[Euslisp-commit] SF.net SVN: euslisp:[629] trunk/EusLisp/models

[<sn...@us...>]

Revision: 629
          http://sourceforge.net/p/euslisp/code/629
Author:   snozawa
Date:     2013-05-10 10:38:49 +0000 (Fri, 10 May 2013)
Log Message:
-----------
add dishes

Modified Paths:
--------------
    trunk/EusLisp/models/load-irt-all-objects.l

Added Paths:
-----------
    trunk/EusLisp/models/blue-clear-cup-object.l
    trunk/EusLisp/models/flower-tea-cup-dish-object.l
    trunk/EusLisp/models/white-bread-salad-dish-object.l

Added: trunk/EusLisp/models/blue-clear-cup-object.l
===================================================================
--- trunk/EusLisp/models/blue-clear-cup-object.l	                        (rev 0)
+++ trunk/EusLisp/models/blue-clear-cup-object.l	2013-05-10 10:38:49 UTC (rev 629)
@@ -0,0 +1,279 @@
+;;
+;; 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 -8.177059e-13 -90.2 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -8.177059e-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 4.917281e-13 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -90.2 4.917281e-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 8.563667e-14 90.2 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 8.563667e-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 -8.177059e-13 -90.2 0.0) (float-vector -8.177059e-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 -8.177059e-13 -90.2 0.0) (float-vector -8.177059e-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 4.917281e-13 0.0) (float-vector -90.2 4.917281e-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 4.917281e-13 0.0) (float-vector -90.2 4.917281e-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 8.563667e-14 90.2 0.0) (float-vector 8.563667e-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 8.563667e-14 90.2 0.0) (float-vector 8.563667e-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 -8.630332e-13 -95.2 0.0) (float-vector -8.177059e-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 -8.177059e-13 -90.2 0.0) (float-vector -8.630332e-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 5.189858e-13 0.0) (float-vector -90.2 4.917281e-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 4.917281e-13 0.0) (float-vector -95.2 5.189858e-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 9.038371e-14 95.2 0.0) (float-vector 8.563667e-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 8.563667e-14 90.2 0.0) (float-vector 9.038371e-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 -8.630332e-13 -95.2 0.0) (float-vector -8.630332e-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 -8.630332e-13 -95.2 0.0) (float-vector -8.630332e-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 5.189858e-13 0.0) (float-vector -95.2 5.189858e-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 5.189858e-13 0.0) (float-vector -95.2 5.189858e-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 9.038371e-14 95.2 0.0) (float-vector 9.038371e-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 9.038371e-14 95.2 0.0) (float-vector 9.038371e-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 -9.773298e-13 -107.808 2.88767) (float-vector -8.630332e-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 -8.630332e-13 -95.2 0.0) (float-vector -9.773298e-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 5.877181e-13 2.88767) (float-vector -95.2 5.189858e-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 5.189858e-13 0.0) (float-vector -107.808 5.877181e-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 1.023538e-13 107.808 2.88767) (float-vector 9.038371e-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 9.038371e-14 95.2 0.0) (float-vector 1.023538e-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)))
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+         (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 -1.080438e-12 -119.182 11.268) (float-vector -9.773298e-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 -9.773298e-13 -107.808 2.88767) (float-vector -1.080438e-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 6.497224e-13 11.268) (float-vector -107.808 5.877181e-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 5.877181e-13 2.88767) (float-vector -119.182 6.497224e-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 1.131521e-13 119.182 11.268) (float-vector 1.023538e-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 1.023538e-13 107.808 2.88767) (float-vector 1.131521e-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 -1.162265e-12 -128.208 24.3207) (float-vector -1.080438e-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 -1.080438e-12 -119.182 11.268) (float-vector -1.162265e-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 6.989293e-13 24.3207) (float-vector -119.182 6.497224e-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 6.497224e-13 11.268) (float-vector -128.208 6.989293e-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 1.217217e-13 128.208 24.3207) (float-vector 1.131521e-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 1.131521e-13 119.182 11.268) (float-vector 1.217217e-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 -1.214802e-12 -134.003 40.768) (float-vector -1.162265e-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 -1.162265e-12 -128.208 24.3207) (float-vector -1.214802e-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 7.305221e-13 40.768) (float-vector -128.208 6.989293e-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 6.989293e-13 24.3207) (float-vector -134.003 7.305221e-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 1.272237e-13 134.003 40.768) (float-vector 1.217217e-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 1.217217e-13 128.208 24.3207) (float-vector 1.272237e-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 -1.214802e-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 -1.214802e-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 7.414082e-13 59.0) (float-vector -134.003 7.305221e-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 7.305221e-13 40.768) (float-vector -136.0 7.414082e-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 1.291196e-13 136.0 59.0) (float-vector 1.272237e-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 1.272237e-13 134.003 40.768) (float-vector 1.291196e-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 7.305052e-13 59.0) (float-vector -136.0 7.414082e-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 7.414082e-13 59.0) (float-vector -134.0 7.305052e-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 1.272208e-13 134.0 59.0) (float-vector 1.291196e-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 1.291196e-13 136.0 59.0) (float-vector 1.272208e-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 -8.449023e-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 -8.449023e-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 5.080827e-13 2.0) (float-vector -134.0 7.305052e-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 7.305052e-13 59.0) (float-vector -93.2 5.080827e-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 8.848489e-14 93.2 2.0) (float-vector 1.272208e-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 1.272208e-13 134.0 59.0) (float-vector 8.848489e-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 8.848489e-14 93.2 2.0) (float-vector 0.0 0.0 2.0)))
+         (instance face :init :vertices (list (float-vector 8.848489e-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 5.080827e-13 2.0) (float-vector 0.0 0.0 2.0)))
+         (instance face :init :vertices (list (float-vector -93.2 5.080827e-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 -8.449023e-13 -93.2 2.0) (float-vector 0.0 0.0 2.0)))
+         (instance face :init :vertices (list (float-vector -8.449023e-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 self :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 self :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 self :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 self :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 self :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 self :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 self :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 self :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 self :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))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (: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~%")

Added: trunk/EusLisp/models/flower-tea-cup-dish-object.l
===================================================================
--- trunk/EusLisp/models/flower-tea-cup-dish-object.l	                        (rev 0)
+++ trunk/EusLisp/models/flower-tea-cup-dish-object.l	2013-05-10 10:38:49 UTC (rev 629)
@@ -0,0 +1,279 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass flower-tea-cup-dish-object
+  :super cascaded-link
+  :slots (sensors
+         handle0 handle1 handle2 handle3 handle4 handle5 handle6 handle7
+         attention0
+         ))
+(defmethod flower-tea-cup-dish-object
+  (:init
+   (&rest args &key (name "flower-tea-cup-dish") (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 :flower-tea-cup-dish-bodyset2
