1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass blue-clear-cup-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5 handle6 handle7
attention0
))
(defmethod blue-clear-cup-object
(:init
(&rest args &key (name "blue-clear-cup") (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 :blue-clear-cup-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 90.2 0.0 0.0) (float-vector 83.3339 -34.518 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 83.3339 -34.518 0.0) (float-vector 63.781 -63.781 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 63.781 -63.781 0.0) (float-vector 34.518 -83.3339 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 34.518 -83.3339 0.0) (float-vector -8.177064e-13 -90.2 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -8.177064e-13 -90.2 0.0) (float-vector -34.518 -83.3339 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -34.518 -83.3339 0.0) (float-vector -63.781 -63.781 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -63.781 -63.781 0.0) (float-vector -83.3339 -34.518 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -83.3339 -34.518 0.0) (float-vector -90.2 4.917285e-13 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -90.2 4.917285e-13 0.0) (float-vector -83.3339 34.518 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -83.3339 34.518 0.0) (float-vector -63.781 63.781 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -63.781 63.781 0.0) (float-vector -34.518 83.3339 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector -34.518 83.3339 0.0) (float-vector 8.563685e-14 90.2 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 8.563685e-14 90.2 0.0) (float-vector 34.518 83.3339 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 34.518 83.3339 0.0) (float-vector 63.781 63.781 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 63.781 63.781 0.0) (float-vector 83.3339 34.518 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 83.3339 34.518 0.0) (float-vector 90.2 0.0 0.0) (float-vector 0.0 0.0 0.0)))
(instance face :init :vertices (list (float-vector 83.3339 -34.518 0.0) (float-vector 83.3339 -34.518 0.0) (float-vector 90.2 0.0 0.0) (float-vector 90.2 0.0 0.0)))
(instance face :init :vertices (list (float-vector 63.781 -63.781 0.0) (float-vector 63.781 -63.781 0.0) (float-vector 83.3339 -34.518 0.0) (float-vector 83.3339 -34.518 0.0)))
(instance face :init :vertices (list (float-vector 34.518 -83.3339 0.0) (float-vector 34.518 -83.3339 0.0) (float-vector 63.781 -63.781 0.0) (float-vector 63.781 -63.781 0.0)))
(instance face :init :vertices (list (float-vector -8.177064e-13 -90.2 0.0) (float-vector -8.177064e-13 -90.2 0.0) (float-vector 34.518 -83.3339 0.0) (float-vector 34.518 -83.3339 0.0)))
(instance face :init :vertices (list (float-vector -34.518 -83.3339 0.0) (float-vector -34.518 -83.3339 0.0) (float-vector -8.177064e-13 -90.2 0.0) (float-vector -8.177064e-13 -90.2 0.0)))
(instance face :init :vertices (list (float-vector -63.781 -63.781 0.0) (float-vector -63.781 -63.781 0.0) (float-vector -34.518 -83.3339 0.0) (float-vector -34.518 -83.3339 0.0)))
(instance face :init :vertices (list (float-vector -83.3339 -34.518 0.0) (float-vector -83.3339 -34.518 0.0) (float-vector -63.781 -63.781 0.0) (float-vector -63.781 -63.781 0.0)))
(instance face :init :vertices (list (float-vector -90.2 4.917285e-13 0.0) (float-vector -90.2 4.917285e-13 0.0) (float-vector -83.3339 -34.518 0.0) (float-vector -83.3339 -34.518 0.0)))
(instance face :init :vertices (list (float-vector -83.3339 34.518 0.0) (float-vector -83.3339 34.518 0.0) (float-vector -90.2 4.917285e-13 0.0) (float-vector -90.2 4.917285e-13 0.0)))
(instance face :init :vertices (list (float-vector -63.781 63.781 0.0) (float-vector -63.781 63.781 0.0) (float-vector -83.3339 34.518 0.0) (float-vector -83.3339 34.518 0.0)))
(instance face :init :vertices (list (float-vector -34.518 83.3339 0.0) (float-vector -34.518 83.3339 0.0) (float-vector -63.781 63.781 0.0) (float-vector -63.781 63.781 0.0)))
(instance face :init :vertices (list (float-vector 8.563685e-14 90.2 0.0) (float-vector 8.563685e-14 90.2 0.0) (float-vector -34.518 83.3339 0.0) (float-vector -34.518 83.3339 0.0)))
(instance face :init :vertices (list (float-vector 34.518 83.3339 0.0) (float-vector 34.518 83.3339 0.0) (float-vector 8.563685e-14 90.2 0.0) (float-vector 8.563685e-14 90.2 0.0)))
(instance face :init :vertices (list (float-vector 63.781 63.781 0.0) (float-vector 63.781 63.781 0.0) (float-vector 34.518 83.3339 0.0) (float-vector 34.518 83.3339 0.0)))
