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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room73b2-bottle-object
:super cascaded-link
:slots (sensors
handle0
attention0
))
(defmethod room73b2-bottle-object
(:init
(&rest args &key (name "room73b2-bottle") (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 'bottle
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -20.0 -30.0 89.5) (float-vector 20.0 -30.0 89.5) (float-vector 30.0 -20.0 89.5) (float-vector 30.0 20.0 89.5) (float-vector 20.0 30.0 89.5) (float-vector -20.0 30.0 89.5) (float-vector -30.0 20.0 89.5) (float-vector -30.0 -20.0 89.5)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 12.0) (float-vector -20.0 -30.0 12.0) (float-vector -30.0 -20.0 12.0) (float-vector -30.0 20.0 12.0) (float-vector -20.0 30.0 12.0) (float-vector 20.0 30.0 12.0) (float-vector 30.0 20.0 12.0) (float-vector 30.0 -20.0 12.0)))
(instance face :init :vertices (list (float-vector -20.0 -30.0 89.5) (float-vector -20.0 -30.0 12.0) (float-vector 20.0 -30.0 12.0) (float-vector 20.0 -30.0 89.5)))
(instance face :init :vertices (list (float-vector -30.0 -20.0 89.5) (float-vector -30.0 -20.0 12.0) (float-vector -20.0 -30.0 12.0) (float-vector -20.0 -30.0 89.5)))
(instance face :init :vertices (list (float-vector -30.0 20.0 89.5) (float-vector -30.0 20.0 12.0) (float-vector -30.0 -20.0 12.0) (float-vector -30.0 -20.0 89.5)))
(instance face :init :vertices (list (float-vector -20.0 30.0 89.5) (float-vector -20.0 30.0 12.0) (float-vector -30.0 20.0 12.0) (float-vector -30.0 20.0 89.5)))
(instance face :init :vertices (list (float-vector 20.0 30.0 89.5) (float-vector 20.0 30.0 12.0) (float-vector -20.0 30.0 12.0) (float-vector -20.0 30.0 89.5)))
(instance face :init :vertices (list (float-vector 30.0 20.0 89.5) (float-vector 30.0 20.0 12.0) (float-vector 20.0 30.0 12.0) (float-vector 20.0 30.0 89.5)))
(instance face :init :vertices (list (float-vector 30.0 -20.0 89.5) (float-vector 30.0 -20.0 12.0) (float-vector 30.0 20.0 12.0) (float-vector 30.0 20.0 89.5)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 89.5) (float-vector 20.0 -30.0 12.0) (float-vector 30.0 -20.0 12.0) (float-vector 30.0 -20.0 89.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -20.0 -30.0 162.0) (float-vector 20.0 -30.0 162.0) (float-vector 30.0 -20.0 162.0) (float-vector 30.0 20.0 162.0) (float-vector 20.0 30.0 162.0) (float-vector -20.0 30.0 162.0) (float-vector -30.0 20.0 162.0) (float-vector -30.0 -20.0 162.0)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 89.5) (float-vector -20.0 -30.0 89.5) (float-vector -30.0 -20.0 89.5) (float-vector -30.0 20.0 89.5) (float-vector -20.0 30.0 89.5) (float-vector 20.0 30.0 89.5) (float-vector 30.0 20.0 89.5) (float-vector 30.0 -20.0 89.5)))
(instance face :init :vertices (list (float-vector -20.0 -30.0 162.0) (float-vector -20.0 -30.0 89.5) (float-vector 20.0 -30.0 89.5) (float-vector 20.0 -30.0 162.0)))
(instance face :init :vertices (list (float-vector -30.0 -20.0 162.0) (float-vector -30.0 -20.0 89.5) (float-vector -20.0 -30.0 89.5) (float-vector -20.0 -30.0 162.0)))
(instance face :init :vertices (list (float-vector -30.0 20.0 162.0) (float-vector -30.0 20.0 89.5) (float-vector -30.0 -20.0 89.5) (float-vector -30.0 -20.0 162.0)))
(instance face :init :vertices (list (float-vector -20.0 30.0 162.0) (float-vector -20.0 30.0 89.5) (float-vector -30.0 20.0 89.5) (float-vector -30.0 20.0 162.0)))
