34.598) (float-vector 130.0 -287.329 650.783)))
(instance face :init :vertices (list (float-vector 136.25 -288.579 649.669)))
(instance face :init :vertices (list (float-vector 136.25 259.854 34.8922)))
(instance face :init :vertices (list (float-vector 140.825 -291.993 646.623) (float-vector 140.825 255.02 33.4385) (float-vector 136.25 259.854 34.8922) (float-vector 136.25 -288.579 649.669)))
(instance face :init :vertices (list (float-vector 140.825 255.02 33.4385)))
(instance face :init :vertices (list (float-vector 142.5 249.573 30.1556) (float-vector 141.659 251.733 32.45) (float-vector 140.825 255.02 33.4385) (float-vector 140.825 -291.993 646.623) (float-vector 142.5 -296.657 642.462)))
(instance face :init :vertices (list (float-vector -252.5 270.143 2.68311) (float-vector -252.5 261.468 0.074599) (float-vector -252.5 252.651 2.15305) (float-vector -252.5 246.054 8.36154) (float-vector -252.5 243.446 17.0365) (float-vector -252.5 245.524 25.8535) (float-vector -252.5 251.733 32.45) (float-vector -252.5 260.408 35.0585) (float-vector -252.5 269.225 32.9801) (float-vector -252.5 275.821 26.7716) (float-vector -252.5 278.43 18.0966) (float-vector -252.5 276.351 9.27963)))
(instance face :init :vertices (list (float-vector -252.5 270.143 2.68311) (float-vector 252.5 270.143 2.68311) (float-vector 252.5 261.468 0.074599) (float-vector -252.5 261.468 0.074599)))
(instance face :init :vertices (list (float-vector 252.5 270.143 2.68311) (float-vector 252.5 276.351 9.27963) (float-vector 252.5 278.43 18.0966) (float-vector 252.5 275.821 26.7716) (float-vector 252.5 269.225 32.9801) (float-vector 252.5 260.408 35.0585) (float-vector 252.5 251.733 32.45) (float-vector 252.5 245.524 25.8535) (float-vector 252.5 243.446 17.0365) (float-vector 252.5 246.054 8.36154) (float-vector 252.5 252.651 2.15305) (float-vector 252.5 261.468 0.074599)))
(instance face :init :vertices (list (float-vector 252.5 252.651 2.15305) (float-vector -252.5 252.651 2.15305) (float-vector -252.5 261.468 0.074599) (float-vector 252.5 261.468 0.074599)))
(instance face :init :vertices (list (float-vector 252.5 246.054 8.36154) (float-vector -252.5 246.054 8.36154) (float-vector -252.5 252.651 2.15305) (float-vector 252.5 252.651 2.15305)))
(instance face :init :vertices (list (float-vector 252.5 243.446 17.0365) (float-vector -252.5 243.446 17.0365) (float-vector -252.5 246.054 8.36154) (float-vector 252.5 246.054 8.36154)))
(instance face :init :vertices (list (float-vector -252.5 245.524 25.8535)))
(instance face :init :vertices (list (float-vector -252.5 243.446 17.0365) (float-vector 252.5 243.446 17.0365)))
(instance face :init :vertices (list (float-vector 252.5 245.524 25.8535)))
(instance face :init :vertices (list (float-vector 140.825 245.422 25.4202)))
(instance face :init :vertices (list (float-vector 136.25 244.14 19.9838)))
(instance face :init :vertices (list (float-vector 130.0 243.671 17.9939)))
(instance face :init :vertices (list (float-vector 123.75 244.14 19.9838)))
(instance face :init :vertices (list (float-vector -140.923 245.524 25.8535)))
(instance face :init :vertices (list (float-vector 119.077 245.524 25.8535)))
(instance face :init :vertices (list (float-vector -141.659 251.733 32.45) (float-vector -252.5 251.733 32.45) (float-vector -252.5 245.524 25.8535) (float-vector -140.923 245.524 25.8535) (float-vector -142.5 249.573 30.1556)))
(instance face :init :vertices (list (float-vector 118.341 251.733 32.45) (float-vector -118.341 251.733 32.45) (float-vector -117.5 249.573 30.1556) (float-vector -119.077 245.524 25.8535) (float-vector 119.077 245.524 25.8535) (float-vector 117.5 249.573 30.1556)))
(instance face :init :vertices (list (float-vector -119.175 255.02 33.4385)))
(instance face :init :vertices (list (float-vector -252.5 260.408 35.0585)))
(instance face :init :vertices (list (float-vector -252.5 251.733 32.45) (float-vector -141.659 251.733 32.45))
:holes (list
(instance hole :init :vertices (list (float-vector -118.341 251.733 32.45) (float-vector 118.341 251.733 32.45) (float-vector 119.175 255.02 33.4385)))
))
(instance face :init :vertices (list (float-vector 252.5 251.733 32.45) (float-vector 141.659 251.733 32.45) (float-vector 142.5 249.573 30.1556) (float-vector 140.923 245.524 25.8535) (float-vector 252.5 245.524 25.8535)))