(instance face :init :vertices (list (float-vector 83.3339 34.518 0.0) (float-vector 83.3339 34.518 0.0) (float-vector 63.781 63.781 0.0) (float-vector 63.781 63.781 0.0)))
(instance face :init :vertices (list (float-vector 90.2 0.0 0.0) (float-vector 90.2 0.0 0.0) (float-vector 83.3339 34.518 0.0) (float-vector 83.3339 34.518 0.0)))
(instance face :init :vertices (list (float-vector 87.9533 -36.4315 0.0) (float-vector 83.3339 -34.518 0.0) (float-vector 90.2 0.0 0.0) (float-vector 95.2 0.0 0.0)))
(instance face :init :vertices (list (float-vector 67.3166 -67.3166 0.0) (float-vector 63.781 -63.781 0.0) (float-vector 83.3339 -34.518 0.0) (float-vector 87.9533 -36.4315 0.0)))
(instance face :init :vertices (list (float-vector 36.4315 -87.9533 0.0) (float-vector 34.518 -83.3339 0.0) (float-vector 63.781 -63.781 0.0) (float-vector 67.3166 -67.3166 0.0)))
(instance face :init :vertices (list (float-vector -8.630338e-13 -95.2 0.0) (float-vector -8.177064e-13 -90.2 0.0) (float-vector 34.518 -83.3339 0.0) (float-vector 36.4315 -87.9533 0.0)))
(instance face :init :vertices (list (float-vector -36.4315 -87.9533 0.0) (float-vector -34.518 -83.3339 0.0) (float-vector -8.177064e-13 -90.2 0.0) (float-vector -8.630338e-13 -95.2 0.0)))
(instance face :init :vertices (list (float-vector -67.3166 -67.3166 0.0) (float-vector -63.781 -63.781 0.0) (float-vector -34.518 -83.3339 0.0) (float-vector -36.4315 -87.9533 0.0)))
(instance face :init :vertices (list (float-vector -87.9533 -36.4315 0.0) (float-vector -83.3339 -34.518 0.0) (float-vector -63.781 -63.781 0.0) (float-vector -67.3166 -67.3166 0.0)))
(instance face :init :vertices (list (float-vector -95.2 5.189862e-13 0.0) (float-vector -90.2 4.917285e-13 0.0) (float-vector -83.3339 -34.518 0.0) (float-vector -87.9533 -36.4315 0.0)))
(instance face :init :vertices (list (float-vector -87.9533 36.4315 0.0) (float-vector -83.3339 34.518 0.0) (float-vector -90.2 4.917285e-13 0.0) (float-vector -95.2 5.189862e-13 0.0)))
(instance face :init :vertices (list (float-vector -67.3166 67.3166 0.0) (float-vector -63.781 63.781 0.0) (float-vector -83.3339 34.518 0.0) (float-vector -87.9533 36.4315 0.0)))
(instance face :init :vertices (list (float-vector -36.4315 87.9533 0.0) (float-vector -34.518 83.3339 0.0) (float-vector -63.781 63.781 0.0) (float-vector -67.3166 67.3166 0.0)))
(instance face :init :vertices (list (float-vector 9.038390e-14 95.2 0.0) (float-vector 8.563685e-14 90.2 0.0) (float-vector -34.518 83.3339 0.0) (float-vector -36.4315 87.9533 0.0)))
(instance face :init :vertices (list (float-vector 36.4315 87.9533 0.0) (float-vector 34.518 83.3339 0.0) (float-vector 8.563685e-14 90.2 0.0) (float-vector 9.038390e-14 95.2 0.0)))
(instance face :init :vertices (list (float-vector 67.3166 67.3166 0.0) (float-vector 63.781 63.781 0.0) (float-vector 34.518 83.3339 0.0) (float-vector 36.4315 87.9533 0.0)))
(instance face :init :vertices (list (float-vector 87.9533 36.4315 0.0) (float-vector 83.3339 34.518 0.0) (float-vector 63.781 63.781 0.0) (float-vector 67.3166 67.3166 0.0)))
(instance face :init :vertices (list (float-vector 95.2 0.0 0.0) (float-vector 90.2 0.0 0.0) (float-vector 83.3339 34.518 0.0) (float-vector 87.9533 36.4315 0.0)))
(instance face :init :vertices (list (float-vector 87.9533 -36.4315 0.0) (float-vector 87.9533 -36.4315 0.0) (float-vector 95.2 0.0 0.0) (float-vector 95.2 0.0 0.0)))
(instance face :init :vertices (list (float-vector 67.3166 -67.3166 0.0) (float-vector 67.3166 -67.3166 0.0) (float-vector 87.9533 -36.4315 0.0) (float-vector 87.9533 -36.4315 0.0)))
(instance face :init :vertices (list (float-vector 36.4315 -87.9533 0.0) (float-vector 36.4315 -87.9533 0.0) (float-vector 67.3166 -67.3166 0.0) (float-vector 67.3166 -67.3166 0.0)))
(instance face :init :vertices (list (float-vector -8.630338e-13 -95.2 0.0) (float-vector -8.630338e-13 -95.2 0.0) (float-vector 36.4315 -87.9533 0.0) (float-vector 36.4315 -87.9533 0.0)))
(instance face :init :vertices (list (float-vector -36.4315 -87.9533 0.0) (float-vector -36.4315 -87.9533 0.0) (float-vector -8.630338e-13 -95.2 0.0) (float-vector -8.630338e-13 -95.2 0.0)))
(instance face :init :vertices (list (float-vector -67.3166 -67.3166 0.0) (float-vector -67.3166 -67.3166 0.0) (float-vector -36.4315 -87.9533 0.0) (float-vector -36.4315 -87.9533 0.0)))
(instance face :init :vertices (list (float-vector -87.9533 -36.4315 0.0) (float-vector -87.9533 -36.4315 0.0) (float-vector -67.3166 -67.3166 0.0) (float-vector -67.3166 -67.3166 0.0)))
(instance face :init :vertices (list (float-vector -95.2 5.189862e-13 0.0) (float-vector -95.2 5.189862e-13 0.0) (float-vector -87.9533 -36.4315 0.0) (float-vector -87.9533 -36.4315 0.0)))