(instance face :init :vertices (list (float-vector 20.0 30.0 162.0) (float-vector 20.0 30.0 89.5) (float-vector -20.0 30.0 89.5) (float-vector -20.0 30.0 162.0)))
(instance face :init :vertices (list (float-vector 30.0 20.0 162.0) (float-vector 30.0 20.0 89.5) (float-vector 20.0 30.0 89.5) (float-vector 20.0 30.0 162.0)))
(instance face :init :vertices (list (float-vector 30.0 -20.0 162.0) (float-vector 30.0 -20.0 89.5) (float-vector 30.0 20.0 89.5) (float-vector 30.0 20.0 162.0)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 162.0) (float-vector 20.0 -30.0 89.5) (float-vector 30.0 -20.0 89.5) (float-vector 30.0 -20.0 162.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -20.0 30.0 12.0) (float-vector -12.6667 19.0 1.0) (float-vector -19.0 12.6667 1.0) (float-vector -30.0 20.0 12.0)))
(instance face :init :vertices (list (float-vector -30.0 20.0 12.0) (float-vector -19.0 12.6667 1.0) (float-vector -19.0 -12.6667 1.0) (float-vector -30.0 -20.0 12.0)))
(instance face :init :vertices (list (float-vector -30.0 -20.0 12.0) (float-vector -19.0 -12.6667 1.0) (float-vector -12.6667 -19.0 1.0) (float-vector -20.0 -30.0 12.0)))
(instance face :init :vertices (list (float-vector -20.0 -30.0 12.0) (float-vector -12.6667 -19.0 1.0) (float-vector 12.6667 -19.0 1.0) (float-vector 20.0 -30.0 12.0)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 12.0) (float-vector 12.6667 -19.0 1.0) (float-vector 19.0 -12.6667 1.0) (float-vector 30.0 -20.0 12.0)))
(instance face :init :vertices (list (float-vector 30.0 -20.0 12.0) (float-vector 19.0 -12.6667 1.0) (float-vector 19.0 12.6667 1.0) (float-vector 30.0 20.0 12.0)))
(instance face :init :vertices (list (float-vector 30.0 20.0 12.0) (float-vector 19.0 12.6667 1.0) (float-vector 12.6667 19.0 1.0) (float-vector 20.0 30.0 12.0)))
(instance face :init :vertices (list (float-vector -20.0 30.0 12.0) (float-vector -30.0 20.0 12.0) (float-vector -30.0 -20.0 12.0) (float-vector -20.0 -30.0 12.0) (float-vector 20.0 -30.0 12.0) (float-vector 30.0 -20.0 12.0) (float-vector 30.0 20.0 12.0) (float-vector 20.0 30.0 12.0)))
(instance face :init :vertices (list (float-vector 20.0 30.0 12.0) (float-vector 12.6667 19.0 1.0) (float-vector -12.6667 19.0 1.0) (float-vector -20.0 30.0 12.0)))
(instance face :init :vertices (list (float-vector 12.6667 19.0 1.0) (float-vector 19.0 12.6667 1.0) (float-vector 19.0 -12.6667 1.0) (float-vector 12.6667 -19.0 1.0) (float-vector -12.6667 -19.0 1.0) (float-vector -19.0 -12.6667 1.0) (float-vector -19.0 12.6667 1.0) (float-vector -12.6667 19.0 1.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -20.0 -30.0 156.0) (float-vector -6.66667 -10.0 196.0) (float-vector -10.0 -6.66667 196.0) (float-vector -30.0 -20.0 156.0)))
(instance face :init :vertices (list (float-vector -30.0 -20.0 156.0) (float-vector -10.0 -6.66667 196.0) (float-vector -10.0 6.66667 196.0) (float-vector -30.0 20.0 156.0)))
(instance face :init :vertices (list (float-vector -30.0 20.0 156.0) (float-vector -10.0 6.66667 196.0) (float-vector -6.66667 10.0 196.0) (float-vector -20.0 30.0 156.0)))
(instance face :init :vertices (list (float-vector -20.0 30.0 156.0) (float-vector -6.66667 10.0 196.0) (float-vector 6.66667 10.0 196.0) (float-vector 20.0 30.0 156.0)))
(instance face :init :vertices (list (float-vector 20.0 30.0 156.0) (float-vector 6.66667 10.0 196.0) (float-vector 10.0 6.66667 196.0) (float-vector 30.0 20.0 156.0)))
