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[Euslisp-commit] SF.net SVN: euslisp:[671] trunk/EusLisp/models
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From: <ky...@us...> - 2014-02-26 10:42:19
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Revision: 671
http://sourceforge.net/p/euslisp/code/671
Author: kyouhei
Date: 2014-02-26 10:42:09 +0000 (Wed, 26 Feb 2014)
Log Message:
-----------
add side-table and dewalt-drill
Added Paths:
-----------
trunk/EusLisp/models/dewalt-drill-object.l
trunk/EusLisp/models/unknown-side-table-object.l
Added: trunk/EusLisp/models/dewalt-drill-object.l
===================================================================
--- trunk/EusLisp/models/dewalt-drill-object.l (rev 0)
+++ trunk/EusLisp/models/dewalt-drill-object.l 2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,157 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass dewalt-drill-object
+ :super cascaded-link
+ :slots (sensors
+ ))
+(defmethod dewalt-drill-object
+ (:init
+ (&rest args &key (name "dewalt-drill") (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 'dewalt-drill
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 60.0 0.0 68.0) (float-vector 23.0 37.0 68.0) (float-vector -45.0 37.0 68.0) (float-vector -75.0 20.0 68.0) (float-vector -75.0 -20.0 68.0) (float-vector -45.0 -37.0 68.0)))
+ (instance face :init :vertices (list (float-vector 60.0 0.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector 23.0 37.0 0.0)))
+ (instance face :init :vertices (list (float-vector 23.0 -37.0 68.0) (float-vector 23.0 -37.0 0.0) (float-vector 60.0 0.0 0.0) (float-vector 60.0 0.0 68.0)))
+ (instance face :init :vertices (list (float-vector -45.0 -37.0 68.0) (float-vector -45.0 -37.0 0.0) (float-vector 23.0 -37.0 0.0) (float-vector 23.0 -37.0 68.0)))
+ (instance face :init :vertices (list (float-vector -75.0 -20.0 68.0) (float-vector -75.0 -20.0 0.0) (float-vector -45.0 -37.0 0.0) (float-vector -45.0 -37.0 68.0)))
+ (instance face :init :vertices (list (float-vector -75.0 20.0 68.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 -20.0 0.0) (float-vector -75.0 -20.0 68.0)))
+ (instance face :init :vertices (list (float-vector -45.0 37.0 68.0) (float-vector -45.0 37.0 0.0) (float-vector -75.0 20.0 0.0) (float-vector -75.0 20.0 68.0)))
+ (instance face :init :vertices (list (float-vector 23.0 37.0 68.0) (float-vector 23.0 37.0 0.0) (float-vector -45.0 37.0 0.0) (float-vector -45.0 37.0 68.0)))
+ (instance face :init :vertices (list (float-vector 60.0 0.0 68.0) (float-vector 60.0 0.0 0.0) (float-vector 23.0 37.0 0.0) (float-vector 23.0 37.0 68.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 28.0 0.0 200.0) (float-vector 24.2487 14.0 200.0) (float-vector 14.0 24.2487 200.0) (float-vector 1.421085e-14 28.0 200.0) (float-vector -14.0 24.2487 200.0) (float-vector -24.2487 14.0 200.0) (float-vector -28.0 2.842171e-14 200.0) (float-vector -24.2487 -14.0 200.0) (float-vector -14.0 -24.2487 200.0) (float-vector -4.440892e-14 -28.0 200.0) (float-vector 14.0 -24.2487 200.0)))
+ (instance face :init :vertices (list (float-vector 28.0 0.0 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 24.2487 14.0 68.0)))
+ (instance face :init :vertices (list (float-vector 24.2487 -14.0 200.0) (float-vector 24.2487 -14.0 68.0) (float-vector 28.0 0.0 68.0) (float-vector 28.0 0.0 200.0)))
+ (instance face :init :vertices (list (float-vector 14.0 -24.2487 200.0) (float-vector 14.0 -24.2487 68.0) (float-vector 24.2487 -14.0 68.0) (float-vector 24.2487 -14.0 200.0)))
+ (instance face :init :vertices (list (float-vector -4.440892e-14 -28.0 200.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector 14.0 -24.2487 68.0) (float-vector 14.0 -24.2487 200.0)))
+ (instance face :init :vertices (list (float-vector -14.0 -24.2487 200.0) (float-vector -14.0 -24.2487 68.0) (float-vector -4.440892e-14 -28.0 68.0) (float-vector -4.440892e-14 -28.0 200.0)))
+ (instance face :init :vertices (list (float-vector -24.2487 -14.0 200.0) (float-vector -24.2487 -14.0 68.0) (float-vector -14.0 -24.2487 68.0) (float-vector -14.0 -24.2487 200.0)))
+ (instance face :init :vertices (list (float-vector -28.0 2.842171e-14 200.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -24.2487 -14.0 68.0) (float-vector -24.2487 -14.0 200.0)))
+ (instance face :init :vertices (list (float-vector -24.2487 14.0 200.0) (float-vector -24.2487 14.0 68.0) (float-vector -28.0 2.842171e-14 68.0) (float-vector -28.0 2.842171e-14 200.0)))
+ (instance face :init :vertices (list (float-vector -14.0 24.2487 200.0) (float-vector -14.0 24.2487 68.0) (float-vector -24.2487 14.0 68.0) (float-vector -24.2487 14.0 200.0)))
+ (instance face :init :vertices (list (float-vector 1.421085e-14 28.0 200.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector -14.0 24.2487 68.0) (float-vector -14.0 24.2487 200.0)))
+ (instance face :init :vertices (list (float-vector 14.0 24.2487 200.0) (float-vector 14.0 24.2487 68.0) (float-vector 1.421085e-14 28.0 68.0) (float-vector 1.421085e-14 28.0 200.0)))
+ (instance face :init :vertices (list (float-vector 24.2487 14.0 200.0) (float-vector 24.2487 14.0 68.0) (float-vector 14.0 24.2487 68.0) (float-vector 14.0 24.2487 200.0)))