(instance face :init :vertices (list (float-vector -87.9533 36.4315 0.0) (float-vector -87.9533 36.4315 0.0) (float-vector -95.2 5.189862e-13 0.0) (float-vector -95.2 5.189862e-13 0.0)))
(instance face :init :vertices (list (float-vector -67.3166 67.3166 0.0) (float-vector -67.3166 67.3166 0.0) (float-vector -87.9533 36.4315 0.0) (float-vector -87.9533 36.4315 0.0)))
(instance face :init :vertices (list (float-vector -36.4315 87.9533 0.0) (float-vector -36.4315 87.9533 0.0) (float-vector -67.3166 67.3166 0.0) (float-vector -67.3166 67.3166 0.0)))
(instance face :init :vertices (list (float-vector 9.038390e-14 95.2 0.0) (float-vector 9.038390e-14 95.2 0.0) (float-vector -36.4315 87.9533 0.0) (float-vector -36.4315 87.9533 0.0)))
(instance face :init :vertices (list (float-vector 36.4315 87.9533 0.0) (float-vector 36.4315 87.9533 0.0) (float-vector 9.038390e-14 95.2 0.0) (float-vector 9.038390e-14 95.2 0.0)))
(instance face :init :vertices (list (float-vector 67.3166 67.3166 0.0) (float-vector 67.3166 67.3166 0.0) (float-vector 36.4315 87.9533 0.0) (float-vector 36.4315 87.9533 0.0)))
(instance face :init :vertices (list (float-vector 87.9533 36.4315 0.0) (float-vector 87.9533 36.4315 0.0) (float-vector 67.3166 67.3166 0.0) (float-vector 67.3166 67.3166 0.0)))
(instance face :init :vertices (list (float-vector 95.2 0.0 0.0) (float-vector 95.2 0.0 0.0) (float-vector 87.9533 36.4315 0.0) (float-vector 87.9533 36.4315 0.0)))
(instance face :init :vertices (list (float-vector 99.6015 -41.2563 2.88767) (float-vector 87.9533 -36.4315 0.0) (float-vector 95.2 0.0 0.0) (float-vector 107.808 0.0 2.88767)))
(instance face :init :vertices (list (float-vector 76.2317 -76.2317 2.88767) (float-vector 67.3166 -67.3166 0.0) (float-vector 87.9533 -36.4315 0.0) (float-vector 99.6015 -41.2563 2.88767)))
(instance face :init :vertices (list (float-vector 41.2563 -99.6015 2.88767) (float-vector 36.4315 -87.9533 0.0) (float-vector 67.3166 -67.3166 0.0) (float-vector 76.2317 -76.2317 2.88767)))
(instance face :init :vertices (list (float-vector -9.773304e-13 -107.808 2.88767) (float-vector -8.630338e-13 -95.2 0.0) (float-vector 36.4315 -87.9533 0.0) (float-vector 41.2563 -99.6015 2.88767)))
(instance face :init :vertices (list (float-vector -41.2563 -99.6015 2.88767) (float-vector -36.4315 -87.9533 0.0) (float-vector -8.630338e-13 -95.2 0.0) (float-vector -9.773304e-13 -107.808 2.88767)))
(instance face :init :vertices (list (float-vector -76.2317 -76.2317 2.88767) (float-vector -67.3166 -67.3166 0.0) (float-vector -36.4315 -87.9533 0.0) (float-vector -41.2563 -99.6015 2.88767)))
(instance face :init :vertices (list (float-vector -99.6015 -41.2563 2.88767) (float-vector -87.9533 -36.4315 0.0) (float-vector -67.3166 -67.3166 0.0) (float-vector -76.2317 -76.2317 2.88767)))
(instance face :init :vertices (list (float-vector -107.808 5.877185e-13 2.88767) (float-vector -95.2 5.189862e-13 0.0) (float-vector -87.9533 -36.4315 0.0) (float-vector -99.6015 -41.2563 2.88767)))
(instance face :init :vertices (list (float-vector -99.6015 41.2563 2.88767) (float-vector -87.9533 36.4315 0.0) (float-vector -95.2 5.189862e-13 0.0) (float-vector -107.808 5.877185e-13 2.88767)))
(instance face :init :vertices (list (float-vector -76.2317 76.2317 2.88767) (float-vector -67.3166 67.3166 0.0) (float-vector -87.9533 36.4315 0.0) (float-vector -99.6015 41.2563 2.88767)))
(instance face :init :vertices (list (float-vector -41.2563 99.6015 2.88767) (float-vector -36.4315 87.9533 0.0) (float-vector -67.3166 67.3166 0.0) (float-vector -76.2317 76.2317 2.88767)))
(instance face :init :vertices (list (float-vector 1.023540e-13 107.808 2.88767) (float-vector 9.038390e-14 95.2 0.0) (float-vector -36.4315 87.9533 0.0) (float-vector -41.2563 99.6015 2.88767)))
(instance face :init :vertices (list (float-vector 41.2563 99.6015 2.88767) (float-vector 36.4315 87.9533 0.0) (float-vector 9.038390e-14 95.2 0.0) (float-vector 1.023540e-13 107.808 2.88767)))
(instance face :init :vertices (list (float-vector 76.2317 76.2317 2.88767) (float-vector 67.3166 67.3166 0.0) (float-vector 36.4315 87.9533 0.0) (float-vector 41.2563 99.6015 2.88767)))
(instance face :init :vertices (list (float-vector 99.6015 41.2563 2.88767) (float-vector 87.9533 36.4315 0.0) (float-vector 67.3166 67.3166 0.0) (float-vector 76.2317 76.2317 2.88767)))
(instance face :init :vertices (list (float-vector 107.808 0.0 2.88767) (float-vector 95.2 0.0 0.0) (float-vector 87.9533 36.4315 0.0) (float-vector 99.6015 41.2563 2.88767)))