(instance face :init :vertices (list (float-vector 141.659 251.733 32.45) (float-vector 252.5 251.733 32.45)))
(instance face :init :vertices (list (float-vector 252.5 260.408 35.0585)))
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(instance face :init :vertices (list (float-vector -252.5 260.408 35.0585)))
(instance face :init :vertices (list (float-vector -125.704 260.408 35.0585)))
(instance face :init :vertices (list (float-vector 134.296 260.408 35.0585) (float-vector 252.5 260.408 35.0585)))
(instance face :init :vertices (list (float-vector 252.5 269.225 32.9801)))
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(instance face :init :vertices (list (float-vector 252.5 276.351 9.27963) (float-vector -252.5 276.351 9.27963) (float-vector -252.5 278.43 18.0966) (float-vector 252.5 278.43 18.0966)))
(instance face :init :vertices (list (float-vector -252.5 276.351 9.27963) (float-vector 252.5 276.351 9.27963) (float-vector 252.5 270.143 2.68311) (float-vector -252.5 270.143 2.68311)))
(instance face :init :vertices (list (float-vector -117.5 249.573 30.1556) (float-vector -117.5 260.863 17.5) (float-vector -119.175 265.527 21.6606) (float-vector -119.175 255.02 33.4385) (float-vector -119.175 -291.993 646.623) (float-vector -117.5 -296.657 642.462) (float-vector -117.5 249.573 30.1556) (float-vector -118.341 251.733 32.45)))
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(instance face :init :vertices (list (float-vector -140.825 255.02 33.4385) (float-vector -141.659 251.733 32.45)))
(instance face :init :vertices (list (float-vector -140.825 265.527 21.6606) (float-vector -142.5 260.863 17.5) (float-vector -142.5 249.573 30.1556) (float-vector -142.5 -296.657 642.462) (float-vector -140.825 -291.993 646.623) (float-vector -140.825 255.02 33.4385)))
(instance face :init :vertices (list (float-vector -142.5 249.573 30.1556)))
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(instance face :init :vertices (list (float-vector -130.0 251.535 9.17881) (float-vector -123.75 252.785 10.2936) (float-vector -123.75 244.14 19.9838) (float-vector -123.75 -304.735 635.256) (float-vector -130.0 -305.985 634.141) (float-vector -130.0 243.671 17.9939)))
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))
(instance faceset :init :faces (list
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(instance face :init :vertices (list (float-vector 111.25 241.135 649.669) (float-vector 111.25 -307.74 34.3965) (float-vector 115.825 -302.193 33.7414) (float-vector 115.825 244.549 646.623)))
(instance face :init :vertices (list (float-vector 105.0 239.885 650.783) (float-vector 105.0 -309.771 34.6363) (float-vector 111.25 -307.74 34.3965) (float-vector 111.25 241.135 649.669)))
(instance face :init :vertices (list (float-vector 98.75 241.135 649.669) (float-vector 98.75 -307.74 34.3965) (float-vector 105.0 -309.771 34.6363) (float-vector 105.0 239.885 650.783)))
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(instance face :init :vertices (list (float-vector -252.5 -321.972 6.59586) (float-vector 252.5 -321.972 6.59586) (float-vector 252.5 -325.55 14.918) (float-vector -252.5 -325.55 14.918)))
(instance face :init :vertices (list (float-vector 252.5 -321.972 6.59586) (float-vector 252.5 -314.713 1.17765) (float-vector 252.5 -305.717 0.115159) (float-vector 252.5 -297.394 3.69309) (float-vector 252.5 -291.976 10.9527) (float-vector 252.5 -290.914 19.9489) (float-vector 252.5 -294.492 28.271) (float-vector 252.5 -301.751 33.6892) (float-vector 252.5 -310.747 34.7517) (float-vector 252.5 -319.07 31.1738) (float-vector 252.5 -324.488 23.9141) (float-vector 252.5 -325.55 14.918)))
(instance face :init :vertices (list (float-vector 252.5 -324.488 23.9141) (float-vector -252.5 -324.488 23.9141) (float-vector -252.5 -325.55 14.918) (float-vector 252.5 -325.55 14.918)))
(instance face :init :vertices (list (float-vector 252.5 -319.07 31.1738) (float-vector -252.5 -319.07 31.1738) (float-vector -252.5 -324.488 23.9141) (float-vector 252.5 -324.488 23.9141)))
(instance face :init :vertices (list (float-vector 252.5 -310.747 34.7517) (float-vector -252.5 -310.747 34.7517) (float-vector -252.5 -319.07 31.1738) (float-vector 252.5 -319.07 31.1738)))