+ (instance face :init :vertices (list (float-vector 28.0 0.0 200.0) (float-vector 28.0 0.0 68.0) (float-vector 24.2487 14.0 68.0) (float-vector 24.2487 14.0 200.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector -38.5 28.0 102.5) (float-vector -38.5 -28.0 102.5) (float-vector 0.5 -28.0 102.5)))
+ (instance face :init :vertices (list (float-vector -38.5 28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector -38.5 -28.0 67.5)))
+ (instance face :init :vertices (list (float-vector 0.5 28.0 102.5) (float-vector 0.5 28.0 67.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 28.0 102.5)))
+ (instance face :init :vertices (list (float-vector 0.5 -28.0 102.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 28.0 67.5) (float-vector 0.5 28.0 102.5)))
+ (instance face :init :vertices (list (float-vector -38.5 -28.0 102.5) (float-vector -38.5 -28.0 67.5) (float-vector 0.5 -28.0 67.5) (float-vector 0.5 -28.0 102.5)))
+ (instance face :init :vertices (list (float-vector -38.5 28.0 102.5) (float-vector -38.5 28.0 67.5) (float-vector -38.5 -28.0 67.5) (float-vector -38.5 -28.0 102.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 35.0 0.0 230.0) (float-vector 30.3109 17.5 230.0) (float-vector 17.5 30.3109 230.0) (float-vector 1.953993e-14 35.0 230.0) (float-vector -17.5 30.3109 230.0) (float-vector -30.3109 17.5 230.0) (float-vector -35.0 4.085621e-14 230.0) (float-vector -30.3109 -17.5 230.0) (float-vector -17.5 -30.3109 230.0) (float-vector -6.394885e-14 -35.0 230.0) (float-vector 17.5 -30.3109 230.0)))
+ (instance face :init :vertices (list (float-vector 35.0 0.0 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 30.3109 17.5 200.0)))
+ (instance face :init :vertices (list (float-vector 30.3109 -17.5 230.0) (float-vector 30.3109 -17.5 200.0) (float-vector 35.0 0.0 200.0) (float-vector 35.0 0.0 230.0)))
+ (instance face :init :vertices (list (float-vector 17.5 -30.3109 230.0) (float-vector 17.5 -30.3109 200.0) (float-vector 30.3109 -17.5 200.0) (float-vector 30.3109 -17.5 230.0)))
+ (instance face :init :vertices (list (float-vector -6.394885e-14 -35.0 230.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector 17.5 -30.3109 200.0) (float-vector 17.5 -30.3109 230.0)))
+ (instance face :init :vertices (list (float-vector -17.5 -30.3109 230.0) (float-vector -17.5 -30.3109 200.0) (float-vector -6.394885e-14 -35.0 200.0) (float-vector -6.394885e-14 -35.0 230.0)))
+ (instance face :init :vertices (list (float-vector -30.3109 -17.5 230.0) (float-vector -30.3109 -17.5 200.0) (float-vector -17.5 -30.3109 200.0) (float-vector -17.5 -30.3109 230.0)))
+ (instance face :init :vertices (list (float-vector -35.0 4.085621e-14 230.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -30.3109 -17.5 200.0) (float-vector -30.3109 -17.5 230.0)))
+ (instance face :init :vertices (list (float-vector -30.3109 17.5 230.0) (float-vector -30.3109 17.5 200.0) (float-vector -35.0 4.085621e-14 200.0) (float-vector -35.0 4.085621e-14 230.0)))
+ (instance face :init :vertices (list (float-vector -17.5 30.3109 230.0) (float-vector -17.5 30.3109 200.0) (float-vector -30.3109 17.5 200.0) (float-vector -30.3109 17.5 230.0)))
+ (instance face :init :vertices (list (float-vector 1.953993e-14 35.0 230.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector -17.5 30.3109 200.0) (float-vector -17.5 30.3109 230.0)))
+ (instance face :init :vertices (list (float-vector 17.5 30.3109 230.0) (float-vector 17.5 30.3109 200.0) (float-vector 1.953993e-14 35.0 200.0) (float-vector 1.953993e-14 35.0 230.0)))
+ (instance face :init :vertices (list (float-vector 30.3109 17.5 230.0) (float-vector 30.3109 17.5 200.0) (float-vector 17.5 30.3109 200.0) (float-vector 17.5 30.3109 230.0)))
+ (instance face :init :vertices (list (float-vector 35.0 0.0 230.0) (float-vector 35.0 0.0 200.0) (float-vector 30.3109 17.5 200.0) (float-vector 30.3109 17.5 230.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 23.0 0.0 270.0) (float-vector 19.9186 11.5 270.0) (float-vector 11.5 19.9186 270.0) (float-vector 1.243450e-14 23.0 270.0) (float-vector -11.5 19.9186 270.0) (float-vector -19.9186 11.5 270.0) (float-vector -23.0 2.309264e-14 270.0) (float-vector -19.9186 -11.5 270.0) (float-vector -11.5 -19.9186 270.0) (float-vector -3.375078e-14 -23.0 270.0) (float-vector 11.5 -19.9186 270.0)))
+ (instance face :init :vertices (list (float-vector 23.0 0.0 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 19.9186 11.5 230.0)))
+ (instance face :init :vertices (list (float-vector 19.9186 -11.5 270.0) (float-vector 19.9186 -11.5 230.0) (float-vector 23.0 0.0 230.0) (float-vector 23.0 0.0 270.0)))
+ (instance face :init :vertices (list (float-vector 11.5 -19.9186 270.0) (float-vector 11.5 -19.9186 230.0) (float-vector 19.9186 -11.5 230.0) (float-vector 19.9186 -11.5 270.0)))
+ (instance face :init :vertices (list (float-vector -3.375078e-14 -23.0 270.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector 11.5 -19.9186 230.0) (float-vector 11.5 -19.9186 270.0)))
+ (instance face :init :vertices (list (float-vector -11.5 -19.9186 270.0) (float-vector -11.5 -19.9186 230.0) (float-vector -3.375078e-14 -23.0 230.0) (float-vector -3.375078e-14 -23.0 270.0)))
