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YoheiKakiuchi/kxrl2l6a6h2.l

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kxrl2l6a6h2.l created at robot_assembler
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kxrl2l6a6h2.l
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;;
;; DO NOT EDIT THIS FILE
;;
;; this file is automatically generated from /home/leus/src/lecture2021/gazebo/kxrl2l6a6h2.l on (Linux leus-ThinkPad-P50 4.15.0-142-lowlatency x86_64) at 2021-06-21 22:04:17 JST
;;
;; /home/leus/src/lecture2021/gazebo $ ;;
;;
;; copy euscollada-robot class definition from euscollada/src/euscollada-robot.l
;;
(defclass euscollada-robot
;; This euscollada-robot class is for robots converted from collada files.
;; This class provides :init-ending override.
:super robot-model
:slots ()
)
(defmethod euscollada-robot
(:init-ending
(&optional (type :urdf))
(when (eq type :collada)
;; fix all links' mass properties ;; root link relative (collada) -> link local (euslisp)
(dolist (l (append links
(mapcan #'(lambda (x) (if (and (derivedp (cdr x) bodyset-link)
(not (memq (cdr x) links)))
(list (cdr x)))) (send self :slots))))
(unless (= (send l :weight) 0.0)
(setq (l . acentroid) (send l :inverse-transform-vector
(send (send (car links) :worldcoords) :transform-vector
(l . acentroid))))
(setq (l . inertia-tensor) (m* (transpose (send l :worldrot))
(m* (send (car links) :worldrot)
(l . inertia-tensor))))
)))
(send-super :init-ending)
(send self :make-collision-model-for-links)
;;
(dolist (j (mapcan #'(lambda (x) (if (and (derivedp (cdr x) joint)
(not (memq (cdr x) (send self :joint-list))))
(list (cdr x)))) (send self :slots)))
(send (send j :child-link) :add-joint j)
(send (send j :child-link) :add-parent-link (send j :parent-link))
(send (send j :parent-link) :add-child-links (send j :child-link)))
)
(:change-visual
(&optional (visual :convex))
(dolist (lk (send self :links))
(dolist (bd (send lk :bodies))
(when (derivedp bd collada-body)
(send bd :change-visual visual)))))
;; fullbody-inverse-kinematics overwrite
;; reduce root-link's weight based on leg's joint limit
;; increase stop and cog-gain
(:fullbody-inverse-kinematics
(target-coords &rest args &key (stop 250) (cog-gain 2.0) (additional-weight-list) (use-6dof-joint-leg-gain nil) &allow-other-keys)
(let* ((leg-ul (send self :calc-union-link-list (send self :legs :links))))
(send self :reset-joint-angle-limit-weight-old leg-ul)
(send-message* self robot-model :fullbody-inverse-kinematics
target-coords
:stop stop :cog-gain cog-gain
:additional-weight-list
(append
additional-weight-list
(if use-6dof-joint-leg-gain
(list
(list (car (send self :links))
#'(lambda ()
;; set root-link 6dof-joint's weight based on legs' joint limit
(let* ((min-weight
(reduce #'(lambda (x y) (min x y))
(coerce (send self :calc-inverse-kinematics-weight-from-link-list
leg-ul :union-link-list leg-ul) cons))))
(fill (instantiate float-vector 6) min-weight)))
)
)))
args)
))
;; make collision model from faces or gl-vertices
(:make-collision-model-for-links
(&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
(dolist (ll ls)
(let (fs glv usefs)
(dolist (bd (send ll :bodies))
(if (derivedp bd collada-body)
(push (send bd :glvertices) glv)
(push (send bd :faces) fs)))
(setq fs (flatten fs))
(cond
((and (not fs) glv) ;; if there is no faces, use glvertices for creating pqpmodel
(setq usefs (instance gl::glvertices :init nil))
(send usefs :transform (send ll :worldcoords))
(send usefs :append-glvertices glv)
(let ((m (send usefs (read-from-string
(format nil ":make-~Amodel"
(string-right-trim "-COLLISION-CHECK" (string collision-func))))
:fat fat)))
(setf (get ll :pqpmodel) m)
))
(fs
(setq usefs
(append fs
(mapcar #'(lambda (gv) (send gv :convert-to-faces :wrt :world)) glv)))
(send ll
(read-from-string
(format nil ":make-~Amodel"
(string-right-trim "-COLLISION-CHECK" (string collision-func))))
:fat fat
:faces usefs))
))
))
)
;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
;; This euscollada-body class is for bodies in robot model converted from collada files.
(defclass collada-body
:super gl::glbody
:slots (glvertices) ;; glvertices slot for backward compatibility
)
(defmethod collada-body
(:init (&key (name) (replace-obj))
(if replace-obj
(replace-object self replace-obj)
(replace-object self (make-cube 10 10 10)))
(if name (send self :name name))
(setq glvertices gl::aglvertices)
self)
(:change-visual
(&optional (visual :convex))
(case visual
((list :convex :hull :convex-hull)
(unless (send self :get :original-mesh)
(send self :put :original-mesh gl::aglvertices)) ;; store original mesh
(let* ((org-mesh (send self :get :original-mesh))
(org-cds (send org-mesh :copy-worldcoords))
(glv (gl::make-glvertices-from-faces (send self :faces))))
(send glv :set-offset (send org-cds :inverse-transformation))
(send glv :transform org-cds)
(send org-mesh :assoc glv)
(setq gl::aglvertices glv)
glv))
((list :original :mesh :glvertices :original-mesh)
(let ((org-mesh (send self :get :original-mesh)))
(when org-mesh
(dolist (d (send org-mesh :descendants)) ;; dissoc all discendants
(send org-mesh :dissoc d))
(setq gl::aglvertices org-mesh)
org-mesh)))
))
)
;;
;; end of copy from /opt/ros/kinetic/share/euscollada/src/euscollada-robot.l
;;
(defun kxrl2l6a6h2 () (setq *kxrl2l6a6h2* (instance kxrl2l6a6h2-robot :init)))
(defclass kxrl2l6a6h2-robot
:super euscollada-robot
:slots ( ;; link names
BASE_lk LINK0_lk LINK1_lk LINK10_lk LINK11_lk LINK12_lk LINK13_lk LINK14_lk LINK15_lk LINK16_lk LINK17_lk LINK18_lk LINK19_lk LINK2_lk LINK20_lk LINK21_lk LINK22_lk LINK23_lk LINK24_lk LINK25_lk LINK26_lk LINK27_lk LINK28_lk LINK29_lk LINK3_lk LINK4_lk LINK5_lk LINK6_lk LINK7_lk LINK8_lk LINK9_lk
;; joint names
JOINT17_jt JOINT8_jt head_neck_p_jt head_neck_y_jt larm_elbow_p_jt larm_gripper_r_jt larm_shoulder_p_jt larm_shoulder_r_jt larm_shoulder_y_jt larm_wrist_p_jt larm_wrist_r_jt lleg_ankle_p_jt lleg_ankle_r_jt lleg_crotch_p_jt lleg_crotch_r_jt lleg_crotch_y_jt lleg_knee_p_jt rarm_elbow_p_jt rarm_gripper_r_jt rarm_shoulder_p_jt rarm_shoulder_r_jt rarm_shoulder_y_jt rarm_wrist_p_jt rarm_wrist_r_jt rleg_ankle_p_jt rleg_ankle_r_jt rleg_crotch_p_jt rleg_crotch_r_jt rleg_crotch_y_jt rleg_knee_p_jt
;; sensor names
)
)
(defmethod kxrl2l6a6h2-robot
(:init
(&rest args)
(let ()
(send-super* :init :name "kxrl2l6a6h2" args)
;; link: BASE_lk
(let ((geom-lst (list
(send self :_make_instance_BASE_geom0)
(send self :_make_instance_BASE_geom1)
(send self :_make_instance_BASE_geom10)
(send self :_make_instance_BASE_geom11)
(send self :_make_instance_BASE_geom12)
(send self :_make_instance_BASE_geom13)
(send self :_make_instance_BASE_geom14)
(send self :_make_instance_BASE_geom15)
(send self :_make_instance_BASE_geom16)
(send self :_make_instance_BASE_geom17)
(send self :_make_instance_BASE_geom18)
(send self :_make_instance_BASE_geom19)
(send self :_make_instance_BASE_geom2)
(send self :_make_instance_BASE_geom20)
(send self :_make_instance_BASE_geom21)
(send self :_make_instance_BASE_geom22)
(send self :_make_instance_BASE_geom23)
(send self :_make_instance_BASE_geom24)
(send self :_make_instance_BASE_geom25)
(send self :_make_instance_BASE_geom26)
(send self :_make_instance_BASE_geom27)
(send self :_make_instance_BASE_geom3)
(send self :_make_instance_BASE_geom4)
(send self :_make_instance_BASE_geom5)
(send self :_make_instance_BASE_geom6)
(send self :_make_instance_BASE_geom7)
(send self :_make_instance_BASE_geom8)
(send self :_make_instance_BASE_geom9))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq BASE_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "BASE"))
;; inertial parameter for BASE_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.4269000000000000e+01 1.4755540000000000e-12 1.1844999999999999e+01))
))
(send BASE_lk :weight 620.208)
(setq (BASE_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 1.0810000000000000e+06 -1.5416389999999999e-08 7.9079310000000012e+04)
(float-vector -1.5416389999999999e-08 9.3099999999999988e+05 -8.0526660000000004e-09)
(float-vector 7.9079310000000012e+04 -8.0526660000000004e-09 8.0699999999999988e+05))
) (transpose (send tmp-cds :worldrot))))
(setq (BASE_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for BASE_lk
(let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00))
))
(send BASE_lk :transform world-cds))
)
;; link: LINK0_lk
(let ((geom-lst (list
(send self :_make_instance_LINK0_geom0)
(send self :_make_instance_LINK0_geom1)
(send self :_make_instance_LINK0_geom2))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK0_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK0"))
;; inertial parameter for LINK0_lk
(let ((tmp-cds (make-coords :pos (float-vector 1.6614130000000002e-15 -1.7230849999999999e-15 1.1206000000000001e+01))
))
(send LINK0_lk :weight 12.371)
(setq (LINK0_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 3.5834349999999999e+03 -2.1931940000000002e-12 -3.9347549999999997e-14)
(float-vector -2.1931940000000002e-12 1.9374199999999998e+03 2.2737369999999998e-13)
(float-vector -3.9347549999999997e-14 2.2737369999999998e-13 2.5830679999999998e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK0_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK0_lk
(let ((world-cds (make-coords :pos (float-vector -7.2500000000000000e+00 5.1000000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector 1.2691834951946709e-09 1.2691834992625352e-09 7.0710678231972268e-01 7.0710678005337235e-01)))
))
(send LINK0_lk :transform world-cds))
)
;; link: LINK1_lk
(let ((geom-lst (list
(send self :_make_instance_LINK1_geom0)
(send self :_make_instance_LINK1_geom1)
(send self :_make_instance_LINK1_geom2))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK1_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK1"))
;; inertial parameter for LINK1_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.7323430000000000e-15 8.0410619999999994e-15 1.1206000000000001e+01))
))
(send LINK1_lk :weight 12.371)
(setq (LINK1_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 3.5834349999999999e+03 -1.6962269999999998e-12 1.2859900000000001e-12)
(float-vector -1.6962269999999998e-12 1.9374199999999998e+03 6.8212100000000000e-13)
(float-vector 1.2859900000000001e-12 6.8212100000000000e-13 2.5830679999999998e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK1_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK1_lk
(let ((world-cds (make-coords :pos (float-vector -7.2500000000000000e+00 -5.1000000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector 1.2691834951946709e-09 -1.2691834992625352e-09 -7.0710678231972268e-01 7.0710678005337235e-01)))
))
(send LINK1_lk :transform world-cds))
)
;; link: LINK2_lk
(let ((geom-lst (list
(send self :_make_instance_LINK2_geom0)
(send self :_make_instance_LINK2_geom1)
(send self :_make_instance_LINK2_geom2)
(send self :_make_instance_LINK2_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK2_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK2"))
;; inertial parameter for LINK2_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 7.6494489999999998e-02 1.5060000000000000e+00))
))
(send LINK2_lk :weight 61.777)
(setq (LINK2_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 1.1732310000000002e+01 2.4660640000000006e+02)
(float-vector 1.1732310000000002e+01 2.8207020000000000e+04 -7.3220300000000009e+01)
(float-vector 2.4660640000000006e+02 -7.3220300000000009e+01 9.1407569999999996e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK2_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK2_lk
(let ((world-cds (make-coords :pos (float-vector -7.2500000987193092e+00 -7.8500000054486748e+01 6.0499999911859653e+01)
:rot (quaternion2matrix (float-vector 6.2857219429446332e-11 -7.0710678358716161e-01 -7.0710677878593375e-01 -2.3292076045677845e-09)))
))
(send LINK2_lk :transform world-cds))
)
;; link: LINK3_lk
(let ((geom-lst (list
(send self :_make_instance_LINK3_geom0)
(send self :_make_instance_LINK3_geom1)
(send self :_make_instance_LINK3_geom2)
(send self :_make_instance_LINK3_geom3)
(send self :_make_instance_LINK3_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK3_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK3"))
;; inertial parameter for LINK3_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.5387679999999999e-14 3.0704999999999998e+01 -1.7500000000000000e+01))
))
(send LINK3_lk :weight 21.241)
(setq (LINK3_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 9.7425799999999999e+03 -8.4128259999999995e-12 -5.4430479999999996e-12)
(float-vector -8.4128259999999995e-12 4.9949690000000001e+03 -9.9274519999999984e-13)
(float-vector -5.4430479999999996e-12 -9.9274519999999984e-13 9.1616599999999999e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK3_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK3_lk
(let ((world-cds (make-coords :pos (float-vector -2.5250000044232547e+01 -7.8499999874758302e+01 4.3499999854167790e+01)
:rot (quaternion2matrix (float-vector 5.0000000254321308e-01 -5.0000000085176788e-01 -4.9999999914823234e-01 4.9999999745678708e-01)))
))
(send LINK3_lk :transform world-cds))
)
;; link: LINK4_lk
(let ((geom-lst (list
(send self :_make_instance_LINK4_geom0)
(send self :_make_instance_LINK4_geom1)
(send self :_make_instance_LINK4_geom2)
(send self :_make_instance_LINK4_geom3)
(send self :_make_instance_LINK4_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK4_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK4"))
;; inertial parameter for LINK4_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.5638000000000000e+01 -7.7330000000000005e+00 -1.8086000000000002e+01))
))
(send LINK4_lk :weight 55.048)
(setq (LINK4_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.0811980000000000e+04 -3.3468140000000003e+03 2.7345170000000000e+01)
(float-vector -3.3468140000000003e+03 1.2101710000000001e+04 3.6542620000000007e+01)
(float-vector 2.7345170000000000e+01 3.6542620000000007e+01 2.2126670000000002e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK4_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK4_lk