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 96.5 0.0 0.0) (float-vector 89.1544 -36.929 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 89.1544 -36.929 0.0) (float-vector 68.2358 -68.2358 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 68.2358 -68.2358 0.0) (float-vector 36.929 -89.1544 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 36.929 -89.1544 0.0) (float-vector -8.748184e-13 -96.5 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -8.748184e-13 -96.5 0.0) (float-vector -36.929 -89.1544 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -36.929 -89.1544 0.0) (float-vector -68.2358 -68.2358 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -68.2358 -68.2358 0.0) (float-vector -89.1544 -36.929 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -89.1544 -36.929 0.0) (float-vector -96.5 5.260728e-13 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -96.5 5.260728e-13 0.0) (float-vector -89.1544 36.929 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -89.1544 36.929 0.0) (float-vector -68.2358 68.2358 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -68.2358 68.2358 0.0) (float-vector -36.929 89.1544 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector -36.929 89.1544 0.0) (float-vector 9.161794e-14 96.5 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 9.161794e-14 96.5 0.0) (float-vector 36.929 89.1544 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 36.929 89.1544 0.0) (float-vector 68.2358 68.2358 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 68.2358 68.2358 0.0) (float-vector 89.1544 36.929 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 89.1544 36.929 0.0) (float-vector 96.5 0.0 0.0) (float-vector 0.0 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 89.1544 -36.929 0.0) (float-vector 89.1544 -36.929 0.0) (float-vector 96.5 0.0 0.0) (float-vector 96.5 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 68.2358 -68.2358 0.0) (float-vector 68.2358 -68.2358 0.0) (float-vector 89.1544 -36.929 0.0) (float-vector 89.1544 -36.929 0.0)))
+         (instance face :init :vertices (list (float-vector 36.929 -89.1544 0.0) (float-vector 36.929 -89.1544 0.0) (float-vector 68.2358 -68.2358 0.0) (float-vector 68.2358 -68.2358 0.0)))
+         (instance face :init :vertices (list (float-vector -8.748184e-13 -96.5 0.0) (float-vector -8.748184e-13 -96.5 0.0) (float-vector 36.929 -89.1544 0.0) (float-vector 36.929 -89.1544 0.0)))
+         (instance face :init :vertices (list (float-vector -36.929 -89.1544 0.0) (float-vector -36.929 -89.1544 0.0) (float-vector -8.748184e-13 -96.5 0.0) (float-vector -8.748184e-13 -96.5 0.0)))
+         (instance face :init :vertices (list (float-vector -68.2358 -68.2358 0.0) (float-vector -68.2358 -68.2358 0.0) (float-vector -36.929 -89.1544 0.0) (float-vector -36.929 -89.1544 0.0)))
+         (instance face :init :vertices (list (float-vector -89.1544 -36.929 0.0) (float-vector -89.1544 -36.929 0.0) (float-vector -68.2358 -68.2358 0.0) (float-vector -68.2358 -68.2358 0.0)))
+         (instance face :init :vertices (list (float-vector -96.5 5.260728e-13 0.0) (float-vector -96.5 5.260728e-13 0.0) (float-vector -89.1544 -36.929 0.0) (float-vector -89.1544 -36.929 0.0)))
+         (instance face :init :vertices (list (float-vector -89.1544 36.929 0.0) (float-vector -89.1544 36.929 0.0) (float-vector -96.5 5.260728e-13 0.0) (float-vector -96.5 5.260728e-13 0.0)))
+         (instance face :init :vertices (list (float-vector -68.2358 68.2358 0.0) (float-vector -68.2358 68.2358 0.0) (float-vector -89.1544 36.929 0.0) (float-vector -89.1544 36.929 0.0)))
+         (instance face :init :vertices (list (float-vector -36.929 89.1544 0.0) (float-vector -36.929 89.1544 0.0) (float-vector -68.2358 68.2358 0.0) (float-vector -68.2358 68.2358 0.0)))
+         (instance face :init :vertices (list (float-vector 9.161794e-14 96.5 0.0) (float-vector 9.161794e-14 96.5 0.0) (float-vector -36.929 89.1544 0.0) (float-vector -36.929 89.1544 0.0)))
+         (instance face :init :vertices (list (float-vector 36.929 89.1544 0.0) (float-vector 36.929 89.1544 0.0) (float-vector 9.161794e-14 96.5 0.0) (float-vector 9.161794e-14 96.5 0.0)))
+         (instance face :init :vertices (list (float-vector 68.2358 68.2358 0.0) (float-vector 68.2358 68.2358 0.0) (float-vector 36.929 89.1544 0.0) (float-vector 36.929 89.1544 0.0)))
+         (instance face :init :vertices (list (float-vector 89.1544 36.929 0.0) (float-vector 89.1544 36.929 0.0) (float-vector 68.2358 68.2358 0.0) (float-vector 68.2358 68.2358 0.0)))