+ (instance face :init :vertices (list (float-vector -19.9186 -11.5 270.0) (float-vector -19.9186 -11.5 230.0) (float-vector -11.5 -19.9186 230.0) (float-vector -11.5 -19.9186 270.0)))
+ (instance face :init :vertices (list (float-vector -23.0 2.309264e-14 270.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -19.9186 -11.5 230.0) (float-vector -19.9186 -11.5 270.0)))
+ (instance face :init :vertices (list (float-vector -19.9186 11.5 270.0) (float-vector -19.9186 11.5 230.0) (float-vector -23.0 2.309264e-14 230.0) (float-vector -23.0 2.309264e-14 270.0)))
+ (instance face :init :vertices (list (float-vector -11.5 19.9186 270.0) (float-vector -11.5 19.9186 230.0) (float-vector -19.9186 11.5 230.0) (float-vector -19.9186 11.5 270.0)))
+ (instance face :init :vertices (list (float-vector 1.243450e-14 23.0 270.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector -11.5 19.9186 230.0) (float-vector -11.5 19.9186 270.0)))
+ (instance face :init :vertices (list (float-vector 11.5 19.9186 270.0) (float-vector 11.5 19.9186 230.0) (float-vector 1.243450e-14 23.0 230.0) (float-vector 1.243450e-14 23.0 270.0)))
+ (instance face :init :vertices (list (float-vector 19.9186 11.5 270.0) (float-vector 19.9186 11.5 230.0) (float-vector 11.5 19.9186 230.0) (float-vector 11.5 19.9186 270.0)))
+ (instance face :init :vertices (list (float-vector 23.0 0.0 270.0) (float-vector 23.0 0.0 230.0) (float-vector 19.9186 11.5 230.0) (float-vector 19.9186 11.5 270.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 8.0 0.0 280.0) (float-vector 6.9282 4.0 280.0) (float-vector 4.0 6.9282 280.0) (float-vector 3.996803e-15 8.0 280.0) (float-vector -4.0 6.9282 280.0) (float-vector -6.9282 4.0 280.0) (float-vector -8.0 8.437695e-15 280.0) (float-vector -6.9282 -4.0 280.0) (float-vector -4.0 -6.9282 280.0) (float-vector -1.376677e-14 -8.0 280.0) (float-vector 4.0 -6.9282 280.0)))
+ (instance face :init :vertices (list (float-vector 8.0 0.0 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 6.9282 4.0 270.0)))
+ (instance face :init :vertices (list (float-vector 6.9282 -4.0 280.0) (float-vector 6.9282 -4.0 270.0) (float-vector 8.0 0.0 270.0) (float-vector 8.0 0.0 280.0)))
+ (instance face :init :vertices (list (float-vector 4.0 -6.9282 280.0) (float-vector 4.0 -6.9282 270.0) (float-vector 6.9282 -4.0 270.0) (float-vector 6.9282 -4.0 280.0)))
+ (instance face :init :vertices (list (float-vector -1.376677e-14 -8.0 280.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector 4.0 -6.9282 270.0) (float-vector 4.0 -6.9282 280.0)))
+ (instance face :init :vertices (list (float-vector -4.0 -6.9282 280.0) (float-vector -4.0 -6.9282 270.0) (float-vector -1.376677e-14 -8.0 270.0) (float-vector -1.376677e-14 -8.0 280.0)))
+ (instance face :init :vertices (list (float-vector -6.9282 -4.0 280.0) (float-vector -6.9282 -4.0 270.0) (float-vector -4.0 -6.9282 270.0) (float-vector -4.0 -6.9282 280.0)))
+ (instance face :init :vertices (list (float-vector -8.0 8.437695e-15 280.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -6.9282 -4.0 270.0) (float-vector -6.9282 -4.0 280.0)))
+ (instance face :init :vertices (list (float-vector -6.9282 4.0 280.0) (float-vector -6.9282 4.0 270.0) (float-vector -8.0 8.437695e-15 270.0) (float-vector -8.0 8.437695e-15 280.0)))
+ (instance face :init :vertices (list (float-vector -4.0 6.9282 280.0) (float-vector -4.0 6.9282 270.0) (float-vector -6.9282 4.0 270.0) (float-vector -6.9282 4.0 280.0)))
+ (instance face :init :vertices (list (float-vector 3.996803e-15 8.0 280.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector -4.0 6.9282 270.0) (float-vector -4.0 6.9282 280.0)))
+ (instance face :init :vertices (list (float-vector 4.0 6.9282 280.0) (float-vector 4.0 6.9282 270.0) (float-vector 3.996803e-15 8.0 270.0) (float-vector 3.996803e-15 8.0 280.0)))
+ (instance face :init :vertices (list (float-vector 6.9282 4.0 280.0) (float-vector 6.9282 4.0 270.0) (float-vector 4.0 6.9282 270.0) (float-vector 4.0 6.9282 280.0)))
+ (instance face :init :vertices (list (float-vector 8.0 0.0 280.0) (float-vector 8.0 0.0 270.0) (float-vector 6.9282 4.0 270.0) (float-vector 6.9282 4.0 280.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.5 0.0 315.0) (float-vector 1.29904 0.75 315.0) (float-vector 0.75 1.29904 315.0) (float-vector 6.661338e-16 1.5 315.0) (float-vector -0.75 1.29904 315.0) (float-vector -1.29904 0.75 315.0) (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.29904 -0.75 315.0) (float-vector -0.75 -1.29904 315.0) (float-vector -2.109424e-15 -1.5 315.0) (float-vector 0.75 -1.29904 315.0)))
+ (instance face :init :vertices (list (float-vector 1.5 0.0 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 1.29904 0.75 280.0)))
+ (instance face :init :vertices (list (float-vector 1.29904 -0.75 315.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.5 0.0 280.0) (float-vector 1.5 0.0 315.0)))
+ (instance face :init :vertices (list (float-vector 0.75 -1.29904 315.0) (float-vector 0.75 -1.29904 280.0) (float-vector 1.29904 -0.75 280.0) (float-vector 1.29904 -0.75 315.0)))
+ (instance face :init :vertices (list (float-vector -2.109424e-15 -1.5 315.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector 0.75 -1.29904 280.0) (float-vector 0.75 -1.29904 315.0)))