(let ((world-cds (make-coords :pos (float-vector -7.7500001630568702e+00 -9.5999999797374997e+01 -1.4500000205032796e+01)
:rot (quaternion2matrix (float-vector 6.9176708842634138e-01 6.9176709420624616e-01 -1.4648649129678654e-01 1.4648648610416681e-01)))
))
(send LINK4_lk :transform world-cds))
)
;; link: LINK5_lk
(let ((geom-lst (list
(send self :_make_instance_LINK5_geom0)
(send self :_make_instance_LINK5_geom1)
(send self :_make_instance_LINK5_geom2)
(send self :_make_instance_LINK5_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK5_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK5"))
;; inertial parameter for LINK5_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 -1.5494000000000002e+01 -1.8075999999999997e+01))
))
(send LINK5_lk :weight 61.777)
(setq (LINK5_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 2.4660640000000006e+02 -1.1732310000000002e+01)
(float-vector 2.4660640000000006e+02 9.1407569999999996e+03 7.3220300000000009e+01)
(float-vector -1.1732310000000002e+01 7.3220300000000009e+01 2.8207020000000000e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK5_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK5_lk
(let ((world-cds (make-coords :pos (float-vector -7.7499999438039984e+00 -9.5499999245557092e+01 -7.2476288456767065e+01)
:rot (quaternion2matrix (float-vector 4.9999999714524757e-01 5.0000000464964955e-01 5.0000000010934742e-01 -4.9999999809575646e-01)))
))
(send LINK5_lk :transform world-cds))
)
;; link: LINK6_lk
(let ((geom-lst (list
(send self :_make_instance_LINK6_geom0)
(send self :_make_instance_LINK6_geom1)
(send self :_make_instance_LINK6_geom2)
(send self :_make_instance_LINK6_geom3)
(send self :_make_instance_LINK6_geom4)
(send self :_make_instance_LINK6_geom5)
(send self :_make_instance_LINK6_geom6))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK6_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK6"))
;; inertial parameter for LINK6_lk
(let ((tmp-cds (make-coords :pos (float-vector 3.8328000000000003e+01 -8.0510000000000002e+00 1.7099000000000000e+01))
))
(send LINK6_lk :weight 48.561)
(setq (LINK6_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 1.0580130000000001e+04 4.4083870000000006e+03 -5.7358570000000007e+01)
(float-vector 4.4083870000000006e+03 1.8180740000000002e+04 1.4448480000000002e+01)
(float-vector -5.7358570000000007e+01 1.4448480000000002e+01 1.8930639999999999e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK6_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK6_lk
(let ((world-cds (make-coords :pos (float-vector -2.4749999844969398e+01 -7.7499999152213306e+01 -7.2476288346469673e+01)
:rot (quaternion2matrix (float-vector 7.0710678245573155e-01 4.1732383659898176e-09 7.0710677991736426e-01 2.5569990014240318e-09)))
))
(send LINK6_lk :transform world-cds))
)
;; link: LINK7_lk
(let ((geom-lst (list
(send self :_make_instance_LINK7_geom0))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK7_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK7"))
;; inertial parameter for LINK7_lk
(let ((tmp-cds (make-coords :pos (float-vector 7.1550000000000002e+00 -1.4311000000000000e+01 -1.8000000000000000e+01))
))
(send LINK7_lk :weight 13.908)
(setq (LINK7_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 5.0386369999999997e+03 1.2461569999999999e+03 8.4065430000000002e-13)
(float-vector 1.2461569999999999e+03 3.1694010000000003e+03 -3.7191849999999999e-13)
(float-vector 8.4065430000000002e-13 -3.7191849999999999e-13 4.6823599999999997e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK7_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK7_lk
(let ((world-cds (make-coords :pos (float-vector -2.5749999711684691e+01 -9.8499998669268948e+01 -1.2297628854993731e+02)
:rot (quaternion2matrix (float-vector -4.9999999605545437e-01 -5.0000000280169232e-01 5.0000000078810136e-01 5.0000000035475300e-01)))
))
(send LINK7_lk :transform world-cds))
)
;; link: LINK8_lk
(let ((geom-lst (list
(send self :_make_instance_LINK8_geom0))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK8_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK8"))
;; inertial parameter for LINK8_lk
(let ((tmp-cds (make-coords :pos (float-vector 8.0000000000000000e+00 -1.3856000000000000e+01 -1.8000000000000000e+01))
))
(send LINK8_lk :weight 13.908)
(setq (LINK8_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 4.8828670000000002e+03 1.3490040000000001e+03 -7.8499410000000001e-13)
(float-vector 1.3490040000000001e+03 3.3251710000000003e+03 9.6719129999999998e-13)
(float-vector -7.8499410000000001e-13 9.6719129999999998e-13 4.6823599999999997e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK8_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK8_lk
(let ((world-cds (make-coords :pos (float-vector -2.5749999625992000e+01 -7.7499998569330032e+01 -1.3347628835005946e+02)
:rot (quaternion2matrix (float-vector -4.9999999605545437e-01 -5.0000000280169232e-01 5.0000000078810136e-01 5.0000000035475300e-01)))
))
(send LINK8_lk :transform world-cds))
)
;; link: LINK9_lk
(let ((geom-lst (list
(send self :_make_instance_LINK9_geom0)
(send self :_make_instance_LINK9_geom1)
(send self :_make_instance_LINK9_geom2)
(send self :_make_instance_LINK9_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK9_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK9"))
;; inertial parameter for LINK9_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.6222520000000000e-14 1.3300000000000001e-01 2.0064000000000000e+01))
))
(send LINK9_lk :weight 35.533)
(setq (LINK9_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 8.0439859999999999e+03 -8.8162959999999982e-13 1.6022869999999999e-12)
(float-vector -8.8162959999999982e-13 7.3675590000000002e+03 -1.2213690000000001e+01)
(float-vector 1.6022869999999999e-12 -1.2213690000000001e+01 4.6752910000000002e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK9_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK9_lk
(let ((world-cds (make-coords :pos (float-vector -7.2500000000000000e+00 0.0000000000000000e+00 6.1500000000000000e+01)
:rot (quaternion2matrix (float-vector 1.7948965149208059e-09 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)))
))
(send LINK9_lk :transform world-cds))
)
;; link: LINK10_lk
(let ((geom-lst (list
(send self :_make_instance_LINK10_geom0)
(send self :_make_instance_LINK10_geom1)
(send self :_make_instance_LINK10_geom2)
(send self :_make_instance_LINK10_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK10_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK10"))
;; inertial parameter for LINK10_lk
(let ((tmp-cds (make-coords :pos (float-vector 4.0412999999999997e+01 5.5430000000000001e+00 -1.7500000000000000e+01))
))
(send LINK10_lk :weight 156.949)
(setq (LINK10_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 1.9600000000000000e+05 -1.8160500000000000e+03 -1.9940669999999999e-10)
(float-vector -1.8160500000000000e+03 2.1100000000000000e+05 3.7221069999999996e-10)
(float-vector -1.9940669999999999e-10 3.7221069999999996e-10 3.0516450000000001e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK10_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK10_lk
(let ((world-cds (make-coords :pos (float-vector -7.2499999353837259e+00 1.8000000000000000e+01 9.4000000000000000e+01)
:rot (quaternion2matrix (float-vector -4.9999999853543653e-01 5.0000000253661403e-01 4.9999999627221858e-01 5.0000000265573075e-01)))
))
(send LINK10_lk :transform world-cds))
)
;; link: LINK11_lk
(let ((geom-lst (list
(send self :_make_instance_LINK11_geom0)
(send self :_make_instance_LINK11_geom1)
(send self :_make_instance_LINK11_geom2)
(send self :_make_instance_LINK11_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK11_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK11"))
;; inertial parameter for LINK11_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 7.6494489999999998e-02 1.5060000000000000e+00))
))
(send LINK11_lk :weight 61.777)
(setq (LINK11_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 1.1732310000000002e+01 2.4660640000000006e+02)
(float-vector 1.1732310000000002e+01 2.8207020000000000e+04 -7.3220300000000009e+01)
(float-vector 2.4660640000000006e+02 -7.3220300000000009e+01 9.1407569999999996e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK11_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK11_lk
(let ((world-cds (make-coords :pos (float-vector -7.2499999012806917e+00 7.8500000054486748e+01 6.0499999911859653e+01)
:rot (quaternion2matrix (float-vector 8.0127582346989357e-10 -7.0710678071863997e-01 7.0710678165445529e-01 -1.4650745616684446e-09)))
))
(send LINK11_lk :transform world-cds))
)
;; link: LINK12_lk
(let ((geom-lst (list
(send self :_make_instance_LINK12_geom0)
(send self :_make_instance_LINK12_geom1)
(send self :_make_instance_LINK12_geom2)
(send self :_make_instance_LINK12_geom3)
(send self :_make_instance_LINK12_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK12_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK12"))
;; inertial parameter for LINK12_lk
(let ((tmp-cds (make-coords :pos (float-vector 6.6902950000000004e-16 3.0704999999999998e+01 -1.7500000000000000e+01))
))
(send LINK12_lk :weight 21.241)
(setq (LINK12_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 9.7425799999999999e+03 -5.4569680000000000e-12 -4.3549319999999994e-12)
(float-vector -5.4569680000000000e-12 4.9949690000000001e+03 -1.1848540000000000e-12)
(float-vector -4.3549319999999994e-12 -1.1848540000000000e-12 9.1616599999999999e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK12_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK12_lk
(let ((world-cds (make-coords :pos (float-vector 1.0750000153206068e+01 7.8500000014705975e+01 4.3499999969551510e+01)
:rot (quaternion2matrix (float-vector 5.0000000103700282e-01 -4.9999999830127601e-01 4.9999999849362076e-01 -5.0000000216810081e-01)))
))
(send LINK12_lk :transform world-cds))
)
;; link: LINK13_lk
(let ((geom-lst (list
(send self :_make_instance_LINK13_geom0)
(send self :_make_instance_LINK13_geom1)
(send self :_make_instance_LINK13_geom2)
(send self :_make_instance_LINK13_geom3)
(send self :_make_instance_LINK13_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK13_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK13"))
;; inertial parameter for LINK13_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.5638000000000000e+01 -7.7330000000000005e+00 -1.8086000000000002e+01))
))
(send LINK13_lk :weight 55.048)
(setq (LINK13_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.0811980000000000e+04 -3.3468140000000003e+03 2.7345170000000000e+01)
(float-vector -3.3468140000000003e+03 1.2101710000000001e+04 3.6542620000000007e+01)
(float-vector 2.7345170000000000e+01 3.6542620000000007e+01 2.2126670000000002e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK13_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK13_lk
(let ((world-cds (make-coords :pos (float-vector -6.7499994981621780e+00 6.0999999983418526e+01 -1.4500000126198932e+01)
:rot (quaternion2matrix (float-vector -6.9176709348560683e-01 -6.9176708820797184e-01 1.4648649130666141e-01 -1.4648649052866203e-01)))
))
(send LINK13_lk :transform world-cds))
)
;; link: LINK14_lk
(let ((geom-lst (list
(send self :_make_instance_LINK14_geom0)
(send self :_make_instance_LINK14_geom1)
(send self :_make_instance_LINK14_geom2)
(send self :_make_instance_LINK14_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK14_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK14"))
;; inertial parameter for LINK14_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 -1.5494000000000002e+01 -1.8075999999999997e+01))
))
(send LINK14_lk :weight 61.777)
(setq (LINK14_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 2.4660640000000006e+02 -1.1732310000000002e+01)
(float-vector 2.4660640000000006e+02 9.1407569999999996e+03 7.3220300000000009e+01)
(float-vector -1.1732310000000002e+01 7.3220300000000009e+01 2.8207020000000000e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK14_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK14_lk
(let ((world-cds (make-coords :pos (float-vector -6.7499989087034180e+00 6.1499999573302624e+01 -7.2476288386229129e+01)
:rot (quaternion2matrix (float-vector -5.0000000361281582e-01 -5.0000000138718459e-01 -4.9999999507588794e-01 4.9999999992411243e-01)))
))
(send LINK14_lk :transform world-cds))
)
;; link: LINK15_lk
(let ((geom-lst (list
(send self :_make_instance_LINK15_geom0)
(send self :_make_instance_LINK15_geom1)
(send self :_make_instance_LINK15_geom2)
(send self :_make_instance_LINK15_geom3)
(send self :_make_instance_LINK15_geom4)
(send self :_make_instance_LINK15_geom5)
(send self :_make_instance_LINK15_geom6))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK15_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK15"))
;; inertial parameter for LINK15_lk
(let ((tmp-cds (make-coords :pos (float-vector 3.8328000000000003e+01 8.0510000000000002e+00 1.6901000000000000e+01))
))
(send LINK15_lk :weight 48.561)
(setq (LINK15_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 1.0580130000000001e+04 -4.4083870000000006e+03 5.7358570000000007e+01)
(float-vector -4.4083870000000006e+03 1.8180740000000002e+04 1.4448480000000002e+01)
(float-vector 5.7358570000000007e+01 1.4448480000000002e+01 1.8930639999999999e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK15_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK15_lk
(let ((world-cds (make-coords :pos (float-vector -2.3749998861496735e+01 7.9499999617886701e+01 -7.2476288683558522e+01)
:rot (quaternion2matrix (float-vector -7.0710678472208177e-01 2.7069340657881469e-09 -7.0710677765101382e-01 2.2950372158270227e-09)))
))
(send LINK15_lk :transform world-cds))
)
;; link: LINK16_lk
(let ((geom-lst (list
(send self :_make_instance_LINK16_geom0))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK16_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK16"))
;; inertial parameter for LINK16_lk