(instance face :init :vertices (list (float-vector 110.109 -45.6088 11.268) (float-vector 99.6015 -41.2563 2.88767) (float-vector 107.808 0.0 2.88767) (float-vector 119.182 0.0 11.268)))
(instance face :init :vertices (list (float-vector 84.2741 -84.2741 11.268) (float-vector 76.2317 -76.2317 2.88767) (float-vector 99.6015 -41.2563 2.88767) (float-vector 110.109 -45.6088 11.268)))
(instance face :init :vertices (list (float-vector 45.6088 -110.109 11.268) (float-vector 41.2563 -99.6015 2.88767) (float-vector 76.2317 -76.2317 2.88767) (float-vector 84.2741 -84.2741 11.268)))
(instance face :init :vertices (list (float-vector -1.080439e-12 -119.182 11.268) (float-vector -9.773304e-13 -107.808 2.88767) (float-vector 41.2563 -99.6015 2.88767) (float-vector 45.6088 -110.109 11.268)))
(instance face :init :vertices (list (float-vector -45.6088 -110.109 11.268) (float-vector -41.2563 -99.6015 2.88767) (float-vector -9.773304e-13 -107.808 2.88767) (float-vector -1.080439e-12 -119.182 11.268)))
(instance face :init :vertices (list (float-vector -84.2741 -84.2741 11.268) (float-vector -76.2317 -76.2317 2.88767) (float-vector -41.2563 -99.6015 2.88767) (float-vector -45.6088 -110.109 11.268)))
(instance face :init :vertices (list (float-vector -110.109 -45.6088 11.268) (float-vector -99.6015 -41.2563 2.88767) (float-vector -76.2317 -76.2317 2.88767) (float-vector -84.2741 -84.2741 11.268)))
(instance face :init :vertices (list (float-vector -119.182 6.497229e-13 11.268) (float-vector -107.808 5.877185e-13 2.88767) (float-vector -99.6015 -41.2563 2.88767) (float-vector -110.109 -45.6088 11.268)))
(instance face :init :vertices (list (float-vector -110.109 45.6088 11.268) (float-vector -99.6015 41.2563 2.88767) (float-vector -107.808 5.877185e-13 2.88767) (float-vector -119.182 6.497229e-13 11.268)))
(instance face :init :vertices (list (float-vector -84.2741 84.2741 11.268) (float-vector -76.2317 76.2317 2.88767) (float-vector -99.6015 41.2563 2.88767) (float-vector -110.109 45.6088 11.268)))
(instance face :init :vertices (list (float-vector -45.6088 110.109 11.268) (float-vector -41.2563 99.6015 2.88767) (float-vector -76.2317 76.2317 2.88767) (float-vector -84.2741 84.2741 11.268)))
(instance face :init :vertices (list (float-vector 1.131523e-13 119.182 11.268) (float-vector 1.023540e-13 107.808 2.88767) (float-vector -41.2563 99.6015 2.88767) (float-vector -45.6088 110.109 11.268)))
(instance face :init :vertices (list (float-vector 45.6088 110.109 11.268) (float-vector 41.2563 99.6015 2.88767) (float-vector 1.023540e-13 107.808 2.88767) (float-vector 1.131523e-13 119.182 11.268)))
(instance face :init :vertices (list (float-vector 84.2741 84.2741 11.268) (float-vector 76.2317 76.2317 2.88767) (float-vector 41.2563 99.6015 2.88767) (float-vector 45.6088 110.109 11.268)))
(instance face :init :vertices (list (float-vector 110.109 45.6088 11.268) (float-vector 99.6015 41.2563 2.88767) (float-vector 76.2317 76.2317 2.88767) (float-vector 84.2741 84.2741 11.268)))
(instance face :init :vertices (list (float-vector 119.182 0.0 11.268) (float-vector 107.808 0.0 2.88767) (float-vector 99.6015 41.2563 2.88767) (float-vector 110.109 45.6088 11.268)))
(instance face :init :vertices (list (float-vector 118.449 -49.063 24.3207) (float-vector 110.109 -45.6088 11.268) (float-vector 119.182 0.0 11.268) (float-vector 128.208 0.0 24.3207)))
(instance face :init :vertices (list (float-vector 90.6567 -90.6567 24.3207) (float-vector 84.2741 -84.2741 11.268) (float-vector 110.109 -45.6088 11.268) (float-vector 118.449 -49.063 24.3207)))
(instance face :init :vertices (list (float-vector 49.063 -118.449 24.3207) (float-vector 45.6088 -110.109 11.268) (float-vector 84.2741 -84.2741 11.268) (float-vector 90.6567 -90.6567 24.3207)))
(instance face :init :vertices (list (float-vector -1.162266e-12 -128.208 24.3207) (float-vector -1.080439e-12 -119.182 11.268) (float-vector 45.6088 -110.109 11.268) (float-vector 49.063 -118.449 24.3207)))
(instance face :init :vertices (list (float-vector -49.063 -118.449 24.3207) (float-vector -45.6088 -110.109 11.268) (float-vector -1.080439e-12 -119.182 11.268) (float-vector -1.162266e-12 -128.208 24.3207)))
(instance face :init :vertices (list (float-vector -90.6567 -90.6567 24.3207) (float-vector -84.2741 -84.2741 11.268) (float-vector -45.6088 -110.109 11.268) (float-vector -49.063 -118.449 24.3207)))
(instance face :init :vertices (list (float-vector -118.449 -49.063 24.3207) (float-vector -110.109 -45.6088 11.268) (float-vector -84.2741 -84.2741 11.268) (float-vector -90.6567 -90.6567 24.3207)))