(instance face :init :vertices (list (float-vector -252.5 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector -252.5 -310.747 34.7517) (float-vector 252.5 -310.747 34.7517)))
(instance face :init :vertices (list (float-vector 252.5 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector 115.825 -302.193 33.7414)))
(instance face :init :vertices (list (float-vector 111.25 -307.74 34.3965)))
(instance face :init :vertices (list (float-vector 105.0 -309.771 34.6363)))
(instance face :init :vertices (list (float-vector 98.75 -307.74 34.3965)))
(instance face :init :vertices (list (float-vector -115.923 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector 94.077 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector -116.659 -294.492 28.271) (float-vector -252.5 -294.492 28.271) (float-vector -252.5 -301.751 33.6892) (float-vector -115.923 -301.751 33.6892) (float-vector -117.5 -297.017 30.1556)))
(instance face :init :vertices (list (float-vector 93.3411 -294.492 28.271) (float-vector -93.3411 -294.492 28.271) (float-vector -92.5 -297.017 30.1556) (float-vector -94.077 -301.751 33.6892) (float-vector 94.077 -301.751 33.6892) (float-vector 92.5 -297.017 30.1556)))
(instance face :init :vertices (list (float-vector -94.1747 -293.136 25.1173)))
(instance face :init :vertices (list (float-vector -252.5 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector -252.5 -294.492 28.271) (float-vector -116.659 -294.492 28.271))
:holes (list
(instance hole :init :vertices (list (float-vector -93.3411 -294.492 28.271) (float-vector 93.3411 -294.492 28.271) (float-vector 94.1747 -293.136 25.1173)))
))
(instance face :init :vertices (list (float-vector 252.5 -294.492 28.271) (float-vector 116.659 -294.492 28.271) (float-vector 117.5 -297.017 30.1556) (float-vector 115.923 -301.751 33.6892) (float-vector 252.5 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector 116.659 -294.492 28.271) (float-vector 252.5 -294.492 28.271)))
(instance face :init :vertices (list (float-vector 252.5 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector -109.296 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector 100.704 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector -252.5 -291.976 10.9527)))
(instance face :init :vertices (list (float-vector -252.5 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector -100.704 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector 109.296 -290.914 19.9489) (float-vector 252.5 -290.914 19.9489)))
(instance face :init :vertices (list (float-vector 252.5 -291.976 10.9527)))
(instance face :init :vertices (list (float-vector 252.5 -297.394 3.69309) (float-vector -252.5 -297.394 3.69309) (float-vector -252.5 -291.976 10.9527) (float-vector 252.5 -291.976 10.9527)))
(instance face :init :vertices (list (float-vector 252.5 -305.717 0.115159) (float-vector -252.5 -305.717 0.115159) (float-vector -252.5 -297.394 3.69309) (float-vector 252.5 -297.394 3.69309)))
(instance face :init :vertices (list (float-vector 252.5 -314.713 1.17765) (float-vector -252.5 -314.713 1.17765) (float-vector -252.5 -305.717 0.115159) (float-vector 252.5 -305.717 0.115159)))
(instance face :init :vertices (list (float-vector -252.5 -314.713 1.17765) (float-vector 252.5 -314.713 1.17765) (float-vector 252.5 -321.972 6.59586) (float-vector -252.5 -321.972 6.59586)))
(instance face :init :vertices (list (float-vector -92.5 -297.017 30.1556) (float-vector -92.5 -308.307 17.5) (float-vector -94.1747 -303.643 13.3394) (float-vector -94.1747 -293.136 25.1173) (float-vector -94.1747 253.877 638.302) (float-vector -92.5 249.213 642.462) (float-vector -92.5 -297.017 30.1556) (float-vector -93.3411 -294.492 28.271)))
(instance face :init :vertices (list (float-vector -94.1747 -303.643 13.3394) (float-vector -98.75 -300.229 10.2936) (float-vector -98.75 -291.142 20.4795) (float-vector -98.75 257.291 635.256) (float-vector -94.1747 253.877 638.302) (float-vector -94.1747 -293.136 25.1173)))
(instance face :init :vertices (list (float-vector -98.75 -300.229 10.2936) (float-vector -105.0 -298.979 9.17881) (float-vector -105.0 -291.149 17.9556) (float-vector -105.0 258.541 634.141) (float-vector -98.75 257.291 635.256) (float-vector -98.75 -291.142 20.4795)))