+ (instance face :init :vertices (list (float-vector -0.75 -1.29904 315.0) (float-vector -0.75 -1.29904 280.0) (float-vector -2.109424e-15 -1.5 280.0) (float-vector -2.109424e-15 -1.5 315.0)))
+ (instance face :init :vertices (list (float-vector -1.29904 -0.75 315.0) (float-vector -1.29904 -0.75 280.0) (float-vector -0.75 -1.29904 280.0) (float-vector -0.75 -1.29904 315.0)))
+ (instance face :init :vertices (list (float-vector -1.5 1.221245e-15 315.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.29904 -0.75 280.0) (float-vector -1.29904 -0.75 315.0)))
+ (instance face :init :vertices (list (float-vector -1.29904 0.75 315.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.5 1.221245e-15 280.0) (float-vector -1.5 1.221245e-15 315.0)))
+ (instance face :init :vertices (list (float-vector -0.75 1.29904 315.0) (float-vector -0.75 1.29904 280.0) (float-vector -1.29904 0.75 280.0) (float-vector -1.29904 0.75 315.0)))
+ (instance face :init :vertices (list (float-vector 6.661338e-16 1.5 315.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector -0.75 1.29904 280.0) (float-vector -0.75 1.29904 315.0)))
+ (instance face :init :vertices (list (float-vector 0.75 1.29904 315.0) (float-vector 0.75 1.29904 280.0) (float-vector 6.661338e-16 1.5 280.0) (float-vector 6.661338e-16 1.5 315.0)))
+ (instance face :init :vertices (list (float-vector 1.29904 0.75 315.0) (float-vector 1.29904 0.75 280.0) (float-vector 0.75 1.29904 280.0) (float-vector 0.75 1.29904 315.0)))
+ (instance face :init :vertices (list (float-vector 1.5 0.0 315.0) (float-vector 1.5 0.0 280.0) (float-vector 1.29904 0.75 280.0) (float-vector 1.29904 0.75 315.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :gray20)
+ (send (elt bc 1) :set-color :gray20)
+ (send (elt bc 2) :set-color :yellow)
+ (send (elt bc 3) :set-color :yellow)
+ (send (elt bc 4) :set-color :gray20)
+ (send (elt bc 5) :set-color :gray20)
+ (send (elt bc 6) :set-color :gray20)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name 'dewalt-drill :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+
+ ;; definition of assoc
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+
+ ;; init-ending
+ (setq links (list blink0))
+ (setq joint-list (list))
+ (send self :init-ending)
+ (send self :move-to (make-coords :pos pos :rot rot))
+ (send-all links :worldcoords)
+
+ self))
+ (:cameras (&rest args)
+ (forward-message-to-all (list) args))
+
+ (:handle (&rest args) (forward-message-to-all (list ) args))
+ (:attention (&rest args) (forward-message-to-all (list ) args))
+ (:button (&rest args) (forward-message-to-all (list ) args))
+ )
+
+(defun dewalt-drill (&rest args) (instance* dewalt-drill-object :init args))
+;; (format *error-output* "(instance dewalt-drill-object :init) for generating model~%")
Added: trunk/EusLisp/models/unknown-side-table-object.l
===================================================================
--- trunk/EusLisp/models/unknown-side-table-object.l (rev 0)
+++ trunk/EusLisp/models/unknown-side-table-object.l 2014-02-26 10:42:09 UTC (rev 671)
@@ -0,0 +1,342 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version
+;;
+;;
+(defclass unknown-side-table-object
+ :super cascaded-link
+ :slots (sensors
+ handle0 handle1 handle2 handle3
+ joint0 joint1 joint2 ))
+(defmethod unknown-side-table-object
+ (:init
+ (&rest args &key (name "unknown-side-table") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+ (let (c bc
+ blink0 blink1 blink2 blink3
+ )
+ (send-super* :init :name name args)
+
+ ;; definition of link
+
+ ;; definition of :root
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector -299.5 210.0 600.0) (float-vector -299.5 -210.0 600.0) (float-vector 285.5 -210.0 600.0)))
+ (instance face :init :vertices (list (float-vector -299.5 210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector -299.5 -210.0 585.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 600.0) (float-vector 285.5 210.0 585.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 210.0 600.0)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.0 600.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 210.0 585.0) (float-vector 285.5 210.0 600.0)))
+ (instance face :init :vertices (list (float-vector -299.5 -210.0 600.0) (float-vector -299.5 -210.0 585.0) (float-vector 285.5 -210.0 585.0) (float-vector 285.5 -210.0 600.0)))
+ (instance face :init :vertices (list (float-vector -299.5 210.0 600.0) (float-vector -299.5 210.0 585.0) (float-vector -299.5 -210.0 585.0) (float-vector -299.5 -210.0 600.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector -299.5 210.0 44.5) (float-vector -299.5 -210.0 44.5) (float-vector 285.5 -210.0 44.5)))
+ (instance face :init :vertices (list (float-vector -299.5 210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector -299.5 -210.0 -0.5)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 44.5) (float-vector 285.5 210.0 -0.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 210.0 44.5)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.0 44.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 210.0 -0.5) (float-vector 285.5 210.0 44.5)))