(let ((tmp-cds (make-coords :pos (float-vector 7.1550000000000002e+00 -1.4311000000000000e+01 -1.8000000000000000e+01))
))
(send LINK16_lk :weight 13.908)
(setq (LINK16_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 5.0386369999999997e+03 1.2461569999999999e+03 3.8671570000000003e-13)
(float-vector 1.2461569999999999e+03 3.1694010000000003e+03 -1.1873540000000001e-12)
(float-vector 3.8671570000000003e-13 -1.1873540000000001e-12 4.6823599999999997e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK16_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK16_lk
(let ((world-cds (make-coords :pos (float-vector 1.1250001631270559e+01 1.0049999928104485e+02 -1.2297628848210948e+02)
:rot (quaternion2matrix (float-vector -5.0000000332156080e-01 -4.9999999638718451e-01 -4.9999999861281574e-01 -5.0000000167843961e-01)))
))
(send LINK16_lk :transform world-cds))
)
;; link: LINK17_lk
(let ((geom-lst (list
(send self :_make_instance_LINK17_geom0))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK17_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK17"))
;; inertial parameter for LINK17_lk
(let ((tmp-cds (make-coords :pos (float-vector 8.0000000000000000e+00 -1.3856000000000000e+01 -1.8000000000000000e+01))
))
(send LINK17_lk :weight 13.908)
(setq (LINK17_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 4.8828670000000002e+03 1.3490040000000001e+03 -1.2738170000000000e-12)
(float-vector 1.3490040000000001e+03 3.3251710000000003e+03 1.1275320000000001e-12)
(float-vector -1.2738170000000000e-12 1.1275320000000001e-12 4.6823599999999997e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK17_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK17_lk
(let ((world-cds (make-coords :pos (float-vector 1.1250001748503262e+01 7.9499999206769374e+01 -1.3347628833355850e+02)
:rot (quaternion2matrix (float-vector -5.0000000332156080e-01 -4.9999999638718451e-01 -4.9999999861281574e-01 -5.0000000167843961e-01)))
))
(send LINK17_lk :transform world-cds))
)
;; link: LINK18_lk
(let ((geom-lst (list
(send self :_make_instance_LINK18_geom0)
(send self :_make_instance_LINK18_geom1)
(send self :_make_instance_LINK18_geom2))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK18_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK18"))
;; inertial parameter for LINK18_lk
(let ((tmp-cds (make-coords :pos (float-vector -4.1239160000000001e-15 5.7436160000000004e-16 1.1206000000000001e+01))
))
(send LINK18_lk :weight 12.371)
(setq (LINK18_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 3.5834349999999999e+03 -2.3918070000000004e-12 7.0221989999999995e-13)
(float-vector -2.3918070000000004e-12 1.9374199999999998e+03 -1.1368680000000001e-13)
(float-vector 7.0221989999999995e-13 -1.1368680000000001e-13 2.5830679999999998e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK18_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK18_lk
(let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 4.4500000000000000e+01 -6.1000000000000000e+01)
:rot (quaternion2matrix (float-vector 1.2691834951946709e-09 7.0710678005337235e-01 7.0710678231972268e-01 1.2691834992625352e-09)))
))
(send LINK18_lk :transform world-cds))
)
;; link: LINK19_lk
(let ((geom-lst (list
(send self :_make_instance_LINK19_geom0)
(send self :_make_instance_LINK19_geom1)
(send self :_make_instance_LINK19_geom2)
(send self :_make_instance_LINK19_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK19_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK19"))
;; inertial parameter for LINK19_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 7.6494489999999998e-02 1.5060000000000000e+00))
))
(send LINK19_lk :weight 61.777)
(setq (LINK19_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 1.1732310000000002e+01 2.4660640000000006e+02)
(float-vector 1.1732310000000002e+01 2.8207020000000000e+04 -7.3220300000000009e+01)
(float-vector 2.4660640000000006e+02 -7.3220300000000009e+01 9.1407569999999996e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK19_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK19_lk
(let ((world-cds (make-coords :pos (float-vector -1.6999999901280692e+01 4.4499999945513245e+01 -8.8500000061026483e+01)
:rot (quaternion2matrix (float-vector 6.3882519732286353e-10 -7.0710678099238844e-01 -1.3555081135708072e-09 -7.0710678138070659e-01)))
))
(send LINK19_lk :transform world-cds))
)
;; link: LINK20_lk
(let ((geom-lst (list
(send self :_make_instance_LINK20_geom0)
(send self :_make_instance_LINK20_geom1)
(send self :_make_instance_LINK20_geom2)
(send self :_make_instance_LINK20_geom3)
(send self :_make_instance_LINK20_geom4)
(send self :_make_instance_LINK20_geom5))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK20_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK20"))
;; inertial parameter for LINK20_lk
(let ((tmp-cds (make-coords :pos (float-vector -3.2563000000000002e+01 -6.4391159999999997e-14 -1.7500000000000000e+01))
))
(send LINK20_lk :weight 25.166)
(setq (LINK20_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 5.2814290000000001e+03 -1.1863330000000000e-11 -5.2295949999999998e-12)
(float-vector -1.1863330000000000e-11 1.1705179999999998e+04 5.8978330000000002e-13)
(float-vector -5.2295949999999998e-12 5.8978330000000002e-13 8.3159459999999999e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK20_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK20_lk
(let ((world-cds (make-coords :pos (float-vector 4.7951871640083965e-08 6.2499999993460264e+01 -8.8500000069934458e+01)
:rot (quaternion2matrix (float-vector 5.0000000111570231e-01 -4.9999999860971533e-01 -5.0000000189705596e-01 -4.9999999837752640e-01)))
))
(send LINK20_lk :transform world-cds))
)
;; link: LINK21_lk
(let ((geom-lst (list
(send self :_make_instance_LINK21_geom0)
(send self :_make_instance_LINK21_geom1)
(send self :_make_instance_LINK21_geom2)
(send self :_make_instance_LINK21_geom3)
(send self :_make_instance_LINK21_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK21_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK21"))
;; inertial parameter for LINK21_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.5638000000000000e+01 -7.7330000000000005e+00 -1.8086000000000002e+01))
))
(send LINK21_lk :weight 55.048)
(setq (LINK21_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.0811980000000000e+04 -3.3468140000000003e+03 2.7345170000000000e+01)
(float-vector -3.3468140000000003e+03 1.2101710000000001e+04 3.6542620000000007e+01)
(float-vector 2.7345170000000000e+01 3.6542620000000007e+01 2.2126670000000002e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK21_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK21_lk
(let ((world-cds (make-coords :pos (float-vector 7.9803427754931988e-08 6.2499999934674797e+01 -1.4650000006993446e+02)
:rot (quaternion2matrix (float-vector 1.4648649052042140e-01 -1.4648648650063767e-01 -6.9176709214841225e-01 -6.9176709056462005e-01)))
))
(send LINK21_lk :transform world-cds))
)
;; link: LINK22_lk
(let ((geom-lst (list
(send self :_make_instance_LINK22_geom0)
(send self :_make_instance_LINK22_geom1)
(send self :_make_instance_LINK22_geom2)
(send self :_make_instance_LINK22_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK22_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK22"))
;; inertial parameter for LINK22_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 -1.5494000000000002e+01 -1.8075999999999997e+01))
))
(send LINK22_lk :weight 61.777)
(setq (LINK22_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 2.4660640000000006e+02 -1.1732310000000002e+01)
(float-vector 2.4660640000000006e+02 9.1407569999999996e+03 7.3220300000000009e+01)
(float-vector -1.1732310000000002e+01 7.3220300000000009e+01 2.8207020000000000e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK22_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK22_lk
(let ((world-cds (make-coords :pos (float-vector 1.0904033882416786e-07 2.6999999875913360e+01 -2.0447628829044697e+02)
:rot (quaternion2matrix (float-vector 5.0000000010215950e-01 4.9999999837752640e-01 5.0000000111570242e-01 -5.0000000040461201e-01)))
))
(send LINK22_lk :transform world-cds))
)
;; link: LINK23_lk
(let ((geom-lst (list
(send self :_make_instance_LINK23_geom0)
(send self :_make_instance_LINK23_geom1)
(send self :_make_instance_LINK23_geom2)
(send self :_make_instance_LINK23_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK23_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK23"))
;; inertial parameter for LINK23_lk
(let ((tmp-cds (make-coords :pos (float-vector 2.4070000000000000e+01 7.6449999999999996e+00 1.7000000000000000e+01))
))
(send LINK23_lk :weight 34.087)
(setq (LINK23_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.9227029999999999e+04 -1.1543699999999999e+03 2.2737370000000003e-12)
(float-vector -1.1543699999999999e+03 2.2899520000000000e+04 3.7175599999999994e-11)
(float-vector 2.2737370000000003e-12 3.7175599999999994e-11 1.1704129999999999e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK23_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK23_lk
(let ((world-cds (make-coords :pos (float-vector -1.6999999934802684e+01 4.4999999834506063e+01 -2.0447628825700008e+02)
:rot (quaternion2matrix (float-vector 7.0710678011152317e-01 -2.3526748882396475e-09 7.0710678226157220e-01 1.6359920085307067e-09)))
))
(send LINK23_lk :transform world-cds))
)
;; link: LINK24_lk
(let ((geom-lst (list
(send self :_make_instance_LINK24_geom0)
(send self :_make_instance_LINK24_geom1)
(send self :_make_instance_LINK24_geom2))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK24_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK24"))
;; inertial parameter for LINK24_lk
(let ((tmp-cds (make-coords :pos (float-vector 9.1673860000000008e-15 -5.1692540000000002e-15 1.1206000000000001e+01))
))
(send LINK24_lk :weight 12.371)
(setq (LINK24_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 3.5834349999999999e+03 -6.3045070000000000e-13 -4.7084420000000004e-13)
(float-vector -6.3045070000000000e-13 1.9374199999999998e+03 -1.1368680000000001e-13)
(float-vector -4.7084420000000004e-13 -1.1368680000000001e-13 2.5830679999999998e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK24_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK24_lk
(let ((world-cds (make-coords :pos (float-vector 0.0000000000000000e+00 -4.4500000000000000e+01 -6.1000000000000000e+01)
:rot (quaternion2matrix (float-vector 1.2691834951946709e-09 -7.0710678005337235e-01 7.0710678231972268e-01 -1.2691834992625352e-09)))
))
(send LINK24_lk :transform world-cds))
)
;; link: LINK25_lk
(let ((geom-lst (list
(send self :_make_instance_LINK25_geom0)
(send self :_make_instance_LINK25_geom1)
(send self :_make_instance_LINK25_geom2)
(send self :_make_instance_LINK25_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK25_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK25"))
;; inertial parameter for LINK25_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 7.6494489999999998e-02 1.5060000000000000e+00))
))
(send LINK25_lk :weight 61.777)
(setq (LINK25_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 1.1732310000000002e+01 2.4660640000000006e+02)
(float-vector 1.1732310000000002e+01 2.8207020000000000e+04 -7.3220300000000009e+01)
(float-vector 2.4660640000000006e+02 -7.3220300000000009e+01 9.1407569999999996e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK25_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK25_lk
(let ((world-cds (make-coords :pos (float-vector -1.6999999901280692e+01 -4.4499999945513245e+01 -8.8500000061026483e+01)
:rot (quaternion2matrix (float-vector -3.5355338461422576e-09 -7.0710678105053926e-01 3.5355338317262159e-09 -7.0710678132255589e-01)))
))
(send LINK25_lk :transform world-cds))
)
;; link: LINK26_lk
(let ((geom-lst (list
(send self :_make_instance_LINK26_geom0)
(send self :_make_instance_LINK26_geom1)
(send self :_make_instance_LINK26_geom2)
(send self :_make_instance_LINK26_geom3)
(send self :_make_instance_LINK26_geom4)
(send self :_make_instance_LINK26_geom5))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK26_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK26"))
;; inertial parameter for LINK26_lk
(let ((tmp-cds (make-coords :pos (float-vector -3.2563000000000002e+01 -6.3067639999999999e-14 -1.7500000000000000e+01))
))
(send LINK26_lk :weight 25.166)
(setq (LINK26_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 5.2814290000000001e+03 -1.1892899999999999e-11 -2.7284840000000000e-12)
(float-vector -1.1892899999999999e-11 1.1705179999999998e+04 2.1445179999999995e-12)
(float-vector -2.7284840000000000e-12 2.1445179999999995e-12 8.3159459999999999e+03))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK26_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK26_lk
(let ((world-cds (make-coords :pos (float-vector 2.7871930458056582e-07 -2.6500000115513242e+01 -8.8500000054486762e+01)
:rot (quaternion2matrix (float-vector 4.9999999820510349e-01 -5.0000000160255176e-01 -4.9999999839744830e-01 -5.0000000179489656e-01)))
))
(send LINK26_lk :transform world-cds))
)
;; link: LINK27_lk
(let ((geom-lst (list
(send self :_make_instance_LINK27_geom0)
(send self :_make_instance_LINK27_geom1)
(send self :_make_instance_LINK27_geom2)
(send self :_make_instance_LINK27_geom3)
(send self :_make_instance_LINK27_geom4))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK27_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK27"))
;; inertial parameter for LINK27_lk
(let ((tmp-cds (make-coords :pos (float-vector -1.5638000000000000e+01 -7.7330000000000005e+00 -1.8086000000000002e+01))
))
(send LINK27_lk :weight 55.048)
(setq (LINK27_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.0811980000000000e+04 -3.3468140000000003e+03 2.7345170000000000e+01)
(float-vector -3.3468140000000003e+03 1.2101710000000001e+04 3.6542620000000007e+01)
(float-vector 2.7345170000000000e+01 3.6542620000000007e+01 2.2126670000000002e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK27_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK27_lk