(instance face :init :vertices (list (float-vector -128.208 6.989298e-13 24.3207) (float-vector -119.182 6.497229e-13 11.268) (float-vector -110.109 -45.6088 11.268) (float-vector -118.449 -49.063 24.3207)))
(instance face :init :vertices (list (float-vector -118.449 49.063 24.3207) (float-vector -110.109 45.6088 11.268) (float-vector -119.182 6.497229e-13 11.268) (float-vector -128.208 6.989298e-13 24.3207)))
(instance face :init :vertices (list (float-vector -90.6567 90.6567 24.3207) (float-vector -84.2741 84.2741 11.268) (float-vector -110.109 45.6088 11.268) (float-vector -118.449 49.063 24.3207)))
(instance face :init :vertices (list (float-vector -49.063 118.449 24.3207) (float-vector -45.6088 110.109 11.268) (float-vector -84.2741 84.2741 11.268) (float-vector -90.6567 90.6567 24.3207)))
(instance face :init :vertices (list (float-vector 1.217220e-13 128.208 24.3207) (float-vector 1.131523e-13 119.182 11.268) (float-vector -45.6088 110.109 11.268) (float-vector -49.063 118.449 24.3207)))
(instance face :init :vertices (list (float-vector 49.063 118.449 24.3207) (float-vector 45.6088 110.109 11.268) (float-vector 1.131523e-13 119.182 11.268) (float-vector 1.217220e-13 128.208 24.3207)))
(instance face :init :vertices (list (float-vector 90.6567 90.6567 24.3207) (float-vector 84.2741 84.2741 11.268) (float-vector 45.6088 110.109 11.268) (float-vector 49.063 118.449 24.3207)))
(instance face :init :vertices (list (float-vector 118.449 49.063 24.3207) (float-vector 110.109 45.6088 11.268) (float-vector 84.2741 84.2741 11.268) (float-vector 90.6567 90.6567 24.3207)))
(instance face :init :vertices (list (float-vector 128.208 0.0 24.3207) (float-vector 119.182 0.0 11.268) (float-vector 110.109 45.6088 11.268) (float-vector 118.449 49.063 24.3207)))
(instance face :init :vertices (list (float-vector 123.803 -51.2808 40.768) (float-vector 118.449 -49.063 24.3207) (float-vector 128.208 0.0 24.3207) (float-vector 134.003 0.0 40.768)))
(instance face :init :vertices (list (float-vector 94.7545 -94.7545 40.768) (float-vector 90.6567 -90.6567 24.3207) (float-vector 118.449 -49.063 24.3207) (float-vector 123.803 -51.2808 40.768)))
(instance face :init :vertices (list (float-vector 51.2808 -123.803 40.768) (float-vector 49.063 -118.449 24.3207) (float-vector 90.6567 -90.6567 24.3207) (float-vector 94.7545 -94.7545 40.768)))
(instance face :init :vertices (list (float-vector -1.214803e-12 -134.003 40.768) (float-vector -1.162266e-12 -128.208 24.3207) (float-vector 49.063 -118.449 24.3207) (float-vector 51.2808 -123.803 40.768)))
(instance face :init :vertices (list (float-vector -51.2808 -123.803 40.768) (float-vector -49.063 -118.449 24.3207) (float-vector -1.162266e-12 -128.208 24.3207) (float-vector -1.214803e-12 -134.003 40.768)))
(instance face :init :vertices (list (float-vector -94.7545 -94.7545 40.768) (float-vector -90.6567 -90.6567 24.3207) (float-vector -49.063 -118.449 24.3207) (float-vector -51.2808 -123.803 40.768)))
(instance face :init :vertices (list (float-vector -123.803 -51.2808 40.768) (float-vector -118.449 -49.063 24.3207) (float-vector -90.6567 -90.6567 24.3207) (float-vector -94.7545 -94.7545 40.768)))
(instance face :init :vertices (list (float-vector -134.003 7.305226e-13 40.768) (float-vector -128.208 6.989298e-13 24.3207) (float-vector -118.449 -49.063 24.3207) (float-vector -123.803 -51.2808 40.768)))
(instance face :init :vertices (list (float-vector -123.803 51.2808 40.768) (float-vector -118.449 49.063 24.3207) (float-vector -128.208 6.989298e-13 24.3207) (float-vector -134.003 7.305226e-13 40.768)))
(instance face :init :vertices (list (float-vector -94.7545 94.7545 40.768) (float-vector -90.6567 90.6567 24.3207) (float-vector -118.449 49.063 24.3207) (float-vector -123.803 51.2808 40.768)))
(instance face :init :vertices (list (float-vector -51.2808 123.803 40.768) (float-vector -49.063 118.449 24.3207) (float-vector -90.6567 90.6567 24.3207) (float-vector -94.7545 94.7545 40.768)))
(instance face :init :vertices (list (float-vector 1.272240e-13 134.003 40.768) (float-vector 1.217220e-13 128.208 24.3207) (float-vector -49.063 118.449 24.3207) (float-vector -51.2808 123.803 40.768)))
(instance face :init :vertices (list (float-vector 51.2808 123.803 40.768) (float-vector 49.063 118.449 24.3207) (float-vector 1.217220e-13 128.208 24.3207) (float-vector 1.272240e-13 134.003 40.768)))
(instance face :init :vertices (list (float-vector 94.7545 94.7545 40.768) (float-vector 90.6567 90.6567 24.3207) (float-vector 49.063 118.449 24.3207) (float-vector 51.2808 123.803 40.768)))