+ (instance face :init :vertices (list (float-vector -299.5 -210.0 44.5) (float-vector -299.5 -210.0 -0.5) (float-vector 285.5 -210.0 -0.5) (float-vector 285.5 -210.0 44.5)))
+ (instance face :init :vertices (list (float-vector -299.5 210.0 44.5) (float-vector -299.5 210.0 -0.5) (float-vector -299.5 -210.0 -0.5) (float-vector -299.5 -210.0 44.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -300.5 195.0 585.0) (float-vector -300.5 -195.0 585.0) (float-vector -285.5 -195.0 585.0)))
+ (instance face :init :vertices (list (float-vector -300.5 195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -300.5 -195.0 45.0)))
+ (instance face :init :vertices (list (float-vector -285.5 195.0 585.0) (float-vector -285.5 195.0 45.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 195.0 585.0)))
+ (instance face :init :vertices (list (float-vector -285.5 -195.0 585.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 195.0 45.0) (float-vector -285.5 195.0 585.0)))
+ (instance face :init :vertices (list (float-vector -300.5 -195.0 585.0) (float-vector -300.5 -195.0 45.0) (float-vector -285.5 -195.0 45.0) (float-vector -285.5 -195.0 585.0)))
+ (instance face :init :vertices (list (float-vector -300.5 195.0 585.0) (float-vector -300.5 195.0 45.0) (float-vector -300.5 -195.0 45.0) (float-vector -300.5 -195.0 585.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector -299.5 210.5 585.0) (float-vector -299.5 195.5 585.0) (float-vector 285.5 195.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 210.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector -299.5 195.5 45.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.5 585.0) (float-vector 285.5 210.5 45.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 210.5 585.0)))
+ (instance face :init :vertices (list (float-vector 285.5 195.5 585.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 210.5 45.0) (float-vector 285.5 210.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 195.5 585.0) (float-vector -299.5 195.5 45.0) (float-vector 285.5 195.5 45.0) (float-vector 285.5 195.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 210.5 585.0) (float-vector -299.5 210.5 45.0) (float-vector -299.5 195.5 45.0) (float-vector -299.5 195.5 585.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -210.5 585.0) (float-vector 285.5 -210.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 -195.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector -299.5 -210.5 45.0)))
+ (instance face :init :vertices (list (float-vector 285.5 -195.5 585.0) (float-vector 285.5 -195.5 45.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -195.5 585.0)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.5 585.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -195.5 45.0) (float-vector 285.5 -195.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 -210.5 585.0) (float-vector -299.5 -210.5 45.0) (float-vector 285.5 -210.5 45.0) (float-vector 285.5 -210.5 585.0)))
+ (instance face :init :vertices (list (float-vector -299.5 -195.5 585.0) (float-vector -299.5 -195.5 45.0) (float-vector -299.5 -210.5 45.0) (float-vector -299.5 -210.5 585.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector -285.0 195.0 364.5) (float-vector -285.0 -195.0 364.5) (float-vector 285.0 -195.0 364.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector -285.0 -195.0 349.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 364.5) (float-vector 285.0 195.0 349.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 195.0 364.5)))
+ (instance face :init :vertices (list (float-vector 285.0 -195.0 364.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 195.0 349.5) (float-vector 285.0 195.0 364.5)))
+ (instance face :init :vertices (list (float-vector -285.0 -195.0 364.5) (float-vector -285.0 -195.0 349.5) (float-vector 285.0 -195.0 349.5) (float-vector 285.0 -195.0 364.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 364.5) (float-vector -285.0 195.0 349.5) (float-vector -285.0 -195.0 349.5) (float-vector -285.0 -195.0 364.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector -285.0 195.0 479.5) (float-vector -285.0 -195.0 479.5) (float-vector 285.0 -195.0 479.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector -285.0 -195.0 464.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 479.5) (float-vector 285.0 195.0 464.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 195.0 479.5)))
+ (instance face :init :vertices (list (float-vector 285.0 -195.0 479.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 195.0 464.5) (float-vector 285.0 195.0 479.5)))
+ (instance face :init :vertices (list (float-vector -285.0 -195.0 479.5) (float-vector -285.0 -195.0 464.5) (float-vector 285.0 -195.0 464.5) (float-vector 285.0 -195.0 479.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 479.5) (float-vector -285.0 195.0 464.5) (float-vector -285.0 -195.0 464.5) (float-vector -285.0 -195.0 479.5)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :seashell)
+ (send (elt bc 1) :set-color :seashell)
+ (send (elt bc 2) :set-color :seashell)
+ (send (elt bc 3) :set-color :seashell)
+ (send (elt bc 4) :set-color :seashell)
+ (send (elt bc 5) :set-color :seashell)
+ (send (elt bc 6) :set-color :seashell)
+ (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :unknown-side-table-bodyset2