+         (instance face :init :vertices (list (float-vector 96.5 0.0 0.0) (float-vector 96.5 0.0 0.0) (float-vector 89.1544 36.929 0.0) (float-vector 89.1544 36.929 0.0)))
+         (instance face :init :vertices (list (float-vector 93.7738 -38.8424 0.0) (float-vector 89.1544 -36.929 0.0) (float-vector 96.5 0.0 0.0) (float-vector 101.5 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 71.7713 -71.7713 0.0) (float-vector 68.2358 -68.2358 0.0) (float-vector 89.1544 -36.929 0.0) (float-vector 93.7738 -38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector 38.8424 -93.7738 0.0) (float-vector 36.929 -89.1544 0.0) (float-vector 68.2358 -68.2358 0.0) (float-vector 71.7713 -71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector -9.201457e-13 -101.5 0.0) (float-vector -8.748184e-13 -96.5 0.0) (float-vector 36.929 -89.1544 0.0) (float-vector 38.8424 -93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector -38.8424 -93.7738 0.0) (float-vector -36.929 -89.1544 0.0) (float-vector -8.748184e-13 -96.5 0.0) (float-vector -9.201457e-13 -101.5 0.0)))
+         (instance face :init :vertices (list (float-vector -71.7713 -71.7713 0.0) (float-vector -68.2358 -68.2358 0.0) (float-vector -36.929 -89.1544 0.0) (float-vector -38.8424 -93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector -93.7738 -38.8424 0.0) (float-vector -89.1544 -36.929 0.0) (float-vector -68.2358 -68.2358 0.0) (float-vector -71.7713 -71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector -101.5 5.533304e-13 0.0) (float-vector -96.5 5.260728e-13 0.0) (float-vector -89.1544 -36.929 0.0) (float-vector -93.7738 -38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector -93.7738 38.8424 0.0) (float-vector -89.1544 36.929 0.0) (float-vector -96.5 5.260728e-13 0.0) (float-vector -101.5 5.533304e-13 0.0)))
+         (instance face :init :vertices (list (float-vector -71.7713 71.7713 0.0) (float-vector -68.2358 68.2358 0.0) (float-vector -89.1544 36.929 0.0) (float-vector -93.7738 38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector -38.8424 93.7738 0.0) (float-vector -36.929 89.1544 0.0) (float-vector -68.2358 68.2358 0.0) (float-vector -71.7713 71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector 9.636499e-14 101.5 0.0) (float-vector 9.161794e-14 96.5 0.0) (float-vector -36.929 89.1544 0.0) (float-vector -38.8424 93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector 38.8424 93.7738 0.0) (float-vector 36.929 89.1544 0.0) (float-vector 9.161794e-14 96.5 0.0) (float-vector 9.636499e-14 101.5 0.0)))
+         (instance face :init :vertices (list (float-vector 71.7713 71.7713 0.0) (float-vector 68.2358 68.2358 0.0) (float-vector 36.929 89.1544 0.0) (float-vector 38.8424 93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector 93.7738 38.8424 0.0) (float-vector 89.1544 36.929 0.0) (float-vector 68.2358 68.2358 0.0) (float-vector 71.7713 71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector 101.5 0.0 0.0) (float-vector 96.5 0.0 0.0) (float-vector 89.1544 36.929 0.0) (float-vector 93.7738 38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector 93.7738 -38.8424 0.0) (float-vector 93.7738 -38.8424 0.0) (float-vector 101.5 0.0 0.0) (float-vector 101.5 0.0 0.0)))
+         (instance face :init :vertices (list (float-vector 71.7713 -71.7713 0.0) (float-vector 71.7713 -71.7713 0.0) (float-vector 93.7738 -38.8424 0.0) (float-vector 93.7738 -38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector 38.8424 -93.7738 0.0) (float-vector 38.8424 -93.7738 0.0) (float-vector 71.7713 -71.7713 0.0) (float-vector 71.7713 -71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector -9.201457e-13 -101.5 0.0) (float-vector -9.201457e-13 -101.5 0.0) (float-vector 38.8424 -93.7738 0.0) (float-vector 38.8424 -93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector -38.8424 -93.7738 0.0) (float-vector -38.8424 -93.7738 0.0) (float-vector -9.201457e-13 -101.5 0.0) (float-vector -9.201457e-13 -101.5 0.0)))
+         (instance face :init :vertices (list (float-vector -71.7713 -71.7713 0.0) (float-vector -71.7713 -71.7713 0.0) (float-vector -38.8424 -93.7738 0.0) (float-vector -38.8424 -93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector -93.7738 -38.8424 0.0) (float-vector -93.7738 -38.8424 0.0) (float-vector -71.7713 -71.7713 0.0) (float-vector -71.7713 -71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector -101.5 5.533304e-13 0.0) (float-vector -101.5 5.533304e-13 0.0) (float-vector -93.7738 -38.8424 0.0) (float-vector -93.7738 -38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector -93.7738 38.8424 0.0) (float-vector -93.7738 38.8424 0.0) (float-vector -101.5 5.533304e-13 0.0) (float-vector -101.5 5.533304e-13 0.0)))