(instance face :init :vertices (list (float-vector 123.803 51.2808 40.768) (float-vector 118.449 49.063 24.3207) (float-vector 90.6567 90.6567 24.3207) (float-vector 94.7545 94.7545 40.768)))
(instance face :init :vertices (list (float-vector 134.003 0.0 40.768) (float-vector 128.208 0.0 24.3207) (float-vector 118.449 49.063 24.3207) (float-vector 123.803 51.2808 40.768)))
(instance face :init :vertices (list (float-vector 125.648 -52.0449 59.0) (float-vector 123.803 -51.2808 40.768) (float-vector 134.003 0.0 40.768) (float-vector 136.0 0.0 59.0)))
(instance face :init :vertices (list (float-vector 96.1665 -96.1665 59.0) (float-vector 94.7545 -94.7545 40.768) (float-vector 123.803 -51.2808 40.768) (float-vector 125.648 -52.0449 59.0)))
(instance face :init :vertices (list (float-vector 52.0449 -125.648 59.0) (float-vector 51.2808 -123.803 40.768) (float-vector 94.7545 -94.7545 40.768) (float-vector 96.1665 -96.1665 59.0)))
(instance face :init :vertices (list (float-vector -1.232905e-12 -136.0 59.0) (float-vector -1.214803e-12 -134.003 40.768) (float-vector 51.2808 -123.803 40.768) (float-vector 52.0449 -125.648 59.0)))
(instance face :init :vertices (list (float-vector -52.0449 -125.648 59.0) (float-vector -51.2808 -123.803 40.768) (float-vector -1.214803e-12 -134.003 40.768) (float-vector -1.232905e-12 -136.0 59.0)))
(instance face :init :vertices (list (float-vector -96.1665 -96.1665 59.0) (float-vector -94.7545 -94.7545 40.768) (float-vector -51.2808 -123.803 40.768) (float-vector -52.0449 -125.648 59.0)))
(instance face :init :vertices (list (float-vector -125.648 -52.0449 59.0) (float-vector -123.803 -51.2808 40.768) (float-vector -94.7545 -94.7545 40.768) (float-vector -96.1665 -96.1665 59.0)))
(instance face :init :vertices (list (float-vector -136.0 7.414088e-13 59.0) (float-vector -134.003 7.305226e-13 40.768) (float-vector -123.803 -51.2808 40.768) (float-vector -125.648 -52.0449 59.0)))
(instance face :init :vertices (list (float-vector -125.648 52.0449 59.0) (float-vector -123.803 51.2808 40.768) (float-vector -134.003 7.305226e-13 40.768) (float-vector -136.0 7.414088e-13 59.0)))
(instance face :init :vertices (list (float-vector -96.1665 96.1665 59.0) (float-vector -94.7545 94.7545 40.768) (float-vector -123.803 51.2808 40.768) (float-vector -125.648 52.0449 59.0)))
(instance face :init :vertices (list (float-vector -52.0449 125.648 59.0) (float-vector -51.2808 123.803 40.768) (float-vector -94.7545 94.7545 40.768) (float-vector -96.1665 96.1665 59.0)))
(instance face :init :vertices (list (float-vector 1.291199e-13 136.0 59.0) (float-vector 1.272240e-13 134.003 40.768) (float-vector -51.2808 123.803 40.768) (float-vector -52.0449 125.648 59.0)))
(instance face :init :vertices (list (float-vector 52.0449 125.648 59.0) (float-vector 51.2808 123.803 40.768) (float-vector 1.272240e-13 134.003 40.768) (float-vector 1.291199e-13 136.0 59.0)))
(instance face :init :vertices (list (float-vector 96.1665 96.1665 59.0) (float-vector 94.7545 94.7545 40.768) (float-vector 51.2808 123.803 40.768) (float-vector 52.0449 125.648 59.0)))
(instance face :init :vertices (list (float-vector 125.648 52.0449 59.0) (float-vector 123.803 51.2808 40.768) (float-vector 94.7545 94.7545 40.768) (float-vector 96.1665 96.1665 59.0)))
(instance face :init :vertices (list (float-vector 136.0 0.0 59.0) (float-vector 134.003 0.0 40.768) (float-vector 123.803 51.2808 40.768) (float-vector 125.648 52.0449 59.0)))
(instance face :init :vertices (list (float-vector 123.8 -51.2796 59.0) (float-vector 125.648 -52.0449 59.0) (float-vector 136.0 0.0 59.0) (float-vector 134.0 0.0 59.0)))
(instance face :init :vertices (list (float-vector 94.7523 -94.7523 59.0) (float-vector 96.1665 -96.1665 59.0) (float-vector 125.648 -52.0449 59.0) (float-vector 123.8 -51.2796 59.0)))
(instance face :init :vertices (list (float-vector 51.2796 -123.8 59.0) (float-vector 52.0449 -125.648 59.0) (float-vector 96.1665 -96.1665 59.0) (float-vector 94.7523 -94.7523 59.0)))
(instance face :init :vertices (list (float-vector -1.214774e-12 -134.0 59.0) (float-vector -1.232905e-12 -136.0 59.0) (float-vector 52.0449 -125.648 59.0) (float-vector 51.2796 -123.8 59.0)))
(instance face :init :vertices (list (float-vector -51.2796 -123.8 59.0) (float-vector -52.0449 -125.648 59.0) (float-vector -1.232905e-12 -136.0 59.0) (float-vector -1.214774e-12 -134.0 59.0)))
(instance face :init :vertices (list (float-vector -94.7523 -94.7523 59.0) (float-vector -96.1665 -96.1665 59.0) (float-vector -52.0449 -125.648 59.0) (float-vector -51.2796 -123.8 59.0)))
(instance face :init :vertices (list (float-vector -123.8 -51.2796 59.0) (float-vector -125.648 -52.0449 59.0) (float-vector -96.1665 -96.1665 59.0) (float-vector -94.7523 -94.7523 59.0)))