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+ (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+ (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+ (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :seashell)
+ (send (elt bc 2) :set-color :gray)
+ (send (elt bc 3) :set-color :gray)
+ (send (elt bc 4) :set-color :gray)
+ (setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-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 :unknown-side-table-bodyset3
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 195.0 47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 -195.0 -47.5) (float-vector 285.0 -195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector -285.0 -195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 47.5) (float-vector -285.0 -195.0 47.5) (float-vector 285.0 -195.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector 285.0 180.0 47.5) (float-vector 285.0 195.0 47.5)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -47.5) (float-vector 285.0 -195.0 -47.5) (float-vector -285.0 -195.0 -47.5) (float-vector -285.0 195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -47.5) (float-vector -285.0 195.0 47.5) (float-vector 285.0 195.0 47.5) (float-vector 285.0 195.0 -47.5)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 47.5) (float-vector -270.0 -180.0 47.5) (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector -270.0 -180.0 -32.5) (float-vector -270.0 -180.0 47.5) (float-vector 285.0 -180.0 47.5) (float-vector 285.0 -180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector 285.0 180.0 -32.5) (float-vector 285.0 180.0 47.5) (float-vector -270.0 180.0 47.5) (float-vector -270.0 180.0 -32.5)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 -32.5) (float-vector -270.0 -180.0 -32.5) (float-vector 285.0 -180.0 -32.5) (float-vector 285.0 180.0 -32.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 285.5 210.0 63.0) (float-vector 285.5 -210.0 63.0) (float-vector 300.5 -210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 285.5 -210.0 -47.0)))
+ (instance face :init :vertices (list (float-vector 300.5 210.0 63.0) (float-vector 300.5 210.0 -47.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 300.5 -210.0 63.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 210.0 -47.0) (float-vector 300.5 210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.0 63.0) (float-vector 285.5 -210.0 -47.0) (float-vector 300.5 -210.0 -47.0) (float-vector 300.5 -210.0 63.0)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 63.0) (float-vector 285.5 210.0 -47.0) (float-vector 285.5 -210.0 -47.0) (float-vector 285.5 -210.0 63.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 328.0 -120.0 8.0) (float-vector 327.33 -120.0 10.5) (float-vector 325.5 -120.0 12.3301) (float-vector 323.0 -120.0 13.0) (float-vector 320.5 -120.0 12.3301) (float-vector 318.67 -120.0 10.5) (float-vector 318.0 -120.0 8.0) (float-vector 318.67 -120.0 5.5) (float-vector 320.5 -120.0 3.66987) (float-vector 323.0 -120.0 3.0) (float-vector 325.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 5.5) (float-vector 325.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 320.5 120.0 3.66987) (float-vector 318.67 120.0 5.5) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 10.5) (float-vector 320.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 325.5 120.0 12.3301) (float-vector 327.33 120.0 10.5)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 5.5) (float-vector 327.33 120.0 5.5) (float-vector 328.0 120.0 8.0) (float-vector 328.0 -120.0 8.0)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 3.66987) (float-vector 325.5 120.0 3.66987) (float-vector 327.33 120.0 5.5) (float-vector 327.33 -120.0 5.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 3.0) (float-vector 323.0 120.0 3.0) (float-vector 325.5 120.0 3.66987) (float-vector 325.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 3.66987) (float-vector 320.5 120.0 3.66987) (float-vector 323.0 120.0 3.0) (float-vector 323.0 -120.0 3.0)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 5.5) (float-vector 318.67 120.0 5.5) (float-vector 320.5 120.0 3.66987) (float-vector 320.5 -120.0 3.66987)))
+ (instance face :init :vertices (list (float-vector 318.0 -120.0 8.0) (float-vector 318.0 120.0 8.0) (float-vector 318.67 120.0 5.5) (float-vector 318.67 -120.0 5.5)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 10.5) (float-vector 318.67 120.0 10.5) (float-vector 318.0 120.0 8.0) (float-vector 318.0 -120.0 8.0)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 12.3301) (float-vector 320.5 120.0 12.3301) (float-vector 318.67 120.0 10.5) (float-vector 318.67 -120.0 10.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 13.0) (float-vector 323.0 120.0 13.0) (float-vector 320.5 120.0 12.3301) (float-vector 320.5 -120.0 12.3301)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 12.3301) (float-vector 325.5 120.0 12.3301) (float-vector 323.0 120.0 13.0) (float-vector 323.0 -120.0 13.0)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 10.5) (float-vector 327.33 120.0 10.5) (float-vector 325.5 120.0 12.3301) (float-vector 325.5 -120.0 12.3301)))