(let ((world-cds (make-coords :pos (float-vector 3.0103129711189780e-07 -2.6500000115513242e+01 -1.4650000005448678e+02)
:rot (quaternion2matrix (float-vector 1.4648648621717592e-01 -1.4648649091766169e-01 -6.9176709084678922e-01 -6.9176709184214968e-01)))
))
(send LINK27_lk :transform world-cds))
)
;; link: LINK28_lk
(let ((geom-lst (list
(send self :_make_instance_LINK28_geom0)
(send self :_make_instance_LINK28_geom1)
(send self :_make_instance_LINK28_geom2)
(send self :_make_instance_LINK28_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK28_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK28"))
;; inertial parameter for LINK28_lk
(let ((tmp-cds (make-coords :pos (float-vector -7.3680000000000003e+00 -1.5494000000000002e+01 -1.8075999999999997e+01))
))
(send LINK28_lk :weight 61.777)
(setq (LINK28_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.6563709999999995e+04 2.4660640000000006e+02 -1.1732310000000002e+01)
(float-vector 2.4660640000000006e+02 9.1407569999999996e+03 7.3220300000000009e+01)
(float-vector -1.1732310000000002e+01 7.3220300000000009e+01 2.8207020000000000e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK28_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK28_lk
(let ((world-cds (make-coords :pos (float-vector -1.3439211722643396e-07 -6.2000000115513245e+01 -2.0447628831098007e+02)
:rot (quaternion2matrix (float-vector 4.9999999660255184e-01 5.0000000179489656e-01 4.9999999820510360e-01 -5.0000000339744843e-01)))
))
(send LINK28_lk :transform world-cds))
)
;; link: LINK29_lk
(let ((geom-lst (list
(send self :_make_instance_LINK29_geom0)
(send self :_make_instance_LINK29_geom1)
(send self :_make_instance_LINK29_geom2)
(send self :_make_instance_LINK29_geom3))))
(dolist (g (cdr geom-lst)) (send (car geom-lst) :assoc g))
(setq LINK29_lk
(instance bodyset-link
:init (make-cascoords)
:bodies geom-lst
:name "LINK29"))
;; inertial parameter for LINK29_lk
(let ((tmp-cds (make-coords :pos (float-vector 2.4070000000000000e+01 -7.6449999999999996e+00 1.7000000000000000e+01))
))
(send LINK29_lk :weight 34.087)
(setq (LINK29_lk . inertia-tensor)
(m* (m* (send tmp-cds :worldrot) (matrix
(float-vector 2.9227029999999999e+04 1.1543699999999999e+03 1.6257220000000005e-11)
(float-vector 1.1543699999999999e+03 2.2899520000000000e+04 4.4110490000000002e-11)
(float-vector 1.6257220000000005e-11 4.4110490000000002e-11 1.1704129999999999e+04))
) (transpose (send tmp-cds :worldrot))))
(setq (LINK29_lk . acentroid) (copy-seq (send tmp-cds :worldpos)))
)
;; global coordinates for LINK29_lk
(let ((world-cds (make-coords :pos (float-vector -1.6999999947467703e+01 -4.3999999938973531e+01 -2.0447628825649329e+02)
:rot (quaternion2matrix (float-vector 7.0710678005337235e-01 2.5383670165801675e-09 7.0710678231972290e-01 -2.5383670720913187e-09)))
))
(send LINK29_lk :transform world-cds))
)
(send LINK15_lk :assoc LINK17_lk)
(send LINK6_lk :assoc LINK8_lk)
(send LINK9_lk :assoc LINK10_lk)
(send BASE_lk :assoc LINK9_lk)
(send LINK12_lk :assoc LINK13_lk)
(send LINK15_lk :assoc LINK16_lk)
(send BASE_lk :assoc LINK0_lk)
(send LINK11_lk :assoc LINK12_lk)
(send LINK0_lk :assoc LINK11_lk)
(send LINK13_lk :assoc LINK14_lk)
(send LINK14_lk :assoc LINK15_lk)
(send LINK21_lk :assoc LINK22_lk)
(send LINK22_lk :assoc LINK23_lk)
(send LINK19_lk :assoc LINK20_lk)
(send LINK18_lk :assoc LINK19_lk)
(send BASE_lk :assoc LINK18_lk)
(send LINK20_lk :assoc LINK21_lk)
(send LINK3_lk :assoc LINK4_lk)
(send LINK6_lk :assoc LINK7_lk)
(send BASE_lk :assoc LINK1_lk)
(send LINK2_lk :assoc LINK3_lk)
(send LINK1_lk :assoc LINK2_lk)
(send LINK4_lk :assoc LINK5_lk)
(send LINK5_lk :assoc LINK6_lk)
(send LINK27_lk :assoc LINK28_lk)
(send LINK28_lk :assoc LINK29_lk)
(send LINK25_lk :assoc LINK26_lk)
(send LINK24_lk :assoc LINK25_lk)
(send BASE_lk :assoc LINK24_lk)
(send LINK26_lk :assoc LINK27_lk)
(send self :assoc BASE_lk)
;; joint models
;; joint: JOINT17_jt
(setq JOINT17_jt
(instance rotational-joint :init
:name "JOINT17"
:parent-link LINK15_lk :child-link LINK17_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: JOINT8_jt
(setq JOINT8_jt
(instance rotational-joint :init
:name "JOINT8"
:parent-link LINK6_lk :child-link LINK8_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: head_neck_p_jt
(setq head_neck_p_jt
(instance rotational-joint :init
:name "head_neck_p"
:parent-link LINK9_lk :child-link LINK10_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: head_neck_y_jt
(setq head_neck_y_jt
(instance rotational-joint :init
:name "head_neck_y"
:parent-link BASE_lk :child-link LINK9_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_elbow_p_jt
(setq larm_elbow_p_jt
(instance rotational-joint :init
:name "larm_elbow_p"
:parent-link LINK12_lk :child-link LINK13_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_gripper_r_jt
(setq larm_gripper_r_jt
(instance rotational-joint :init
:name "larm_gripper_r"
:parent-link LINK15_lk :child-link LINK16_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_shoulder_p_jt
(setq larm_shoulder_p_jt
(instance rotational-joint :init
:name "larm_shoulder_p"
:parent-link BASE_lk :child-link LINK0_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_shoulder_r_jt
(setq larm_shoulder_r_jt
(instance rotational-joint :init
:name "larm_shoulder_r"
:parent-link LINK11_lk :child-link LINK12_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_shoulder_y_jt
(setq larm_shoulder_y_jt
(instance rotational-joint :init
:name "larm_shoulder_y"
:parent-link LINK0_lk :child-link LINK11_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_wrist_p_jt
(setq larm_wrist_p_jt
(instance rotational-joint :init
:name "larm_wrist_p"
:parent-link LINK13_lk :child-link LINK14_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: larm_wrist_r_jt
(setq larm_wrist_r_jt
(instance rotational-joint :init
:name "larm_wrist_r"
:parent-link LINK14_lk :child-link LINK15_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_ankle_p_jt
(setq lleg_ankle_p_jt
(instance rotational-joint :init
:name "lleg_ankle_p"
:parent-link LINK21_lk :child-link LINK22_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_ankle_r_jt
(setq lleg_ankle_r_jt
(instance rotational-joint :init
:name "lleg_ankle_r"
:parent-link LINK22_lk :child-link LINK23_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_crotch_p_jt
(setq lleg_crotch_p_jt
(instance rotational-joint :init
:name "lleg_crotch_p"
:parent-link LINK19_lk :child-link LINK20_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_crotch_r_jt
(setq lleg_crotch_r_jt
(instance rotational-joint :init
:name "lleg_crotch_r"
:parent-link LINK18_lk :child-link LINK19_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_crotch_y_jt
(setq lleg_crotch_y_jt
(instance rotational-joint :init
:name "lleg_crotch_y"
:parent-link BASE_lk :child-link LINK18_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: lleg_knee_p_jt
(setq lleg_knee_p_jt
(instance rotational-joint :init
:name "lleg_knee_p"
:parent-link LINK20_lk :child-link LINK21_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_elbow_p_jt
(setq rarm_elbow_p_jt
(instance rotational-joint :init
:name "rarm_elbow_p"
:parent-link LINK3_lk :child-link LINK4_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_gripper_r_jt
(setq rarm_gripper_r_jt
(instance rotational-joint :init
:name "rarm_gripper_r"
:parent-link LINK6_lk :child-link LINK7_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_shoulder_p_jt
(setq rarm_shoulder_p_jt
(instance rotational-joint :init
:name "rarm_shoulder_p"
:parent-link BASE_lk :child-link LINK1_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_shoulder_r_jt
(setq rarm_shoulder_r_jt
(instance rotational-joint :init
:name "rarm_shoulder_r"
:parent-link LINK2_lk :child-link LINK3_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_shoulder_y_jt
(setq rarm_shoulder_y_jt
(instance rotational-joint :init
:name "rarm_shoulder_y"
:parent-link LINK1_lk :child-link LINK2_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_wrist_p_jt
(setq rarm_wrist_p_jt
(instance rotational-joint :init
:name "rarm_wrist_p"
:parent-link LINK4_lk :child-link LINK5_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rarm_wrist_r_jt
(setq rarm_wrist_r_jt
(instance rotational-joint :init
:name "rarm_wrist_r"
:parent-link LINK5_lk :child-link LINK6_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_ankle_p_jt
(setq rleg_ankle_p_jt
(instance rotational-joint :init
:name "rleg_ankle_p"
:parent-link LINK27_lk :child-link LINK28_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_ankle_r_jt
(setq rleg_ankle_r_jt
(instance rotational-joint :init
:name "rleg_ankle_r"
:parent-link LINK28_lk :child-link LINK29_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_crotch_p_jt
(setq rleg_crotch_p_jt
(instance rotational-joint :init
:name "rleg_crotch_p"
:parent-link LINK25_lk :child-link LINK26_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_crotch_r_jt
(setq rleg_crotch_r_jt
(instance rotational-joint :init
:name "rleg_crotch_r"
:parent-link LINK24_lk :child-link LINK25_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_crotch_y_jt
(setq rleg_crotch_y_jt
(instance rotational-joint :init
:name "rleg_crotch_y"
:parent-link BASE_lk :child-link LINK24_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 -1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; joint: rleg_knee_p_jt
(setq rleg_knee_p_jt
(instance rotational-joint :init
:name "rleg_knee_p"
:parent-link LINK26_lk :child-link LINK27_lk
:axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00)
:min -270.000055 :max 270.000055
:max-joint-velocity 40.000000
:max-joint-torque 200.000000
))
;; end coords from yaml file
(setq lleg-end-coords (make-cascoords :coords (send LINK23_lk :copy-worldcoords) :name :lleg-end-coords))
(send lleg-end-coords :translate (float-vector 3.1000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00))
(send lleg-end-coords :rotate 1.5707963267948966e+00 (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00))
(send LINK23_lk :assoc lleg-end-coords)
(setq rleg-end-coords (make-cascoords :coords (send LINK29_lk :copy-worldcoords) :name :rleg-end-coords))
(send rleg-end-coords :translate (float-vector 3.1000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00))
(send rleg-end-coords :rotate 1.5707963267948966e+00 (float-vector 0.0000000000000000e+00 -1.0000000000000000e+00 0.0000000000000000e+00))
(send LINK29_lk :assoc rleg-end-coords)
(setq rarm-end-coords (make-cascoords :coords (send LINK6_lk :copy-worldcoords) :name :rarm-end-coords))
(send rarm-end-coords :translate (float-vector 7.7000000000000000e+01 -2.3000000000000000e+01 0.0000000000000000e+00))
(send LINK6_lk :assoc rarm-end-coords)
(setq larm-end-coords (make-cascoords :coords (send LINK15_lk :copy-worldcoords) :name :larm-end-coords))
(send larm-end-coords :translate (float-vector 7.7000000000000000e+01 2.3000000000000000e+01 0.0000000000000000e+00))
(send LINK15_lk :assoc larm-end-coords)
(setq head-end-coords (make-cascoords :coords (send LINK10_lk :copy-worldcoords) :name :head-end-coords))
(send LINK10_lk :assoc head-end-coords)
;; limbs
(setq lleg (list LINK18_lk LINK19_lk LINK20_lk LINK21_lk LINK22_lk LINK23_lk))
(setq lleg-root-link
(labels ((find-parent (l) (if (find (send l :parent) lleg) (find-parent (send l :parent)) l)))
(find-parent (car lleg))))
(setq rleg (list LINK24_lk LINK25_lk LINK26_lk LINK27_lk LINK28_lk LINK29_lk))
(setq rleg-root-link
(labels ((find-parent (l) (if (find (send l :parent) rleg) (find-parent (send l :parent)) l)))
(find-parent (car rleg))))
(setq rarm (list LINK1_lk LINK2_lk LINK3_lk LINK4_lk LINK5_lk LINK6_lk LINK7_lk LINK8_lk))
(setq rarm-root-link
(labels ((find-parent (l) (if (find (send l :parent) rarm) (find-parent (send l :parent)) l)))
(find-parent (car rarm))))
(setq larm (list LINK0_lk LINK11_lk LINK12_lk LINK13_lk LINK14_lk LINK15_lk LINK16_lk LINK17_lk))
(setq larm-root-link
(labels ((find-parent (l) (if (find (send l :parent) larm) (find-parent (send l :parent)) l)))
(find-parent (car larm))))
(setq head (list LINK9_lk LINK10_lk))
(setq head-root-link
(labels ((find-parent (l) (if (find (send l :parent) head) (find-parent (send l :parent)) l)))
(find-parent (car head))))
;; links
(setq links (list BASE_lk LINK18_lk LINK19_lk LINK20_lk LINK21_lk LINK22_lk LINK23_lk LINK24_lk LINK25_lk LINK26_lk LINK27_lk LINK28_lk LINK29_lk LINK1_lk LINK2_lk LINK3_lk LINK4_lk LINK5_lk LINK6_lk LINK7_lk LINK8_lk LINK0_lk LINK11_lk LINK12_lk LINK13_lk LINK14_lk LINK15_lk LINK16_lk LINK17_lk LINK9_lk LINK10_lk))
;; joint-list
(setq joint-list (list lleg_crotch_y_jt lleg_crotch_r_jt lleg_crotch_p_jt lleg_knee_p_jt lleg_ankle_p_jt lleg_ankle_r_jt rleg_crotch_y_jt rleg_crotch_r_jt rleg_crotch_p_jt rleg_knee_p_jt rleg_ankle_p_jt rleg_ankle_r_jt rarm_shoulder_p_jt rarm_shoulder_y_jt rarm_shoulder_r_jt rarm_elbow_p_jt rarm_wrist_p_jt rarm_wrist_r_jt rarm_gripper_r_jt JOINT8_jt larm_shoulder_p_jt larm_shoulder_y_jt larm_shoulder_r_jt larm_elbow_p_jt larm_wrist_p_jt larm_wrist_r_jt larm_gripper_r_jt JOINT17_jt head_neck_y_jt head_neck_p_jt))
;; sensor-coords
;; attach_sensor lists
(setq force-sensors (list ))
(setq imu-sensors (list ))
(setq cameras (list ))
;; init-ending
(send self :init-ending) ;; :urdf
;; overwrite bodies to return draw-things links not (send link :bodies)
(setq bodies (flatten (mapcar #'(lambda (b) (if (find-method b :bodies) (send b :bodies))) (list BASE_lk LINK0_lk LINK1_lk LINK10_lk LINK11_lk LINK12_lk LINK13_lk LINK14_lk LINK15_lk LINK16_lk LINK17_lk LINK18_lk LINK19_lk LINK2_lk LINK20_lk LINK21_lk LINK22_lk LINK23_lk LINK24_lk LINK25_lk LINK26_lk LINK27_lk LINK28_lk LINK29_lk LINK3_lk LINK4_lk LINK5_lk LINK6_lk LINK7_lk LINK8_lk LINK9_lk))))
(when (member :reset-pose (send self :methods)) (send self :reset-pose)) ;; :set reset-pose
self)) ;; end of :init
;; pre-defined pose methods
(:reset-pose (&optional (limbs '(:lleg :rleg :rarm :larm :head)))
"Predefined pose named reset-pose."