(instance face :init :vertices (list (float-vector -105.0 -298.979 9.17881) (float-vector -111.25 -300.229 10.2936) (float-vector -111.25 -291.142 20.4795) (float-vector -111.25 257.291 635.256) (float-vector -105.0 258.541 634.141) (float-vector -105.0 -291.149 17.9556)))
(instance face :init :vertices (list (float-vector -111.25 -300.229 10.2936) (float-vector -115.825 -303.643 13.3394) (float-vector -115.825 -293.136 25.1173) (float-vector -115.825 253.877 638.302) (float-vector -111.25 257.291 635.256) (float-vector -111.25 -291.142 20.4795)))
(instance face :init :vertices (list (float-vector -115.825 -293.136 25.1173) (float-vector -116.659 -294.492 28.271)))
(instance face :init :vertices (list (float-vector -115.825 -303.643 13.3394) (float-vector -117.5 -308.307 17.5) (float-vector -117.5 -297.017 30.1556) (float-vector -117.5 249.213 642.462) (float-vector -115.825 253.877 638.302) (float-vector -115.825 -293.136 25.1173)))
(instance face :init :vertices (list (float-vector -117.5 -297.017 30.1556)))
(instance face :init :vertices (list (float-vector -117.5 -308.307 17.5) (float-vector -115.825 -312.971 21.6606) (float-vector -115.825 -302.193 33.7414) (float-vector -115.825 244.549 646.623) (float-vector -117.5 249.213 642.462) (float-vector -117.5 -297.017 30.1556)))
(instance face :init :vertices (list (float-vector -115.825 -312.971 21.6606) (float-vector -111.25 -316.385 24.7064) (float-vector -111.25 -307.74 34.3965) (float-vector -111.25 241.135 649.669) (float-vector -115.825 244.549 646.623) (float-vector -115.825 -302.193 33.7414)))
(instance face :init :vertices (list (float-vector -111.25 -316.385 24.7064) (float-vector -105.0 -317.634 25.8212) (float-vector -105.0 -309.771 34.6363) (float-vector -105.0 239.885 650.783) (float-vector -111.25 241.135 649.669) (float-vector -111.25 -307.74 34.3965)))
(instance face :init :vertices (list (float-vector -105.0 -317.634 25.8212) (float-vector -98.75 -316.385 24.7064) (float-vector -98.75 -307.74 34.3965) (float-vector -98.75 241.135 649.669) (float-vector -105.0 239.885 650.783) (float-vector -105.0 -309.771 34.6363)))
(instance face :init :vertices (list (float-vector -98.75 -316.385 24.7064) (float-vector -94.1747 -312.971 21.6606) (float-vector -94.1747 -302.193 33.7414) (float-vector -94.1747 244.549 646.623) (float-vector -98.75 241.135 649.669) (float-vector -98.75 -307.74 34.3965)))
(instance face :init :vertices (list (float-vector -94.1747 244.549 646.623) (float-vector -92.5 249.213 642.462) (float-vector -94.1747 253.877 638.302) (float-vector -98.75 257.291 635.256) (float-vector -105.0 258.541 634.141) (float-vector -111.25 257.291 635.256) (float-vector -115.825 253.877 638.302) (float-vector -117.5 249.213 642.462) (float-vector -115.825 244.549 646.623) (float-vector -111.25 241.135 649.669) (float-vector -105.0 239.885 650.783) (float-vector -98.75 241.135 649.669)))
(instance face :init :vertices (list (float-vector -94.077 -301.751 33.6892)))
(instance face :init :vertices (list (float-vector -94.1747 -312.971 21.6606) (float-vector -92.5 -308.307 17.5) (float-vector -92.5 -297.017 30.1556) (float-vector -92.5 249.213 642.462) (float-vector -94.1747 244.549 646.623) (float-vector -94.1747 -302.193 33.7414)))
(instance face :init :vertices (list (float-vector -92.5 -308.307 17.5) (float-vector -94.1747 -312.971 21.6606) (float-vector -98.75 -316.385 24.7064) (float-vector -105.0 -317.634 25.8212) (float-vector -111.25 -316.385 24.7064) (float-vector -115.825 -312.971 21.6606) (float-vector -117.5 -308.307 17.5) (float-vector -115.825 -303.643 13.3394) (float-vector -111.25 -300.229 10.2936) (float-vector -105.0 -298.979 9.17881) (float-vector -98.75 -300.229 10.2936) (float-vector -94.1747 -303.643 13.3394)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :goldenrod)
(send (elt bc 1) :set-color :gray40)
(send (elt bc 2) :set-color :gray41)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :nissen-1100-desk-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
;; 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 nissen-1100-desk (&rest args) (instance* nissen-1100-desk-object :init args))
;; (format *error-output* "(instance nissen-1100-desk-object :init) for generating model~%")
|
