File: room73b2-kettle-object.l

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euslisp 9.32%2Bdfsg-2
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass room73b2-kettle-object
  :super cascaded-link
  :slots (sensors
         handle0
         attention0
         joint0 ))
(defmethod room73b2-kettle-object
  (:init
   (&rest args &key (name "room73b2-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 :room73b2-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)))
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         (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 -6.821210e-13 -72.5 0.0) (float-vector 0.0 0.0 0.0)))
         (instance face :init :vertices (list (float-vector -6.821210e-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)))
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         (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)))
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         (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 -5.684342e-14 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 :room73b2-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 :room73b2-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 1.136868e-13) (float-vector -10.0 -57.5975 1.136868e-13)))
         (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 1.136868e-13) (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 1.136868e-13) (float-vector 10.0 -57.5975 1.136868e-13) (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 1.136868e-13) (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 1.136868e-13) (float-vector 10.0 57.5975 1.136868e-13) (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 1.136868e-13) (float-vector -10.0 57.5975 1.136868e-13) (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 1.136868e-13) (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 1.136868e-13) (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 :room73b2-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 -1.743153e-32 -1.743153e-32) (-1.743153e-32 2.220446e-16 -1.0) (1.743153e-32 1.0 2.220446e-16)) :name "handle0"))
     (send blink0 :assoc handle0)

     ;; definition of :attention
     (setq attention0 (make-cascoords :pos (float-vector -5.684342e-14 -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 room73b2-kettle (&rest args) (instance* room73b2-kettle-object :init args))
;; (format *error-output* "(instance room73b2-kettle-object :init) for generating model~%")