(unless (listp limbs) (setq limbs (list limbs)))
(dolist (limb limbs)
(case limb
(:lleg (send self limb :angle-vector (float-vector 0.000000 0.000000 -20.000000 40.000000 -20.000000 0.000000)))
(:rleg (send self limb :angle-vector (float-vector 0.000000 0.000000 -20.000000 40.000000 -20.000000 0.000000)))
(:rarm (send self limb :angle-vector (float-vector 30.000000 0.000000 0.000000 -40.000000 -30.000000 0.000000 0.000000 0.000000)))
(:larm (send self limb :angle-vector (float-vector 30.000000 0.000000 0.000000 -40.000000 -30.000000 0.000000 0.000000 0.000000)))
(:head (send self limb :angle-vector (float-vector 0.000000 10.000000)))
(t (format t "Unknown limb is passed: ~a~%" limb))))
(send self :angle-vector))
(:reset-manip-pose (&optional (limbs '(:lleg :rleg :rarm :larm :head)))
"Predefined pose named reset-manip-pose."
(unless (listp limbs) (setq limbs (list limbs)))
(dolist (limb limbs)
(case limb
(:lleg (send self limb :angle-vector (float-vector 0.000000 0.000000 -20.000000 40.000000 -20.000000 0.000000)))
(:rleg (send self limb :angle-vector (float-vector 0.000000 0.000000 -20.000000 40.000000 -20.000000 0.000000)))
(:rarm (send self limb :angle-vector (float-vector 45.000000 0.000000 -30.000000 -60.000000 -45.000000 0.000000 0.000000 0.000000)))
(:larm (send self limb :angle-vector (float-vector 45.000000 0.000000 30.000000 -60.000000 -45.000000 0.000000 0.000000 0.000000)))
(:head (send self limb :angle-vector (float-vector 0.000000 10.000000)))
(t (format t "Unknown limb is passed: ~a~%" limb))))
(send self :angle-vector))
;; all joints
(:JOINT17 (&rest args) (forward-message-to JOINT17_jt args))
(:JOINT8 (&rest args) (forward-message-to JOINT8_jt args))
(:head_neck_p (&rest args) (forward-message-to head_neck_p_jt args))
(:head_neck_y (&rest args) (forward-message-to head_neck_y_jt args))
(:larm_elbow_p (&rest args) (forward-message-to larm_elbow_p_jt args))
(:larm_gripper_r (&rest args) (forward-message-to larm_gripper_r_jt args))
(:larm_shoulder_p (&rest args) (forward-message-to larm_shoulder_p_jt args))
(:larm_shoulder_r (&rest args) (forward-message-to larm_shoulder_r_jt args))
(:larm_shoulder_y (&rest args) (forward-message-to larm_shoulder_y_jt args))
(:larm_wrist_p (&rest args) (forward-message-to larm_wrist_p_jt args))
(:larm_wrist_r (&rest args) (forward-message-to larm_wrist_r_jt args))
(:lleg_ankle_p (&rest args) (forward-message-to lleg_ankle_p_jt args))
(:lleg_ankle_r (&rest args) (forward-message-to lleg_ankle_r_jt args))
(:lleg_crotch_p (&rest args) (forward-message-to lleg_crotch_p_jt args))
(:lleg_crotch_r (&rest args) (forward-message-to lleg_crotch_r_jt args))
(:lleg_crotch_y (&rest args) (forward-message-to lleg_crotch_y_jt args))
(:lleg_knee_p (&rest args) (forward-message-to lleg_knee_p_jt args))
(:rarm_elbow_p (&rest args) (forward-message-to rarm_elbow_p_jt args))
(:rarm_gripper_r (&rest args) (forward-message-to rarm_gripper_r_jt args))
(:rarm_shoulder_p (&rest args) (forward-message-to rarm_shoulder_p_jt args))
(:rarm_shoulder_r (&rest args) (forward-message-to rarm_shoulder_r_jt args))
(:rarm_shoulder_y (&rest args) (forward-message-to rarm_shoulder_y_jt args))
(:rarm_wrist_p (&rest args) (forward-message-to rarm_wrist_p_jt args))
(:rarm_wrist_r (&rest args) (forward-message-to rarm_wrist_r_jt args))
(:rleg_ankle_p (&rest args) (forward-message-to rleg_ankle_p_jt args))
(:rleg_ankle_r (&rest args) (forward-message-to rleg_ankle_r_jt args))
(:rleg_crotch_p (&rest args) (forward-message-to rleg_crotch_p_jt args))
(:rleg_crotch_r (&rest args) (forward-message-to rleg_crotch_r_jt args))
(:rleg_crotch_y (&rest args) (forward-message-to rleg_crotch_y_jt args))
(:rleg_knee_p (&rest args) (forward-message-to rleg_knee_p_jt args))
;; all links forwarding
(:links (&rest args)
(if (null args) (return-from :links (send-super :links)))
(let ((key (car args))
(nargs (cdr args)))
(unless (keywordp key)
(return-from :links (send-super* :links args)))
(case key
(:BASE (forward-message-to BASE_lk nargs))
(:LINK0 (forward-message-to LINK0_lk nargs))
(:LINK1 (forward-message-to LINK1_lk nargs))
(:LINK10 (forward-message-to LINK10_lk nargs))
(:LINK11 (forward-message-to LINK11_lk nargs))
(:LINK12 (forward-message-to LINK12_lk nargs))
(:LINK13 (forward-message-to LINK13_lk nargs))
(:LINK14 (forward-message-to LINK14_lk nargs))
(:LINK15 (forward-message-to LINK15_lk nargs))
(:LINK16 (forward-message-to LINK16_lk nargs))
(:LINK17 (forward-message-to LINK17_lk nargs))
(:LINK18 (forward-message-to LINK18_lk nargs))
(:LINK19 (forward-message-to LINK19_lk nargs))
(:LINK2 (forward-message-to LINK2_lk nargs))
(:LINK20 (forward-message-to LINK20_lk nargs))
(:LINK21 (forward-message-to LINK21_lk nargs))
(:LINK22 (forward-message-to LINK22_lk nargs))
(:LINK23 (forward-message-to LINK23_lk nargs))
(:LINK24 (forward-message-to LINK24_lk nargs))
(:LINK25 (forward-message-to LINK25_lk nargs))
(:LINK26 (forward-message-to LINK26_lk nargs))
(:LINK27 (forward-message-to LINK27_lk nargs))
(:LINK28 (forward-message-to LINK28_lk nargs))
(:LINK29 (forward-message-to LINK29_lk nargs))
(:LINK3 (forward-message-to LINK3_lk nargs))
(:LINK4 (forward-message-to LINK4_lk nargs))
(:LINK5 (forward-message-to LINK5_lk nargs))
(:LINK6 (forward-message-to LINK6_lk nargs))
(:LINK7 (forward-message-to LINK7_lk nargs))
(:LINK8 (forward-message-to LINK8_lk nargs))
(:LINK9 (forward-message-to LINK9_lk nargs))
(t (send-super* :links args)))))
;; all links
(:BASE_lk (&rest args) (forward-message-to BASE_lk args))
(:LINK0_lk (&rest args) (forward-message-to LINK0_lk args))
(:LINK1_lk (&rest args) (forward-message-to LINK1_lk args))
(:LINK10_lk (&rest args) (forward-message-to LINK10_lk args))
(:LINK11_lk (&rest args) (forward-message-to LINK11_lk args))
(:LINK12_lk (&rest args) (forward-message-to LINK12_lk args))
(:LINK13_lk (&rest args) (forward-message-to LINK13_lk args))
(:LINK14_lk (&rest args) (forward-message-to LINK14_lk args))
(:LINK15_lk (&rest args) (forward-message-to LINK15_lk args))
(:LINK16_lk (&rest args) (forward-message-to LINK16_lk args))
(:LINK17_lk (&rest args) (forward-message-to LINK17_lk args))
(:LINK18_lk (&rest args) (forward-message-to LINK18_lk args))
(:LINK19_lk (&rest args) (forward-message-to LINK19_lk args))
(:LINK2_lk (&rest args) (forward-message-to LINK2_lk args))
(:LINK20_lk (&rest args) (forward-message-to LINK20_lk args))
(:LINK21_lk (&rest args) (forward-message-to LINK21_lk args))
(:LINK22_lk (&rest args) (forward-message-to LINK22_lk args))
(:LINK23_lk (&rest args) (forward-message-to LINK23_lk args))
(:LINK24_lk (&rest args) (forward-message-to LINK24_lk args))
(:LINK25_lk (&rest args) (forward-message-to LINK25_lk args))
(:LINK26_lk (&rest args) (forward-message-to LINK26_lk args))
(:LINK27_lk (&rest args) (forward-message-to LINK27_lk args))
(:LINK28_lk (&rest args) (forward-message-to LINK28_lk args))
(:LINK29_lk (&rest args) (forward-message-to LINK29_lk args))
(:LINK3_lk (&rest args) (forward-message-to LINK3_lk args))
(:LINK4_lk (&rest args) (forward-message-to LINK4_lk args))
(:LINK5_lk (&rest args) (forward-message-to LINK5_lk args))
(:LINK6_lk (&rest args) (forward-message-to LINK6_lk args))
(:LINK7_lk (&rest args) (forward-message-to LINK7_lk args))
(:LINK8_lk (&rest args) (forward-message-to LINK8_lk args))
(:LINK9_lk (&rest args) (forward-message-to LINK9_lk args))
;; user-defined joint
(:lleg-crotch-y (&rest args) (forward-message-to lleg_crotch_y_jt args))
(:lleg-crotch-r (&rest args) (forward-message-to lleg_crotch_r_jt args))
(:lleg-crotch-p (&rest args) (forward-message-to lleg_crotch_p_jt args))
(:lleg-knee-p (&rest args) (forward-message-to lleg_knee_p_jt args))
(:lleg-ankle-p (&rest args) (forward-message-to lleg_ankle_p_jt args))
(:lleg-ankle-r (&rest args) (forward-message-to lleg_ankle_r_jt args))
(:rleg-crotch-y (&rest args) (forward-message-to rleg_crotch_y_jt args))
(:rleg-crotch-r (&rest args) (forward-message-to rleg_crotch_r_jt args))
(:rleg-crotch-p (&rest args) (forward-message-to rleg_crotch_p_jt args))
(:rleg-knee-p (&rest args) (forward-message-to rleg_knee_p_jt args))
(:rleg-ankle-p (&rest args) (forward-message-to rleg_ankle_p_jt args))
(:rleg-ankle-r (&rest args) (forward-message-to rleg_ankle_r_jt args))
(:rarm-shoulder-p (&rest args) (forward-message-to rarm_shoulder_p_jt args))
(:rarm-shoulder-y (&rest args) (forward-message-to rarm_shoulder_y_jt args))
(:rarm-shoulder-r (&rest args) (forward-message-to rarm_shoulder_r_jt args))
(:rarm-elbow-p (&rest args) (forward-message-to rarm_elbow_p_jt args))
(:rarm-wrist-p (&rest args) (forward-message-to rarm_wrist_p_jt args))
(:rarm-wrist-r (&rest args) (forward-message-to rarm_wrist_r_jt args))
(:rarm-gripper-r (&rest args) (forward-message-to rarm_gripper_r_jt args))
(:rarm-gripper2-r (&rest args) (forward-message-to JOINT8_jt args))
(:larm-shoulder-p (&rest args) (forward-message-to larm_shoulder_p_jt args))
(:larm-shoulder-y (&rest args) (forward-message-to larm_shoulder_y_jt args))
(:larm-shoulder-r (&rest args) (forward-message-to larm_shoulder_r_jt args))
(:larm-elbow-p (&rest args) (forward-message-to larm_elbow_p_jt args))
(:larm-wrist-p (&rest args) (forward-message-to larm_wrist_p_jt args))
(:larm-wrist-r (&rest args) (forward-message-to larm_wrist_r_jt args))
(:larm-gripper-r (&rest args) (forward-message-to larm_gripper_r_jt args))
(:larm-gripper2-r (&rest args) (forward-message-to JOINT17_jt args))
(:head-neck-y (&rest args) (forward-message-to head_neck_y_jt args))
(:head-neck-p (&rest args) (forward-message-to head_neck_p_jt args))
;; attach_sensor methods
;; geometries
(:_make_instance_BASE_geom0 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00)
:rot (quaternion2matrix (float-vector 1.2691834951946709e-09 -7.0710678005337235e-01 7.0710678231972268e-01 -1.2691834992625352e-09)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000))
(list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 4 0 5 0 4 3 31 0 2 31 5 0 1 31 2 30 29 31 31 1 30 29 5 31 29 30 28 1 28 30 28 27 29 27 28 26 1 26 28 26 25 27 25 29 27 24 23 25 25 26 24 23 29 25 23 24 22 26 22 24 22 21 23 21 44 23 54 23 44 54 29 23 21 22 20 26 20 22 20 19 21 19 20 18 26 18 20 18 17 19 15 19 17 15 21 19 17 18 16 26 16 18 16 15 17 15 16 14 16 12 14 16 10 12 16 35 10 16 36 35 16 37 36 16 38 37 16 39 38 26 39 16 14 13 15 13 14 12 12 11 13 11 12 10 5 13 11 5 15 13 10 9 11 5 11 9 8 7 9 9 10 8 5 9 7 6 5 7 7 8 6 8 3 6 10 32 8 42 8 32 42 3 8 10 33 32 10 34 33 10 35 34 33 50 32 32 51 42 51 32 50 43 3 42 52 42 51 42 52 43 15 51 50 5 51 15 5 52 51 15 50 49 50 33 49 34 49 33 15 49 48 49 34 48 35 48 34 15 48 47 48 35 47 36 47 35 21 47 46 15 47 21 47 36 46 37 46 36 21 46 45 46 37 45 21 45 44 45 38 44 38 45 37 44 39 54 39 44 38 26 40 39 40 54 39 55 29 54 54 40 55 26 41 40 41 55 40 3 26 1 3 41 26 41 3 43 55 41 53 43 53 41 53 29 55 29 53 5 5 53 52 53 43 52 5 6 4 6 3 4))
(list :vertices (let ((mat (make-matrix 56 3))) (fvector-replace (array-entity mat) #f(3.6500000000000000e+01 -2.0000000000000000e+01 -1.6000000000000000e+01 3.5000000000000000e+01 -2.2500000000000000e+01 1.6000000000000000e+01 3.5000000000000000e+01 -2.2500000000000000e+01 -1.6000000000000000e+01 3.6500000000000000e+01 -2.0000000000000000e+01 1.6000000000000000e+01 3.8000000000000000e+01 -1.0500000000000000e+01 1.6000000000000000e+01 3.8000000000000000e+01 -1.0500000000000000e+01 -1.6000000000000000e+01 3.9000000000000000e+01 -4.0000000000000000e+00 1.6000000000000000e+01 3.9000000000000000e+01 -4.0000000000000000e+00 -1.6000000000000000e+01 3.9000000000000000e+01 4.0000000000000000e+00 1.6000000000000000e+01 3.9000000000000000e+01 4.0000000000000000e+00 -1.6000000000000000e+01 3.8000000000000000e+01 1.0500000000000000e+01 1.6000000000000000e+01 3.8000000000000000e+01 1.0500000000000000e+01 -1.6000000000000000e+01 3.6500000000000000e+01 2.0000000000000000e+01 1.6000000000000000e+01 3.6500000000000000e+01 2.0000000000000000e+01 -1.6000000000000000e+01 3.5000000000000000e+01 2.2500000000000000e+01 1.6000000000000000e+01 3.5000000000000000e+01 2.2500000000000000e+01 -1.6000000000000000e+01 -3.5000000000000000e+01 2.2500000000000000e+01 1.6000000000000000e+01 -3.5000000000000000e+01 2.2500000000000000e+01 -1.6000000000000000e+01 -3.6500000000000000e+01 2.0000000000000000e+01 1.6000000000000000e+01 -3.6500000000000000e+01 2.0000000000000000e+01 -1.6000000000000000e+01 -3.8000000000000000e+01 1.0500000000000000e+01 1.6000000000000000e+01 -3.8000000000000000e+01 1.0500000000000000e+01 -1.6000000000000000e+01 -3.9000000000000000e+01 4.0000000000000000e+00 1.6000000000000000e+01 -3.9000000000000000e+01 4.0000000000000000e+00 -1.6000000000000000e+01 -3.9000000000000000e+01 -4.0000000000000000e+00 1.6000000000000000e+01 -3.9000000000000000e+01 -4.0000000000000000e+00 -1.6000000000000000e+01 -3.8000000000000000e+01 -1.0500000000000000e+01 1.6000000000000000e+01 -3.8000000000000000e+01 -1.0500000000000000e+01 -1.6000000000000000e+01 -3.6500000000000000e+01 -2.0000000000000000e+01 1.6000000000000000e+01 -3.6500000000000000e+01 -2.0000000000000000e+01 -1.6000000000000000e+01 -3.5000000000000000e+01 -2.2500000000000000e+01 1.6000000000000000e+01 -3.5000000000000000e+01 -2.2500000000000000e+01 -1.6000000000000000e+01 1.4000000000000000e+01 0.0000000000000000e+00 1.6000000000000000e+01 1.2124399185180664e+01 7.0000000000000000e+00 1.6000000000000000e+01 7.0000000000000000e+00 1.2124399185180664e+01 1.6000000000000000e+01 7.1054290516668964e-15 1.4000000000000000e+01 1.6000000000000000e+01 -7.0000000000000000e+00 1.2124399185180664e+01 1.6000000000000000e+01 -1.2124399185180664e+01 7.0000000000000000e+00 1.6000000000000000e+01 -1.4000000000000000e+01 1.4210900454981155e-14 1.6000000000000000e+01 -1.2124399185180664e+01 -7.0000000000000000e+00 1.6000000000000000e+01 -7.0000000000000000e+00 -1.2124399185180664e+01 1.6000000000000000e+01 -2.2204499456018705e-14 -1.4000000000000000e+01 1.6000000000000000e+01 1.2124399185180664e+01 -7.0000000000000000e+00 1.6000000000000000e+01 7.0000000000000000e+00 -1.2124399185180664e+01 1.6000000000000000e+01 -1.4000000000000000e+01 1.4210900454981155e-14 -1.6000000000000000e+01 -1.2124399185180664e+01 7.0000000000000000e+00 -1.6000000000000000e+01 -7.0000000000000000e+00 1.2124399185180664e+01 -1.6000000000000000e+01 7.1054290516668964e-15 1.4000000000000000e+01 -1.6000000000000000e+01 7.0000000000000000e+00 1.2124399185180664e+01 -1.6000000000000000e+01 1.2124399185180664e+01 7.0000000000000000e+00 -1.6000000000000000e+01 1.4000000000000000e+01 0.0000000000000000e+00 -1.6000000000000000e+01 1.2124399185180664e+01 -7.0000000000000000e+00 -1.6000000000000000e+01 7.0000000000000000e+00 -1.2124399185180664e+01 -1.6000000000000000e+01 -2.2204499456018705e-14 -1.4000000000000000e+01 -1.6000000000000000e+01 -1.2124399185180664e+01 -7.0000000000000000e+00 -1.6000000000000000e+01 -7.0000000000000000e+00 -1.2124399185180664e+01 -1.6000000000000000e+01 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