+ (instance face :init :vertices (list (float-vector 328.0 -120.0 8.0) (float-vector 328.0 120.0 8.0) (float-vector 327.33 120.0 10.5) (float-vector 327.33 -120.0 10.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 293.0 120.0 12.0) (float-vector 293.0 105.0 12.0) (float-vector 323.0 105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 293.0 105.0 4.0)))
+ (instance face :init :vertices (list (float-vector 323.0 120.0 12.0) (float-vector 323.0 120.0 4.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 323.0 105.0 12.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 120.0 4.0) (float-vector 323.0 120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 105.0 12.0) (float-vector 293.0 105.0 4.0) (float-vector 323.0 105.0 4.0) (float-vector 323.0 105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 12.0) (float-vector 293.0 120.0 4.0) (float-vector 293.0 105.0 4.0) (float-vector 293.0 105.0 12.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -120.0 12.0) (float-vector 323.0 -120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 293.0 -120.0 4.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 12.0) (float-vector 323.0 -105.0 4.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 12.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -105.0 4.0) (float-vector 323.0 -105.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -120.0 12.0) (float-vector 293.0 -120.0 4.0) (float-vector 323.0 -120.0 4.0) (float-vector 323.0 -120.0 12.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 12.0) (float-vector 293.0 -105.0 4.0) (float-vector 293.0 -120.0 4.0) (float-vector 293.0 -120.0 12.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :seashell)
+ (send (elt bc 2) :set-color :gray)
+ (send (elt bc 3) :set-color :gray)
+ (send (elt bc 4) :set-color :gray)
+ (setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-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 :unknown-side-table-bodyset4
+ (setq bc (list
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 195.0 150.0)))
+ (instance face :init :vertices (list (float-vector 285.0 -195.0 -150.0) (float-vector 285.0 -195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector -285.0 -195.0 -150.0)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -195.0 -150.0)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 150.0) (float-vector -285.0 -195.0 150.0) (float-vector 285.0 -195.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector 285.0 180.0 150.0) (float-vector 285.0 195.0 150.0)))
+ (instance face :init :vertices (list (float-vector 285.0 195.0 -150.0) (float-vector 285.0 -195.0 -150.0) (float-vector -285.0 -195.0 -150.0) (float-vector -285.0 195.0 -150.0)))
+ (instance face :init :vertices (list (float-vector -285.0 195.0 -150.0) (float-vector -285.0 195.0 150.0) (float-vector 285.0 195.0 150.0) (float-vector 285.0 195.0 -150.0)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 150.0) (float-vector -270.0 -180.0 150.0) (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 180.0 -135.0)))
+ (instance face :init :vertices (list (float-vector -270.0 -180.0 -135.0) (float-vector -270.0 -180.0 150.0) (float-vector 285.0 -180.0 150.0) (float-vector 285.0 -180.0 -135.0)))
+ (instance face :init :vertices (list (float-vector 285.0 180.0 -135.0) (float-vector 285.0 180.0 150.0) (float-vector -270.0 180.0 150.0) (float-vector -270.0 180.0 -135.0)))
+ (instance face :init :vertices (list (float-vector -270.0 180.0 -135.0) (float-vector -270.0 -180.0 -135.0) (float-vector 285.0 -180.0 -135.0) (float-vector 285.0 180.0 -135.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 285.5 210.0 164.5) (float-vector 285.5 -210.0 164.5) (float-vector 300.5 -210.0 164.5)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 285.5 -210.0 -150.5)))
+ (instance face :init :vertices (list (float-vector 300.5 210.0 164.5) (float-vector 300.5 210.0 -150.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 210.0 164.5)))
+ (instance face :init :vertices (list (float-vector 300.5 -210.0 164.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 210.0 -150.5) (float-vector 300.5 210.0 164.5)))
+ (instance face :init :vertices (list (float-vector 285.5 -210.0 164.5) (float-vector 285.5 -210.0 -150.5) (float-vector 300.5 -210.0 -150.5) (float-vector 300.5 -210.0 164.5)))
+ (instance face :init :vertices (list (float-vector 285.5 210.0 164.5) (float-vector 285.5 210.0 -150.5) (float-vector 285.5 -210.0 -150.5) (float-vector 285.5 -210.0 164.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 328.0 -120.0 122.0) (float-vector 327.33 -120.0 124.5) (float-vector 325.5 -120.0 126.33) (float-vector 323.0 -120.0 127.0) (float-vector 320.5 -120.0 126.33) (float-vector 318.67 -120.0 124.5) (float-vector 318.0 -120.0 122.0) (float-vector 318.67 -120.0 119.5) (float-vector 320.5 -120.0 117.67) (float-vector 323.0 -120.0 117.0) (float-vector 325.5 -120.0 117.67)))