+         (instance face :init :vertices (list (float-vector -71.7713 71.7713 0.0) (float-vector -71.7713 71.7713 0.0) (float-vector -93.7738 38.8424 0.0) (float-vector -93.7738 38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector -38.8424 93.7738 0.0) (float-vector -38.8424 93.7738 0.0) (float-vector -71.7713 71.7713 0.0) (float-vector -71.7713 71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector 9.636499e-14 101.5 0.0) (float-vector 9.636499e-14 101.5 0.0) (float-vector -38.8424 93.7738 0.0) (float-vector -38.8424 93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector 38.8424 93.7738 0.0) (float-vector 38.8424 93.7738 0.0) (float-vector 9.636499e-14 101.5 0.0) (float-vector 9.636499e-14 101.5 0.0)))
+         (instance face :init :vertices (list (float-vector 71.7713 71.7713 0.0) (float-vector 71.7713 71.7713 0.0) (float-vector 38.8424 93.7738 0.0) (float-vector 38.8424 93.7738 0.0)))
+         (instance face :init :vertices (list (float-vector 93.7738 38.8424 0.0) (float-vector 93.7738 38.8424 0.0) (float-vector 71.7713 71.7713 0.0) (float-vector 71.7713 71.7713 0.0)))
+         (instance face :init :vertices (list (float-vector 101.5 0.0 0.0) (float-vector 101.5 0.0 0.0) (float-vector 93.7738 38.8424 0.0) (float-vector 93.7738 38.8424 0.0)))
+         (instance face :init :vertices (list (float-vector 106.193 -43.9865 1.37042) (float-vector 93.7738 -38.8424 0.0) (float-vector 101.5 0.0 0.0) (float-vector 114.942 0.0 1.37042)))
+         (instance face :init :vertices (list (float-vector 81.2764 -81.2764 1.37042) (float-vector 71.7713 -71.7713 0.0) (float-vector 93.7738 -38.8424 0.0) (float-vector 106.193 -43.9865 1.37042)))
+         (instance face :init :vertices (list (float-vector 43.9865 -106.193 1.37042) (float-vector 38.8424 -93.7738 0.0) (float-vector 71.7713 -71.7713 0.0) (float-vector 81.2764 -81.2764 1.37042)))
+         (instance face :init :vertices (list (float-vector -1.042006e-12 -114.942 1.37042) (float-vector -9.201457e-13 -101.5 0.0) (float-vector 38.8424 -93.7738 0.0) (float-vector 43.9865 -106.193 1.37042)))
+         (instance face :init :vertices (list (float-vector -43.9865 -106.193 1.37042) (float-vector -38.8424 -93.7738 0.0) (float-vector -9.201457e-13 -101.5 0.0) (float-vector -1.042006e-12 -114.942 1.37042)))
+         (instance face :init :vertices (list (float-vector -81.2764 -81.2764 1.37042) (float-vector -71.7713 -71.7713 0.0) (float-vector -38.8424 -93.7738 0.0) (float-vector -43.9865 -106.193 1.37042)))
+         (instance face :init :vertices (list (float-vector -106.193 -43.9865 1.37042) (float-vector -93.7738 -38.8424 0.0) (float-vector -71.7713 -71.7713 0.0) (float-vector -81.2764 -81.2764 1.37042)))
+         (instance face :init :vertices (list (float-vector -114.942 6.266112e-13 1.37042) (float-vector -101.5 5.533304e-13 0.0) (float-vector -93.7738 -38.8424 0.0) (float-vector -106.193 -43.9865 1.37042)))
+         (instance face :init :vertices (list (float-vector -106.193 43.9865 1.37042) (float-vector -93.7738 38.8424 0.0) (float-vector -101.5 5.533304e-13 0.0) (float-vector -114.942 6.266112e-13 1.37042)))
+         (instance face :init :vertices (list (float-vector -81.2764 81.2764 1.37042) (float-vector -71.7713 71.7713 0.0) (float-vector -93.7738 38.8424 0.0) (float-vector -106.193 43.9865 1.37042)))
+         (instance face :init :vertices (list (float-vector -43.9865 106.193 1.37042) (float-vector -38.8424 93.7738 0.0) (float-vector -71.7713 71.7713 0.0) (float-vector -81.2764 81.2764 1.37042)))
+         (instance face :init :vertices (list (float-vector 1.091272e-13 114.942 1.37042) (float-vector 9.636499e-14 101.5 0.0) (float-vector -38.8424 93.7738 0.0) (float-vector -43.9865 106.193 1.37042)))
+         (instance face :init :vertices (list (float-vector 43.9865 106.193 1.37042) (float-vector 38.8424 93.7738 0.0) (float-vector 9.636499e-14 101.5 0.0) (float-vector 1.091272e-13 114.942 1.37042)))
+         (instance face :init :vertices (list (float-vector 81.2764 81.2764 1.37042) (float-vector 71.7713 71.7713 0.0) (float-vector 38.8424 93.7738 0.0) (float-vector 43.9865 106.193 1.37042)))
+         (instance face :init :vertices (list (float-vector 106.193 43.9865 1.37042) (float-vector 93.7738 38.8424 0.0) (float-vector 71.7713 71.7713 0.0) (float-vector 81.2764 81.2764 1.37042)))
+         (instance face :init :vertices (list (float-vector 114.942 0.0 1.37042) (float-vector 101.5 0.0 0.0) (float-vector 93.7738 38.8424 0.0) (float-vector 106.193 43.9865 1.37042)))
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