;; qhull 336 -> 9 faces
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 1.6000000759959221e+01) (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 -1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 -1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.9000000804662704e+01 -4.0000001899898052e+00 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01) (float-vector -3.9000000804662704e+01 -4.0000001899898052e+00 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.9000000804662704e+01 -4.0000001899898052e+00 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector -3.9000000804662704e+01 -4.0000001899898052e+00 1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.9000000804662704e+01 4.0000001899898052e+00 1.6000000759959221e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01) (float-vector -3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 1.6000000759959221e+01) (float-vector 3.5000000149011612e+01 -2.2500000894069672e+01 -1.6000000759959221e+01)))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_BATTERY-BOX.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom1 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector 2.4500000000000000e+01 -0.0000000000000000e+00 0.0000000000000000e+00)
:rot (quaternion2matrix (float-vector 1.2613864835454847e-09 -7.0710678231969581e-01 -1.2769807811001399e-09 -7.0710678005339922e-01)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.700000 0.700000 0.700000 1.000000))
(list :diffuse (float-vector 0.700000 0.700000 0.700000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 4 0 5 0 4 3 23 0 2 23 5 0 1 23 2 1 20 22 1 18 20 4 1 3 1 28 18 1 29 28 1 30 29 1 31 30 4 31 1 23 1 22 22 21 23 21 22 20 20 19 21 19 23 21 19 20 18 18 17 19 36 23 19 17 36 19 37 23 36 17 38 36 38 26 36 36 27 37 27 36 26 47 23 37 46 23 47 5 23 46 37 28 47 28 37 27 18 27 26 18 28 27 18 26 25 26 38 25 17 18 16 18 14 16 18 24 14 18 25 24 39 25 38 25 39 24 34 14 24 40 24 39 24 40 34 17 39 38 17 40 39 11 40 17 11 41 40 41 34 40 11 42 41 42 35 41 34 41 35 11 43 42 43 33 42 35 42 33 35 8 34 33 8 35 4 33 32 6 33 4 8 33 6 33 43 32 5 43 11 5 44 43 44 32 43 4 32 31 32 44 31 5 6 4 6 5 7 7 8 6 5 9 7 5 11 9 5 45 44 5 46 45 45 31 44 31 45 30 46 30 45 30 46 29 47 29 46 29 47 28 8 7 9 10 9 11 9 10 8 34 8 10 11 12 10 34 10 12 34 12 14 12 11 13 13 14 12 14 13 15 15 16 14 11 15 13 16 15 17 11 17 15))
(list :vertices (let ((mat (make-matrix 48 3))) (fvector-replace (array-entity mat) #f(1.4722400665283203e+01 8.5000000000000000e+00 0.0000000000000000e+00 1.7000000000000000e+01 0.0000000000000000e+00 6.0000000000000000e+00 1.7000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00 1.4722400665283203e+01 8.5000000000000000e+00 6.0000000000000000e+00 8.5000000000000000e+00 1.4722400665283203e+01 6.0000000000000000e+00 8.5000000000000000e+00 1.4722400665283203e+01 0.0000000000000000e+00 1.0658099531787087e-14 1.7000000000000000e+01 6.0000000000000000e+00 1.0658099531787087e-14 1.7000000000000000e+01 0.0000000000000000e+00 -8.5000000000000000e+00 1.4722400665283203e+01 6.0000000000000000e+00 -8.5000000000000000e+00 1.4722400665283203e+01 0.0000000000000000e+00 -1.4722400665283203e+01 8.5000000000000000e+00 6.0000000000000000e+00 -1.4722400665283203e+01 8.5000000000000000e+00 0.0000000000000000e+00 -1.7000000000000000e+01 2.0428098570905197e-14 6.0000000000000000e+00 -1.7000000000000000e+01 2.0428098570905197e-14 0.0000000000000000e+00 -1.4722400665283203e+01 -8.5000000000000000e+00 6.0000000000000000e+00 -1.4722400665283203e+01 -8.5000000000000000e+00 0.0000000000000000e+00 -8.5000000000000000e+00 -1.4722400665283203e+01 6.0000000000000000e+00 -8.5000000000000000e+00 -1.4722400665283203e+01 0.0000000000000000e+00 -3.1086197255659337e-14 -1.7000000000000000e+01 6.0000000000000000e+00 -3.1086197255659337e-14 -1.7000000000000000e+01 0.0000000000000000e+00 8.5000000000000000e+00 -1.4722400665283203e+01 6.0000000000000000e+00 8.5000000000000000e+00 -1.4722400665283203e+01 0.0000000000000000e+00 1.4722400665283203e+01 -8.5000000000000000e+00 6.0000000000000000e+00 1.4722400665283203e+01 -8.5000000000000000e+00 0.0000000000000000e+00 -8.6602506637573242e+00 -5.0000000000000000e+00 6.0000000000000000e+00 -5.0000000000000000e+00 -8.6602506637573242e+00 6.0000000000000000e+00 -1.5987201390206887e-14 -1.0000000000000000e+01 6.0000000000000000e+00 5.0000000000000000e+00 -8.6602506637573242e+00 6.0000000000000000e+00 8.6602506637573242e+00 -5.0000000000000000e+00 6.0000000000000000e+00 1.0000000000000000e+01 0.0000000000000000e+00 6.0000000000000000e+00 8.6602506637573242e+00 5.0000000000000000e+00 6.0000000000000000e+00 5.0000000000000000e+00 8.6602506637573242e+00 6.0000000000000000e+00 5.3290696711678041e-15 1.0000000000000000e+01 6.0000000000000000e+00 -5.0000000000000000e+00 8.6602506637573242e+00 6.0000000000000000e+00 -1.0000000000000000e+01 1.0658099531787087e-14 6.0000000000000000e+00 -8.6602506637573242e+00 5.0000000000000000e+00 6.0000000000000000e+00 -1.5987201390206887e-14 -1.0000000000000000e+01 -1.3322699588907928e-15 5.0000000000000000e+00 -8.6602506637573242e+00 -1.3322699588907928e-15 -5.0000000000000000e+00 -8.6602506637573242e+00 -1.3322699588907928e-15 -8.6602506637573242e+00 -5.0000000000000000e+00 -1.3322699588907928e-15 -1.0000000000000000e+01 1.0658099531787087e-14 -1.3322699588907928e-15 -8.6602506637573242e+00 5.0000000000000000e+00 -1.3322699588907928e-15 -5.0000000000000000e+00 8.6602506637573242e+00 -1.3322699588907928e-15 5.3290696711678041e-15 1.0000000000000000e+01 -1.3322699588907928e-15 5.0000000000000000e+00 8.6602506637573242e+00 -1.3322699588907928e-15 8.6602506637573242e+00 5.0000000000000000e+00 -1.3322699588907928e-15 1.0000000000000000e+01 0.0000000000000000e+00 2.2204496491403389e-15 8.6602506637573242e+00 -5.0000000000000000e+00 -1.3322699588907928e-15 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
;; qhull 288 -> 10 faces
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 0.0000000000000000e+00) (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 0.0000000000000000e+00) (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 6.0000000521540642e+00) (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 0.0000000000000000e+00) (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 6.0000000521540642e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 6.0000000521540642e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 0.0000000000000000e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 0.0000000000000000e+00) (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 0.0000000000000000e+00) (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 6.0000000521540642e+00) (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 0.0000000000000000e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 6.0000000521540642e+00) (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 0.0000000000000000e+00) (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 6.0000000521540642e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 0.0000000000000000e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 0.0000000000000000e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 6.0000000521540642e+00) (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 6.0000000521540642e+00) (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 6.0000000521540642e+00) (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 0.0000000000000000e+00) (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 0.0000000000000000e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 6.0000000521540642e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 6.0000000521540642e+00) (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 6.0000000521540642e+00) (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 6.0000000521540642e+00) (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 6.0000000521540642e+00) (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 6.0000000521540642e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 6.0000000521540642e+00) (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 6.0000000521540642e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 0.0000000000000000e+00) (float-vector -8.5000004619359970e+00 1.4722400344908237e+01 0.0000000000000000e+00) (float-vector -1.7000000923871994e+01 2.0428098729723874e-14 0.0000000000000000e+00) (float-vector -1.4722400344908237e+01 -8.5000004619359970e+00 0.0000000000000000e+00) (float-vector -3.1086198499738978e-14 -1.7000000923871994e+01 0.0000000000000000e+00) (float-vector 8.5000004619359970e+00 -1.4722400344908237e+01 0.0000000000000000e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 0.0000000000000000e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 0.0000000000000000e+00) (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 0.0000000000000000e+00) (float-vector 1.4722400344908237e+01 8.5000004619359970e+00 6.0000000521540642e+00) (float-vector 1.0658099770015104e-14 1.7000000923871994e+01 6.0000000521540642e+00)))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_LOCK-RING.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom10 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector 2.2500000000000000e+01 -0.0000000000000000e+00 0.0000000000000000e+00)
:rot (quaternion2matrix (float-vector 7.0710678005337924e-01 3.9139451228631383e-12 7.0710678231971602e-01 3.9139451228631383e-12)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.996094 0.996094 0.996094 1.000000))
(list :diffuse (float-vector 0.996094 0.996094 0.996094 1.000000))))
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)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -1.2000000104308128e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.2000000104308128e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -1.2000000104308128e+01 4.2449999600648880e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00) (float-vector -1.2000000104308128e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -1.1474999599158764e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 -2.2204497736310211e-16) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 -2.2204497736310211e-16) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 -2.2204497736310211e-16) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -1.0660300031304359e+01 4.9999998882412910e+00 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -1.0660300031304359e+01 4.9999998882412910e+00 3.0000000260770321e+00) (float-vector -1.0950000025331974e+01 4.3499998748302460e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 -2.2204497736310211e-16) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1090699583292007e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 -2.2204497736310211e-16) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 -2.2204497736310211e-16) (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 3.0000000260770321e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.1474999599158764e+01 4.4409301131963730e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00) (float-vector -1.2524999678134918e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 -2.2204497736310211e-16) (float-vector -1.2524999678134918e+01 4.4409301131963730e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.2524999678134918e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00) (float-vector -1.2524999678134918e+01 4.4409301131963730e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -5.4999999701976776e+01 4.7499999403953552e+01 3.0000000260770321e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -5.4999999701976776e+01 4.7499999403953552e+01 3.0000000260770321e+00) (float-vector -1.2524999678134918e+01 4.4409301131963730e+01 3.0000000260770321e+00) (float-vector -1.2000000104308128e+01 4.4550001621246338e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector -5.4999999701976776e+01 4.7499999403953552e+01 3.0000000260770321e+00) (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -9.9999997764825821e+00 4.7499999403953552e+01 0.0000000000000000e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 9.4641000032424927e+00 0.0000000000000000e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 9.4641000032424927e+00 0.0000000000000000e+00) (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 9.4641000032424927e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -2.0000000949949026e+00 9.9999997764825821e+00 3.0000000260770321e+00) (float-vector 0.0000000000000000e+00 9.4641000032424927e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -7.0000002160668373e+00 8.6602503433823586e+00 3.0000000260770321e+00) (float-vector -2.0000000949949026e+00 9.9999997764825821e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 3.0000000260770321e+00) (float-vector -1.0660300031304359e+01 4.9999998882412910e+00 3.0000000260770321e+00) (float-vector -7.0000002160668373e+00 8.6602503433823586e+00 3.0000000260770321e+00))))