(instance face :init :vertices (list (float-vector -134.0 7.305057e-13 59.0) (float-vector -136.0 7.414088e-13 59.0) (float-vector -125.648 -52.0449 59.0) (float-vector -123.8 -51.2796 59.0)))
(instance face :init :vertices (list (float-vector -123.8 51.2796 59.0) (float-vector -125.648 52.0449 59.0) (float-vector -136.0 7.414088e-13 59.0) (float-vector -134.0 7.305057e-13 59.0)))
(instance face :init :vertices (list (float-vector -94.7523 94.7523 59.0) (float-vector -96.1665 96.1665 59.0) (float-vector -125.648 52.0449 59.0) (float-vector -123.8 51.2796 59.0)))
(instance face :init :vertices (list (float-vector -51.2796 123.8 59.0) (float-vector -52.0449 125.648 59.0) (float-vector -96.1665 96.1665 59.0) (float-vector -94.7523 94.7523 59.0)))
(instance face :init :vertices (list (float-vector 1.272210e-13 134.0 59.0) (float-vector 1.291199e-13 136.0 59.0) (float-vector -52.0449 125.648 59.0) (float-vector -51.2796 123.8 59.0)))
(instance face :init :vertices (list (float-vector 51.2796 123.8 59.0) (float-vector 52.0449 125.648 59.0) (float-vector 1.291199e-13 136.0 59.0) (float-vector 1.272210e-13 134.0 59.0)))
(instance face :init :vertices (list (float-vector 94.7523 94.7523 59.0) (float-vector 96.1665 96.1665 59.0) (float-vector 52.0449 125.648 59.0) (float-vector 51.2796 123.8 59.0)))
(instance face :init :vertices (list (float-vector 123.8 51.2796 59.0) (float-vector 125.648 52.0449 59.0) (float-vector 96.1665 96.1665 59.0) (float-vector 94.7523 94.7523 59.0)))
(instance face :init :vertices (list (float-vector 134.0 0.0 59.0) (float-vector 136.0 0.0 59.0) (float-vector 125.648 52.0449 59.0) (float-vector 123.8 51.2796 59.0)))
(instance face :init :vertices (list (float-vector 86.1056 -35.6661 2.0) (float-vector 123.8 -51.2796 59.0) (float-vector 134.0 0.0 59.0) (float-vector 93.2 0.0 2.0)))
(instance face :init :vertices (list (float-vector 65.9024 -65.9024 2.0) (float-vector 94.7523 -94.7523 59.0) (float-vector 123.8 -51.2796 59.0) (float-vector 86.1056 -35.6661 2.0)))
(instance face :init :vertices (list (float-vector 35.6661 -86.1056 2.0) (float-vector 51.2796 -123.8 59.0) (float-vector 94.7523 -94.7523 59.0) (float-vector 65.9024 -65.9024 2.0)))
(instance face :init :vertices (list (float-vector -8.449028e-13 -93.2 2.0) (float-vector -1.214774e-12 -134.0 59.0) (float-vector 51.2796 -123.8 59.0) (float-vector 35.6661 -86.1056 2.0)))
(instance face :init :vertices (list (float-vector -35.6661 -86.1056 2.0) (float-vector -51.2796 -123.8 59.0) (float-vector -1.214774e-12 -134.0 59.0) (float-vector -8.449028e-13 -93.2 2.0)))
(instance face :init :vertices (list (float-vector -65.9024 -65.9024 2.0) (float-vector -94.7523 -94.7523 59.0) (float-vector -51.2796 -123.8 59.0) (float-vector -35.6661 -86.1056 2.0)))
(instance face :init :vertices (list (float-vector -86.1056 -35.6661 2.0) (float-vector -123.8 -51.2796 59.0) (float-vector -94.7523 -94.7523 59.0) (float-vector -65.9024 -65.9024 2.0)))
(instance face :init :vertices (list (float-vector -93.2 5.080831e-13 2.0) (float-vector -134.0 7.305057e-13 59.0) (float-vector -123.8 -51.2796 59.0) (float-vector -86.1056 -35.6661 2.0)))
(instance face :init :vertices (list (float-vector -86.1056 35.6661 2.0) (float-vector -123.8 51.2796 59.0) (float-vector -134.0 7.305057e-13 59.0) (float-vector -93.2 5.080831e-13 2.0)))
(instance face :init :vertices (list (float-vector -65.9024 65.9024 2.0) (float-vector -94.7523 94.7523 59.0) (float-vector -123.8 51.2796 59.0) (float-vector -86.1056 35.6661 2.0)))
(instance face :init :vertices (list (float-vector -35.6661 86.1056 2.0) (float-vector -51.2796 123.8 59.0) (float-vector -94.7523 94.7523 59.0) (float-vector -65.9024 65.9024 2.0)))
(instance face :init :vertices (list (float-vector 8.848508e-14 93.2 2.0) (float-vector 1.272210e-13 134.0 59.0) (float-vector -51.2796 123.8 59.0) (float-vector -35.6661 86.1056 2.0)))
(instance face :init :vertices (list (float-vector 35.6661 86.1056 2.0) (float-vector 51.2796 123.8 59.0) (float-vector 1.272210e-13 134.0 59.0) (float-vector 8.848508e-14 93.2 2.0)))
(instance face :init :vertices (list (float-vector 65.9024 65.9024 2.0) (float-vector 94.7523 94.7523 59.0) (float-vector 51.2796 123.8 59.0) (float-vector 35.6661 86.1056 2.0)))
(instance face :init :vertices (list (float-vector 86.1056 35.6661 2.0) (float-vector 123.8 51.2796 59.0) (float-vector 94.7523 94.7523 59.0) (float-vector 65.9024 65.9024 2.0)))
(instance face :init :vertices (list (float-vector 93.2 0.0 2.0) (float-vector 134.0 0.0 59.0) (float-vector 123.8 51.2796 59.0) (float-vector 86.1056 35.6661 2.0)))