+ (instance face :init :vertices (list (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 119.5) (float-vector 325.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 320.5 120.0 117.67) (float-vector 318.67 120.0 119.5) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 124.5) (float-vector 320.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 325.5 120.0 126.33) (float-vector 327.33 120.0 124.5)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 119.5) (float-vector 327.33 120.0 119.5) (float-vector 328.0 120.0 122.0) (float-vector 328.0 -120.0 122.0)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 117.67) (float-vector 325.5 120.0 117.67) (float-vector 327.33 120.0 119.5) (float-vector 327.33 -120.0 119.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 117.0) (float-vector 323.0 120.0 117.0) (float-vector 325.5 120.0 117.67) (float-vector 325.5 -120.0 117.67)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 117.67) (float-vector 320.5 120.0 117.67) (float-vector 323.0 120.0 117.0) (float-vector 323.0 -120.0 117.0)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 119.5) (float-vector 318.67 120.0 119.5) (float-vector 320.5 120.0 117.67) (float-vector 320.5 -120.0 117.67)))
+ (instance face :init :vertices (list (float-vector 318.0 -120.0 122.0) (float-vector 318.0 120.0 122.0) (float-vector 318.67 120.0 119.5) (float-vector 318.67 -120.0 119.5)))
+ (instance face :init :vertices (list (float-vector 318.67 -120.0 124.5) (float-vector 318.67 120.0 124.5) (float-vector 318.0 120.0 122.0) (float-vector 318.0 -120.0 122.0)))
+ (instance face :init :vertices (list (float-vector 320.5 -120.0 126.33) (float-vector 320.5 120.0 126.33) (float-vector 318.67 120.0 124.5) (float-vector 318.67 -120.0 124.5)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 127.0) (float-vector 323.0 120.0 127.0) (float-vector 320.5 120.0 126.33) (float-vector 320.5 -120.0 126.33)))
+ (instance face :init :vertices (list (float-vector 325.5 -120.0 126.33) (float-vector 325.5 120.0 126.33) (float-vector 323.0 120.0 127.0) (float-vector 323.0 -120.0 127.0)))
+ (instance face :init :vertices (list (float-vector 327.33 -120.0 124.5) (float-vector 327.33 120.0 124.5) (float-vector 325.5 120.0 126.33) (float-vector 325.5 -120.0 126.33)))
+ (instance face :init :vertices (list (float-vector 328.0 -120.0 122.0) (float-vector 328.0 120.0 122.0) (float-vector 327.33 120.0 124.5) (float-vector 327.33 -120.0 124.5)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 293.0 120.0 126.0) (float-vector 293.0 105.0 126.0) (float-vector 323.0 105.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 293.0 105.0 118.0)))
+ (instance face :init :vertices (list (float-vector 323.0 120.0 126.0) (float-vector 323.0 120.0 118.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 120.0 126.0)))
+ (instance face :init :vertices (list (float-vector 323.0 105.0 126.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 120.0 118.0) (float-vector 323.0 120.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 105.0 126.0) (float-vector 293.0 105.0 118.0) (float-vector 323.0 105.0 118.0) (float-vector 323.0 105.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 120.0 126.0) (float-vector 293.0 120.0 118.0) (float-vector 293.0 105.0 118.0) (float-vector 293.0 105.0 126.0)))
+ ))
+ (instance faceset :init :faces (list
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -120.0 126.0) (float-vector 323.0 -120.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 293.0 -120.0 118.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -105.0 126.0) (float-vector 323.0 -105.0 118.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -105.0 126.0)))
+ (instance face :init :vertices (list (float-vector 323.0 -120.0 126.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -105.0 118.0) (float-vector 323.0 -105.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -120.0 126.0) (float-vector 293.0 -120.0 118.0) (float-vector 323.0 -120.0 118.0) (float-vector 323.0 -120.0 126.0)))
+ (instance face :init :vertices (list (float-vector 293.0 -105.0 126.0) (float-vector 293.0 -105.0 118.0) (float-vector 293.0 -120.0 118.0) (float-vector 293.0 -120.0 126.0)))
+ ))
+ ))
+ (dolist (b (cdr bc)) (send (car bc) :assoc b))
+ (send (elt bc 0) :set-color :white)
+ (send (elt bc 1) :set-color :seashell)
+ (send (elt bc 2) :set-color :gray)
+ (send (elt bc 3) :set-color :gray)
+ (send (elt bc 4) :set-color :gray)
+ (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :unknown-side-table-bodyset4 :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 0.0 195.0) :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 blink2 :newcoords (make-coords :pos (float-vector 0.0 0.0 412.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink2)
+ (send blink3 :newcoords (make-coords :pos (float-vector 0.0 0.0 527.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
+ (send blink0 :assoc blink3)
+ (send self :assoc blink0)
+
+ ;; definition of end-coords
+
+ ;; definition of joint
+
+ ;; definition of :drawer2
+ (setq joint0 (instance linear-joint :init
+ :parent-link blink0 :child-link blink1 :name :drawer2 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer1
+ (setq joint1 (instance linear-joint :init
+ :parent-link blink0 :child-link blink2 :name :drawer1 :axis (float-vector 1.0 0.0 0.0)
+ :min 0.0 :max 600.0 :max-joint-velocity 0.785398 :max-joint-torque 100))
+
+ ;; definition of :drawer0
+ (setq joint2 (instance linear-joint :init
+ :parent-link blink0 :child-link blink3 :name :drawer0 :axis (...
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