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(list (float-vector -4.4409301131963730e+01 1.1025000363588333e+01 3.0000000260770321e+00) (float-vector -4.2975001037120819e+01 2.1590700373053551e+01 3.0000000260770321e+00) (float-vector -4.3499998748302460e+01 2.1449999883770943e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.4409301131963730e+01 1.1025000363588333e+01 3.0000000260770321e+00) (float-vector -4.2590700089931488e+01 2.1974999457597733e+01 3.0000000260770321e+00) (float-vector -4.2975001037120819e+01 2.1590700373053551e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.3909298479557037e+01 4.2975001037120819e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 -2.2204497736310211e-16) (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 3.7500001490116119e+01 0.0000000000000000e+00) (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.1974999457597733e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2999999821186066e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -2.1974999457597733e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.2975001037120819e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.1974999457597733e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -2.2500000894069672e+01 2.3550000041723251e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.1974999457597733e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -4.2975001037120819e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.3909298479557037e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3909298479557037e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -3.3909298479557037e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.2975001037120819e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -2.2500000894069672e+01 2.3550000041723251e+01 -2.2204497736310211e-16) (float-vector -4.3499998748302460e+01 4.2449999600648880e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.3499998748302460e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -2.2500000894069672e+01 2.3550000041723251e+01 -2.2204497736310211e-16) (float-vector -4.4025000184774399e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.4025000184774399e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -4.3499998748302460e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -4.4025000184774399e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.4025000184774399e+01 4.2590700089931488e+01 -2.2204497736310211e-16) (float-vector -4.4409301131963730e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -4.4025000184774399e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 -2.2204497736310211e-16) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.4409301131963730e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -2.2500000894069672e+01 4.2449999600648880e+01 3.0000000260770321e+00) (float-vector -2.3025000467896461e+01 4.2590700089931488e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.4409301131963730e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 4.4409301131963730e+01 -2.2204497736310211e-16) (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 -2.2204497736310211e-16) (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.4025000184774399e+01 -2.2204497736310211e-16) (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 8.8817794489845363e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 3.0000000260770321e+00) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 3.0000000260770321e+00) (float-vector -3.1950000673532486e+01 4.3499998748302460e+01 8.8817794489845363e-16) (float-vector -3.2090701162815094e+01 4.2975001037120819e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00) (float-vector -3.2999999821186066e+01 2.3550000041723251e+01 -2.2204497736310211e-16) (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.2090701162815094e+01 2.3025000467896461e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.2090701162815094e+01 2.3025000467896461e+01 3.0000000260770321e+00) (float-vector -3.2474998384714127e+01 2.3409299552440643e+01 -2.2204497736310211e-16) (float-vector -3.2090701162815094e+01 2.3025000467896461e+01 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -3.3525001257658005e+01 9.5906695351004601e+00 -2.2204497736310211e-16) (float-vector -3.3909298479557037e+01 9.9750002846121788e+00 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 9.5906695351004601e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.2975001037120819e+01 9.5906695351004601e+00 3.0000000260770321e+00) (float-vector -3.3525001257658005e+01 9.5906695351004601e+00 3.0000000260770321e+00) (float-vector -3.3909298479557037e+01 9.9750002846121788e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -5.3474999964237213e+01 9.5906695351004601e+00 -2.2204497736310211e-16) (float-vector -4.2975001037120819e+01 -9.5906695351004601e+00 -2.2204497736310211e-16) (float-vector -5.4000001400709152e+01 9.4499997794628143e+00 -2.2204497736310211e-16))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -4.4025000184774399e+01 9.5906695351004601e+00 -2.2204497736310211e-16) (float-vector -4.2975001037120819e+01 -9.5906695351004601e+00 -2.2204497736310211e-16) (float-vector -5.3474999964237213e+01 9.5906695351004601e+00 -2.2204497736310211e-16))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_BODY-PLATE.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom11 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector 2.2500000000000000e+01 -0.0000000000000000e+00 0.0000000000000000e+00)
:rot (quaternion2matrix (float-vector 7.0710678005338146e-01 4.5289490473859892e-12 7.0710678231971369e-01 4.5289490473859892e-12)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.996094 0.996094 0.996094 1.000000))
(list :diffuse (float-vector 0.996094 0.996094 0.996094 1.000000))))
(list :indices #i( 0 1 2 1 0 3 2 20 0 41 0 20 41 3 0 1 4 2 20 2 4 4 21 20 41 20 21 1 5 4 21 4 5 5 22 21 41 21 22 1 6 5 22 5 6 41 22 39 37 22 6 22 37 39 37 38 39 41 39 38 38 37 40 50 37 51 50 40 37 37 10 51 37 6 10 40 41 38 41 40 42 50 42 40 42 43 41 28 41 43 28 3 41 43 42 44 50 44 42 28 43 32 44 32 43 32 44 31 50 31 44 31 28 32 28 31 29 52 31 50 31 27 29 31 34 27 31 49 34 31 53 49 53 31 52 27 28 29 28 27 30 27 33 30 33 27 34 33 28 30 34 35 33 23 33 35 33 23 28 28 26 3 28 25 26 28 23 25 17 23 24 23 17 19 19 25 23 23 35 24 35 34 36 36 24 35 24 36 17 16 17 18 16 19 17 17 36 18 16 7 19 25 19 7 7 26 25 7 1 8 7 15 1 7 16 15 26 7 8 8 3 26 3 8 1 1 12 6 1 13 12 1 14 13 1 15 14 6 12 11 13 53 12 52 12 53 12 52 11 6 9 10 6 11 9 50 11 52 11 50 9 51 9 50 9 51 10 53 13 49 14 49 13 34 49 48 49 14 48 34 48 36 36 48 47 48 15 47 15 48 14 36 45 46 36 47 45 18 36 46 47 16 45 16 47 15 18 45 16 45 18 46))
(list :vertices (let ((mat (make-matrix 54 3))) (fvector-replace (array-entity mat) #f(1.5530300140380859e+01 -6.9145202636718750e+00 3.0000000000000000e+00 1.7000000000000000e+01 0.0000000000000000e+00 2.0000000000000000e+00 1.5530300140380859e+01 -6.9145202636718750e+00 2.0000000000000000e+00 1.7000000000000000e+01 0.0000000000000000e+00 3.0000000000000000e+00 1.1375200271606445e+01 -1.2633500099182129e+01 2.0000000000000000e+00 5.2532896995544434e+00 -1.6167999267578125e+01 2.0000000000000000e+00 -6.6613397359377153e-16 -1.6720098495483398e+01 2.0000000000000000e+00 1.1375200271606445e+01 1.2633500099182129e+01 2.0000000000000000e+00 1.5530300140380859e+01 6.9145202636718750e+00 2.0000000000000000e+00 3.0901699066162109e+00 -9.5105705261230469e+00 2.0000000000000000e+00 -1.6653398308936552e-15 -9.8353595733642578e+00 2.0000000000000000e+00 6.6913099288940430e+00 -7.4314498901367188e+00 2.0000000000000000e+00 9.1354503631591797e+00 -4.0673704147338867e+00 2.0000000000000000e+00 1.0000000000000000e+01 0.0000000000000000e+00 2.0000000000000000e+00 9.1354503631591797e+00 4.0673704147338867e+00 2.0000000000000000e+00 6.6913099288940430e+00 7.4314498901367188e+00 2.0000000000000000e+00 3.0901699066162109e+00 9.5105705261230469e+00 2.0000000000000000e+00 -1.1102198482516043e-15 1.6720098495483398e+01 2.0000000000000000e+00 -6.6613397359377153e-16 9.8353595733642578e+00 2.0000000000000000e+00 5.2532896995544434e+00 1.6167999267578125e+01 2.0000000000000000e+00 1.1375200271606445e+01 -1.2633500099182129e+01 3.0000000000000000e+00 5.2532896995544434e+00 -1.6167999267578125e+01 3.0000000000000000e+00 2.2204496491403389e-15 -1.6720098495483398e+01 3.0000000000000000e+00 5.2532896995544434e+00 1.6167999267578125e+01 3.0000000000000000e+00 2.2204497550194573e-16 1.6720098495483398e+01 3.0000000000000000e+00 1.1375200271606445e+01 1.2633500099182129e+01 3.0000000000000000e+00 1.5530300140380859e+01 6.9145202636718750e+00 3.0000000000000000e+00 1.4051699638366699e+01 1.5605999946594238e+01 0.0000000000000000e+00 1.9184499740600586e+01 8.5414705276489258e+00 3.0000000000000000e+00 1.9184499740600586e+01 8.5414705276489258e+00 0.0000000000000000e+00 1.4051699638366699e+01 1.5605999946594238e+01 3.0000000000000000e+00 2.1000000000000000e+01 0.0000000000000000e+00 0.0000000000000000e+00 2.1000000000000000e+01 0.0000000000000000e+00 3.0000000000000000e+00 6.4893598556518555e+00 1.9972200393676758e+01 3.0000000000000000e+00 6.4893598556518555e+00 1.9972200393676758e+01 0.0000000000000000e+00 -2.4424900189006339e-15 2.0654199600219727e+01 3.0000000000000000e+00 -2.4424900189006339e-15 2.0654199600219727e+01 0.0000000000000000e+00 -2.2204497550194573e-16 -2.0654199600219727e+01 0.0000000000000000e+00 6.4893598556518555e+00 -1.9972200393676758e+01 3.0000000000000000e+00 -2.2204497550194573e-16 -2.0654199600219727e+01 3.0000000000000000e+00 6.4893598556518555e+00 -1.9972200393676758e+01 0.0000000000000000e+00 1.4051699638366699e+01 -1.5605999946594238e+01 3.0000000000000000e+00 1.4051699638366699e+01 -1.5605999946594238e+01 0.0000000000000000e+00 1.9184499740600586e+01 -8.5414705276489258e+00 3.0000000000000000e+00 1.9184499740600586e+01 -8.5414705276489258e+00 0.0000000000000000e+00 3.0901699066162109e+00 9.5105705261230469e+00 -1.7763600157738027e-15 -1.5543100110137326e-15 9.8353595733642578e+00 -1.7763600157738027e-15 6.6913099288940430e+00 7.4314498901367188e+00 -1.7763600157738027e-15 9.1354503631591797e+00 4.0673704147338867e+00 -1.7763600157738027e-15 1.0000000000000000e+01 0.0000000000000000e+00 2.6645399177815856e-15 3.0901699066162109e+00 -9.5105705261230469e+00 -1.7763600157738027e-15 2.2204497550194573e-16 -9.8353595733642578e+00 -1.7763600157738027e-15 6.6913099288940430e+00 -7.4314498901367188e+00 -1.7763600157738027e-15 9.1354503631591797e+00 -4.0673704147338867e+00 -1.7763600157738027e-15 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 3.0000000260770321e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 2.0000000949949026e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 2.0000000949949026e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 3.0000000260770321e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 2.0000000949949026e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 3.0000000260770321e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 3.0000000260770321e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 3.0000000260770321e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 2.0000000949949026e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 2.0000000949949026e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 3.0000000260770321e+00) (float-vector 1.5530300326645374e+01 -6.9145201705396175e+00 2.0000000949949026e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 2.0000000949949026e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 3.0000000260770321e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 3.0000000260770321e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 2.0000000949949026e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 2.0000000949949026e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 3.0000000260770321e+00) (float-vector 1.1375200003385544e+01 -1.2633499689400196e+01 2.0000000949949026e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 2.0000000949949026e+00) (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 3.0000000260770321e+00) (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 2.0000000949949026e+00) (float-vector -6.6613397566172307e-16 -1.6720099374651909e+01 2.0000000949949026e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00) (float-vector 5.2532898262143135e+00 -1.6168000176548958e+01 2.0000000949949026e+00) (float-vector -6.6613397566172307e-16 -1.6720099374651909e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00) (float-vector -6.6613397566172307e-16 -1.6720099374651909e+01 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.2204497219322328e-15 -1.6720099374651909e+01 3.0000000260770321e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 3.0000000260770321e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 3.0000000260770321e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 3.0000000260770321e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 2.2204497736310211e-16 -9.8353596404194832e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 0.0000000000000000e+00) (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector -1.6653398763885888e-15 -9.8353596404194832e+00 2.0000000949949026e+00) (float-vector 2.2204497736310211e-16 -9.8353596404194832e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.2204497736310211e-16 -2.0654199644923210e+01 0.0000000000000000e+00) (float-vector -6.6613397566172307e-16 -1.6720099374651909e+01 2.0000000949949026e+00) (float-vector -1.6653398763885888e-15 -9.8353596404194832e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 0.0000000000000000e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 0.0000000000000000e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 0.0000000000000000e+00) (float-vector 6.4893597736954689e+00 -1.9972199574112892e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 0.0000000000000000e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 1.7000000923871994e+01 0.0000000000000000e+00 3.0000000260770321e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 0.0000000000000000e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 0.0000000000000000e+00) (float-vector 1.4051700010895729e+01 -1.5606000088155270e+01 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 0.0000000000000000e+00) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 3.0000000260770321e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 3.0000000260770321e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 0.0000000000000000e+00) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 1.9184499979019165e+01 -8.5414703935384750e+00 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 3.0000000260770321e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 3.0000000260770321e+00) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 1.9184499979019165e+01 8.5414703935384750e+00 0.0000000000000000e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 6.6913100890815258e+00 -7.4314498342573643e+00 -1.7763600256999700e-15) (float-vector 2.0999999716877937e+01 0.0000000000000000e+00 0.0000000000000000e+00) (float-vector 3.0901699792593718e+00 -9.5105702057480812e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