(instance face :init :vertices (list (float-vector 30.0 20.0 156.0) (float-vector 10.0 6.66667 196.0) (float-vector 10.0 -6.66667 196.0) (float-vector 30.0 -20.0 156.0)))
(instance face :init :vertices (list (float-vector 30.0 -20.0 156.0) (float-vector 10.0 -6.66667 196.0) (float-vector 6.66667 -10.0 196.0) (float-vector 20.0 -30.0 156.0)))
(instance face :init :vertices (list (float-vector -20.0 -30.0 156.0) (float-vector -30.0 -20.0 156.0) (float-vector -30.0 20.0 156.0) (float-vector -20.0 30.0 156.0) (float-vector 20.0 30.0 156.0) (float-vector 30.0 20.0 156.0) (float-vector 30.0 -20.0 156.0) (float-vector 20.0 -30.0 156.0)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 156.0) (float-vector 6.66667 -10.0 196.0) (float-vector -6.66667 -10.0 196.0) (float-vector -20.0 -30.0 156.0)))
(instance face :init :vertices (list (float-vector 6.66667 -10.0 196.0) (float-vector 10.0 -6.66667 196.0) (float-vector 10.0 6.66667 196.0) (float-vector 6.66667 10.0 196.0) (float-vector -6.66667 10.0 196.0) (float-vector -10.0 6.66667 196.0) (float-vector -10.0 -6.66667 196.0) (float-vector -6.66667 -10.0 196.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -20.0 -30.0 160.0) (float-vector -12.6667 -19.0 171.0) (float-vector -19.0 -12.6667 171.0) (float-vector -30.0 -20.0 160.0)))
(instance face :init :vertices (list (float-vector -30.0 -20.0 160.0) (float-vector -19.0 -12.6667 171.0) (float-vector -19.0 12.6667 171.0) (float-vector -30.0 20.0 160.0)))
(instance face :init :vertices (list (float-vector -30.0 20.0 160.0) (float-vector -19.0 12.6667 171.0) (float-vector -12.6667 19.0 171.0) (float-vector -20.0 30.0 160.0)))
(instance face :init :vertices (list (float-vector -20.0 30.0 160.0) (float-vector -12.6667 19.0 171.0) (float-vector 12.6667 19.0 171.0) (float-vector 20.0 30.0 160.0)))
(instance face :init :vertices (list (float-vector 20.0 30.0 160.0) (float-vector 12.6667 19.0 171.0) (float-vector 19.0 12.6667 171.0) (float-vector 30.0 20.0 160.0)))
(instance face :init :vertices (list (float-vector 30.0 20.0 160.0) (float-vector 19.0 12.6667 171.0) (float-vector 19.0 -12.6667 171.0) (float-vector 30.0 -20.0 160.0)))
(instance face :init :vertices (list (float-vector 30.0 -20.0 160.0) (float-vector 19.0 -12.6667 171.0) (float-vector 12.6667 -19.0 171.0) (float-vector 20.0 -30.0 160.0)))
(instance face :init :vertices (list (float-vector -20.0 -30.0 160.0) (float-vector -30.0 -20.0 160.0) (float-vector -30.0 20.0 160.0) (float-vector -20.0 30.0 160.0) (float-vector 20.0 30.0 160.0) (float-vector 30.0 20.0 160.0) (float-vector 30.0 -20.0 160.0) (float-vector 20.0 -30.0 160.0)))
(instance face :init :vertices (list (float-vector 20.0 -30.0 160.0) (float-vector 12.6667 -19.0 171.0) (float-vector -12.6667 -19.0 171.0) (float-vector -20.0 -30.0 160.0)))
(instance face :init :vertices (list (float-vector 12.6667 -19.0 171.0) (float-vector 19.0 -12.6667 171.0) (float-vector 19.0 12.6667 171.0) (float-vector 12.6667 19.0 171.0) (float-vector -12.6667 19.0 171.0) (float-vector -19.0 12.6667 171.0) (float-vector -19.0 -12.6667 171.0) (float-vector -12.6667 -19.0 171.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.8253 -6.25 216.0) (float-vector 12.5 0.0 216.0) (float-vector 10.8253 6.25 216.0) (float-vector 6.25 10.8253 216.0) (float-vector 0.0 12.5 216.0) (float-vector -6.25 10.8253 216.0) (float-vector -10.8253 6.25 216.0) (float-vector -12.5 0.0 216.0) (float-vector -10.8253 -6.25 216.0) (float-vector -6.25 -10.8253 216.0) (float-vector 0.0 -12.5 216.0) (float-vector 6.25 -10.8253 216.0)))