(instance face :init :vertices (list (float-vector 86.1056 -35.6661 2.0) (float-vector 93.2 0.0 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 93.2 0.0 2.0) (float-vector 86.1056 35.6661 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 86.1056 35.6661 2.0) (float-vector 65.9024 65.9024 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 65.9024 65.9024 2.0) (float-vector 35.6661 86.1056 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 35.6661 86.1056 2.0) (float-vector 8.848508e-14 93.2 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 8.848508e-14 93.2 2.0) (float-vector -35.6661 86.1056 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -35.6661 86.1056 2.0) (float-vector -65.9024 65.9024 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -65.9024 65.9024 2.0) (float-vector -86.1056 35.6661 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -86.1056 35.6661 2.0) (float-vector -93.2 5.080831e-13 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -93.2 5.080831e-13 2.0) (float-vector -86.1056 -35.6661 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -86.1056 -35.6661 2.0) (float-vector -65.9024 -65.9024 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -65.9024 -65.9024 2.0) (float-vector -35.6661 -86.1056 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -35.6661 -86.1056 2.0) (float-vector -8.449028e-13 -93.2 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector -8.449028e-13 -93.2 2.0) (float-vector 35.6661 -86.1056 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 35.6661 -86.1056 2.0) (float-vector 65.9024 -65.9024 2.0) (float-vector 0.0 0.0 2.0)))
(instance face :init :vertices (list (float-vector 65.9024 -65.9024 2.0) (float-vector 86.1056 -35.6661 2.0) (float-vector 0.0 0.0 2.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :blue)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :blue-clear-cup-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 83.6231 -83.6231 59.0) :rot #2f((-0.541675 0.454519 -0.707107) (0.541675 -0.454519 -0.707107) (-0.642788 -0.766044 -1.498801e-15)) :name "handle0"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -6.519447e-13 -118.261 59.0) :rot #2f((4.440892e-15 -1.665335e-15 -1.0) (0.766044 -0.642788 4.496403e-15) (-0.642788 -0.766044 -1.554312e-15)) :name "handle1"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector -83.6231 -83.6231 59.0) :rot #2f((0.541675 -0.454519 -0.707107) (0.541675 -0.454519 0.707107) (-0.642788 -0.766044 -9.714451e-16)) :name "handle2"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector -118.261 2.245563e-13 59.0) :rot #2f((0.766044 -0.642788 2.442491e-15) (-2.886580e-15 3.538836e-16 1.0) (-0.642788 -0.766044 -1.575129e-15)) :name "handle3"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -83.6231 83.6231 59.0) :rot #2f((0.541675 -0.454519 0.707107) (-0.541675 0.454519 0.707107) (-0.642788 -0.766044 -1.490127e-15)) :name "handle4"))
(send blink0 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector 7.241390e-15 118.261 59.0) :rot #2f((-1.276756e-15 -6.106227e-16 1.0) (-0.766044 0.642788 -6.106227e-16) (-0.642788 -0.766044 -1.276756e-15)) :name "handle5"))
(send blink0 :assoc handle5)
(setq handle6 (make-cascoords :pos (float-vector 83.6231 83.6231 59.0) :rot #2f((-0.541675 0.454519 0.707107) (-0.541675 0.454519 -0.707107) (-0.642788 -0.766044 -1.720846e-15)) :name "handle6"))
(send blink0 :assoc handle6)
(setq handle7 (make-cascoords :pos (float-vector 118.261 0.0 59.0) :rot #2f((-0.766044 0.642788 1.110223e-15) (2.220446e-16 1.942890e-15 -1.0) (-0.642788 -0.766044 -1.609823e-15)) :name "handle7"))
(send blink0 :assoc handle7)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :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 handle1 handle2 handle3 handle4 handle5 handle6 handle7) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:handle-handle1 (&rest args) (forward-message-to handle1 args))
(:handle-handle2 (&rest args) (forward-message-to handle2 args))
(:handle-handle3 (&rest args) (forward-message-to handle3 args))
(:handle-handle4 (&rest args) (forward-message-to handle4 args))
(:handle-handle5 (&rest args) (forward-message-to handle5 args))
(:handle-handle6 (&rest args) (forward-message-to handle6 args))
(:handle-handle7 (&rest args) (forward-message-to handle7 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 blue-clear-cup (&rest args) (instance* blue-clear-cup-object :init args))
;; (format *error-output* "(instance blue-clear-cup-object :init) for generating model~%")
|