(instance face :init :vertices (list (float-vector 12.5 0.0 194.0) (float-vector 10.8253 -6.25 194.0) (float-vector 6.25 -10.8253 194.0) (float-vector 0.0 -12.5 194.0) (float-vector -6.25 -10.8253 194.0) (float-vector -10.8253 -6.25 194.0) (float-vector -12.5 0.0 194.0) (float-vector -10.8253 6.25 194.0) (float-vector -6.25 10.8253 194.0) (float-vector 0.0 12.5 194.0) (float-vector 6.25 10.8253 194.0) (float-vector 10.8253 6.25 194.0)))
(instance face :init :vertices (list (float-vector 10.8253 -6.25 216.0) (float-vector 10.8253 -6.25 194.0) (float-vector 12.5 0.0 194.0) (float-vector 12.5 0.0 216.0)))
(instance face :init :vertices (list (float-vector 6.25 -10.8253 216.0) (float-vector 6.25 -10.8253 194.0) (float-vector 10.8253 -6.25 194.0) (float-vector 10.8253 -6.25 216.0)))
(instance face :init :vertices (list (float-vector 0.0 -12.5 216.0) (float-vector 0.0 -12.5 194.0) (float-vector 6.25 -10.8253 194.0) (float-vector 6.25 -10.8253 216.0)))
(instance face :init :vertices (list (float-vector -6.25 -10.8253 216.0) (float-vector -6.25 -10.8253 194.0) (float-vector 0.0 -12.5 194.0) (float-vector 0.0 -12.5 216.0)))
(instance face :init :vertices (list (float-vector -10.8253 -6.25 216.0) (float-vector -10.8253 -6.25 194.0) (float-vector -6.25 -10.8253 194.0) (float-vector -6.25 -10.8253 216.0)))
(instance face :init :vertices (list (float-vector -12.5 0.0 216.0) (float-vector -12.5 0.0 194.0) (float-vector -10.8253 -6.25 194.0) (float-vector -10.8253 -6.25 216.0)))
(instance face :init :vertices (list (float-vector -10.8253 6.25 216.0) (float-vector -10.8253 6.25 194.0) (float-vector -12.5 0.0 194.0) (float-vector -12.5 0.0 216.0)))
(instance face :init :vertices (list (float-vector -6.25 10.8253 216.0) (float-vector -6.25 10.8253 194.0) (float-vector -10.8253 6.25 194.0) (float-vector -10.8253 6.25 216.0)))
(instance face :init :vertices (list (float-vector 0.0 12.5 216.0) (float-vector 0.0 12.5 194.0) (float-vector -6.25 10.8253 194.0) (float-vector -6.25 10.8253 216.0)))
(instance face :init :vertices (list (float-vector 6.25 10.8253 216.0) (float-vector 6.25 10.8253 194.0) (float-vector 0.0 12.5 194.0) (float-vector 0.0 12.5 216.0)))
(instance face :init :vertices (list (float-vector 10.8253 6.25 216.0) (float-vector 10.8253 6.25 194.0) (float-vector 6.25 10.8253 194.0) (float-vector 6.25 10.8253 216.0)))
(instance face :init :vertices (list (float-vector 12.5 0.0 216.0) (float-vector 12.5 0.0 194.0) (float-vector 10.8253 6.25 194.0) (float-vector 10.8253 6.25 216.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :lightskyblue)
(send (elt bc 1) :set-color :lightskyblue)
(send (elt bc 2) :set-color :lightskyblue)
(send (elt bc 3) :set-color :lightskyblue)
(send (elt bc 4) :set-color :lightskyblue)
(send (elt bc 5) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'bottle :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 97.5) :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)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 215.0) :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))
(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 attention0) args))
(:attention-attention0 (&rest args) (forward-message-to attention0 args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room73b2-bottle (&rest args) (instance* room73b2-bottle-object :init args))
;; (format *error-output* "(instance room73b2-bottle-object :init) for generating model~%")
|