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(mapcar #'(lambda (v) (send local-cds :transform-vector v))
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(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 9.1354502364993095e+00 4.0673702023923397e+00 -1.7763600256999700e-15) (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 2.0000000949949026e+00) (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 2.0000000949949026e+00) (float-vector 9.1354502364993095e+00 4.0673702023923397e+00 -1.7763600256999700e-15) (float-vector 9.1354502364993095e+00 4.0673702023923397e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.4424900205549952e-15 2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector -1.5543100077050102e-15 9.8353596404194832e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -2.4424900205549952e-15 2.0654199644923210e+01 0.0000000000000000e+00) (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 -1.7763600256999700e-15) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -6.6613397566172307e-16 9.8353596404194832e+00 2.0000000949949026e+00) (float-vector -2.4424900205549952e-15 2.0654199644923210e+01 0.0000000000000000e+00) (float-vector -1.5543100077050102e-15 9.8353596404194832e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 -1.7763600256999700e-15) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 2.0000000949949026e+00) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 -1.7763600256999700e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 2.0000000949949026e+00) (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 -1.7763600256999700e-15) (float-vector 6.6913100890815258e+00 7.4314498342573643e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -6.6613397566172307e-16 9.8353596404194832e+00 2.0000000949949026e+00) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 2.0000000949949026e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 3.0901699792593718e+00 9.5105702057480812e+00 -1.7763600256999700e-15) (float-vector -6.6613397566172307e-16 9.8353596404194832e+00 2.0000000949949026e+00) (float-vector -1.5543100077050102e-15 9.8353596404194832e+00 -1.7763600256999700e-15))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_BODY-PLATE-SPACER.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom12 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector 1.9500000000000000e+01 -3.3000000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector -2.2778742485990433e-09 7.0710678231966406e-01 2.2548265273154844e-09 7.0710678005343097e-01)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.500000 0.500000 0.500000 1.000000))
(list :diffuse (float-vector 0.500000 0.500000 0.500000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 0 6 3 6 0 7 0 114 7 2 114 0 1 4 2 141 2 4 114 2 141 4 1 5 5 23 4 141 4 23 23 5 22 106 5 1 106 22 5 22 21 23 21 131 23 141 23 131 21 22 20 22 67 20 106 67 22 19 20 18 20 19 21 67 18 20 18 17 19 130 19 17 130 21 19 17 18 16 67 16 18 16 15 17 81 17 15 130 17 81 15 16 14 51 16 67 51 14 16 14 13 15 81 15 13 13 14 12 91 14 51 14 91 12 12 11 13 81 13 11 11 12 10 12 82 10 12 91 82 10 9 11 9 81 11 9 10 8 10 82 8 8 7 9 7 81 9 7 8 6 82 6 8 7 114 81 83 114 113 81 114 83 114 35 119 114 142 35 114 143 142 114 141 143 119 102 114 114 103 113 103 114 102 119 35 118 118 101 119 102 119 101 25 102 101 27 102 25 27 103 102 30 103 27 30 104 103 104 113 103 25 24 27 24 30 27 24 25 26 30 24 31 116 24 26 116 31 24 25 28 26 116 26 28 28 25 29 29 47 28 75 28 47 116 28 75 46 45 47 47 29 46 75 47 45 45 46 44 71 44 46 29 71 46 44 43 45 43 75 45 43 44 42 71 42 44 42 41 43 43 77 75 43 79 77 41 79 43 41 42 40 93 42 71 93 40 42 39 40 38 40 39 41 93 38 40 38 37 39 39 126 41 39 127 126 37 127 39 37 38 36 93 36 38 36 35 37 35 127 37 35 128 127 128 90 127 127 91 126 91 127 90 80 90 89 80 91 90 90 128 89 80 89 88 135 89 128 89 135 88 78 88 87 80 88 78 130 88 135 88 130 87 78 87 86 129 87 130 87 129 86 130 81 129 135 21 130 129 79 121 129 81 79 121 86 129 76 86 84 78 86 76 86 121 84 79 120 121 120 84 121 76 84 85 84 120 85 79 122 120 122 85 120 92 76 85 85 122 92 41 122 79 41 123 122 123 92 122 92 74 76 92 71 74 93 71 92 92 123 93 41 124 123 124 93 123 41 125 124 41 126 125 125 94 124 93 124 94 93 34 36 94 34 93 94 32 34 95 32 94 94 125 95 126 95 125 95 126 91 91 32 95 31 32 30 32 31 33 33 34 32 91 30 32 34 33 35 35 36 34 116 33 31 117 33 116 117 35 33 116 70 115 116 75 70 116 99 117 99 116 98 115 98 116 118 35 117 117 100 118 100 117 99 25 99 98 25 100 99 73 98 96 25 98 73 98 115 96 25 73 29 25 101 100 101 118 100 29 69 71 29 73 69 68 69 70 69 68 71 69 72 70 72 69 73 68 74 71 74 68 75 70 75 68 115 70 72 115 72 109 109 96 115 72 108 109 108 97 109 96 109 97 72 110 108 110 105 108 97 108 105 73 96 97 105 73 97 105 82 73 106 82 105 105 110 106 72 111 110 111 106 110 106 1 82 107 67 106 106 111 107 83 111 72 83 112 111 112 107 111 73 83 72 83 73 82 82 81 83 83 113 112 113 104 112 107 112 104 107 66 67 104 66 107 104 48 66 30 48 104 50 66 48 66 50 60 60 67 66 48 49 50 49 48 51 30 51 48 91 51 30 54 51 67 51 54 49 52 49 53 52 50 49 54 53 49 65 50 52 165 52 164 52 165 65 53 164 52 54 55 53 164 53 163 55 163 53 147 164 163 147 165 164 147 166 165 166 65 165 50 65 64 65 166 64 147 167 166 167 64 166 50 64 63 64 167 63 50 63 60 60 63 62 63 158 62 158 63 167 167 155 158 167 147 155 158 155 157 157 62 158 60 62 61 62 157 61 60 59 54 60 61 59 67 60 54 156 61 157 61 156 59 157 155 156 156 155 154 154 159 156 159 59 156 54 59 58 59 159 58 54 56 55 54 57 56 54 58 57 160 58 159 58 160 57 154 160 159 151 160 154 151 161 160 161 57 160 57 161 56 162 56 161 56 162 55 163 55 162 151 162 161 151 163 162 147 163 151 138 147 137 147 138 146 148 137 147 155 147 146 147 149 148 147 150 149 147 151 150 139 146 138 146 139 144 155 146 144 35 139 138 35 140 139 140 144 139 144 140 145 155 144 145 35 142 140 140 155 145 155 140 142 35 138 128 128 138 137 128 137 135 135 137 136 137 148 136 135 134 21 135 136 134 136 149 134 149 136 148 21 134 133 134 150 133 150 134 149 21 132 131 21 133 132 133 151 132 151 133 150 132 152 131 152 132 151 131 153 141 153 131 152 151 153 152 151 154 153 154 141 153 141 154 143 155 143 154 143 155 142 82 91 80 81 82 80 82 3 6 82 1 3 79 80 78 80 79 81 78 77 79 77 78 76 76 75 77 75 76 74))
(list :vertices (let ((mat (make-matrix 168 3))) (fvector-replace (array-entity mat) #f(-1.0125000000000000e+01 -1.1149499893188477e+01 -3.0000000000000000e+00 -9.8504800796508789e+00 -1.0875000000000000e+01 3.0000000000000000e+00 -9.8504800796508789e+00 -1.0875000000000000e+01 -3.0000000000000000e+00 -1.0125000000000000e+01 -1.1149499893188477e+01 3.0000000000000000e+00 -9.7500000000000000e+00 -1.0500000000000000e+01 -3.0000000000000000e+00 -9.7500000000000000e+00 -1.0500000000000000e+01 3.0000000000000000e+00 -1.0500000000000000e+01 -1.1250000000000000e+01 3.0000000000000000e+00 -1.0500000000000000e+01 -1.1250000000000000e+01 -3.0000000000000000e+00 -1.0875000000000000e+01 -1.1149499893188477e+01 3.0000000000000000e+00 -1.0875000000000000e+01 -1.1149499893188477e+01 -3.0000000000000000e+00 -1.1149499893188477e+01 -1.0875000000000000e+01 3.0000000000000000e+00 -1.1149499893188477e+01 -1.0875000000000000e+01 -3.0000000000000000e+00 -1.1250000000000000e+01 -1.0500000000000000e+01 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7.7500003576278687e-01 -1.0000000000000000e+00 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
;; qhull 1056 -> 7 faces
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.1500000022351742e+01 1.3500000350177288e+01 -3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 -1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.1500000022351742e+01 1.3500000350177288e+01 -3.0000000260770321e+00) (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector -1.0125000029802322e+01 -1.1149499565362930e+01 -3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 -1.1500000022351742e+01 -3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector 1.1500000022351742e+01 1.3500000350177288e+01 -3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00) (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.3500000350177288e+01 -1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector 1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector 1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 -1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector -1.0125000029802322e+01 -1.1149499565362930e+01 -3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector -1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00) (float-vector 1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.1500000022351742e+01 -1.3500000350177288e+01 3.0000000260770321e+00) (float-vector -1.0125000029802322e+01 -1.1149499565362930e+01 -3.0000000260770321e+00) (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 -3.0000000260770321e+00) (float-vector -1.3500000350177288e+01 1.1500000022351742e+01 3.0000000260770321e+00)))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_JOINT-BASE.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom13 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector -7.2500000000000000e+00 -4.6500000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector 4.9999999839744830e-01 5.0000000000000000e-01 -5.0000000160255165e-01 -5.0000000000000000e-01)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.500000 0.500000 0.500000 1.000000))
(list :diffuse (float-vector 0.500000 0.500000 0.500000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 6 3 0 24 0 2 26 0 24 26 6 0 1 4 2 24 2 4 4 1 5 5 22 4 24 4 22 22 5 23 70 5 1 70 23 5 21 22 23 22 21 20 24 22 20 72 23 70 72 21 23 19 20 21 21 72 19 20 19 18 31 20 18 24 20 31 17 18 19 19 74 17 19 72 74 18 17 16 31 18 16 15 16 17 17 74 15 16 15 14 31 16 14 13 14 15 15 74 75 76 15 75 76 13 15 14 13 12 31 14 12 11 12 13 76 11 13 12 11 10 31 12 10 9 10 11 78 11 76 78 9 11 10 9 8 31 10 28 8 28 10 30 24 31 29 31 28 31 29 30 25 28 26 28 25 29 6 28 8 26 28 6 7 8 9 8 7 6 3 6 7 78 7 9 80 7 78 80 3 7 80 1 3 70 1 80 62 70 59 70 62 71 70 80 81 72 70 71 58 70 81 70 58 59 58 45 59 46 59 45 46 62 59 58 55 45 60 55 58 81 60 58 60 81 80 61 55 60 80 61 60 61 80 79 80 78 79 69 55 61 79 69 61 69 79 78 68 78 77 78 68 69 78 76 77 69 52 55 52 69 68 52 68 67 77 67 68 67 77 76 66 76 75 76 66 67 52 67 66 49 66 65 52 66 49 75 65 66 65 75 74 49 65 64 74 64 65 64 74 73 74 72 73 46 64 63 49 64 46 73 63 64 63 73 72 62 72 71 72 62 63 46 63 62 45 41 46 41 47 46 49 46 47 25 41 40 25 42 41 41 45 40 47 41 42 42 48 47 49 47 48 27 42 25 27 43 42 48 42 43 43 49 48 43 30 44 27 30 43 49 43 44 25 24 27 24 30 27 32 30 29 34 30 32 35 30 34 44 30 35 44 50 49 50 44 35 35 51 50 51 35 34 34 52 51 52 34 32 52 50 51 52 49 50 32 53 52 55 52 53 53 32 33 33 54 53 55 53 54 36 55 54 55 36 37 37 56 55 45 55 56 54 33 36 32 29 33 29 36 33 29 37 36 25 37 29 25 38 37 56 37 38 38 57 56 45 56 57 39 45 57 45 39 40 57 38 39 25 39 38 24 25 26 25 40 39))
(list :vertices (let ((mat (make-matrix 82 3))) (fvector-replace (array-entity mat) #f(-1.7763600157738027e-15 -5.4559602737426758e+00 -3.1500000953674316e+00 1.0000000000000000e+00 -3.1500000953674316e+00 -5.4559602737426758e+00 -1.7763600157738027e-15 -3.1500000953674316e+00 -5.4559602737426758e+00 1.0000000000000000e+00 -5.4559602737426758e+00 -3.1500000953674316e+00 7.1054290516668964e-15 0.0000000000000000e+00 -6.3000001907348633e+00 1.0000000000000000e+00 0.0000000000000000e+00 -6.3000001907348633e+00 -1.7763600157738027e-15 -6.3000001907348633e+00 1.0259800076032645e-14 1.0000000000000000e+00 -6.3000001907348633e+00 1.0321099850425439e-14 -1.7763600157738027e-15 -5.4559602737426758e+00 3.1500000953674316e+00 1.0000000000000000e+00 -5.4559602737426758e+00 3.1500000953674316e+00 -1.7763600157738027e-15 -3.1500000953674316e+00 5.4559602737426758e+00 1.0000000000000000e+00 -3.1500000953674316e+00 5.4559602737426758e+00 -1.7763600157738027e-15 6.6613394183003601e-15 6.3000001907348633e+00 1.0000000000000000e+00 6.6613394183003601e-15 6.3000001907348633e+00 -1.7763600157738027e-15 3.1500000953674316e+00 5.4559602737426758e+00 1.0000000000000000e+00 3.1500000953674316e+00 5.4559602737426758e+00 -1.7763600157738027e-15 5.4559602737426758e+00 3.1500000953674316e+00 1.0000000000000000e+00 5.4559602737426758e+00 3.1500000953674316e+00 -1.7763600157738027e-15 6.3000001907348633e+00 -3.0628597023267621e-15 1.0000000000000000e+00 6.3000001907348633e+00 -3.0016198555149866e-15 -1.7763600157738027e-15 5.4559602737426758e+00 -3.1500000953674316e+00 1.0000000000000000e+00 5.4559602737426758e+00 -3.1500000953674316e+00 -1.7763600157738027e-15 3.1500000953674316e+00 -5.4559602737426758e+00 1.0000000000000000e+00 3.1500000953674316e+00 -5.4559602737426758e+00 0.0000000000000000e+00 1.3000000000000000e+01 -2.9750000000000000e+01 2.5000000000000000e+00 -1.3000000000000000e+01 -2.9750000000000000e+01 0.0000000000000000e+00 -1.3000000000000000e+01 -2.9750000000000000e+01 2.5000000000000000e+00 1.3000000000000000e+01 -2.9750000000000000e+01 0.0000000000000000e+00 -1.3000000000000000e+01 1.5250000000000000e+01 2.5000000000000000e+00 -1.3000000000000000e+01 1.5250000000000000e+01 2.5000000000000000e+00 1.3000000000000000e+01 1.5250000000000000e+01 0.0000000000000000e+00 1.3000000000000000e+01 1.5250000000000000e+01 2.5000000000000000e+00 -3.1110999584197998e+00 1.2622200012207031e+01 2.5000000000000000e+00 -8.6205902099609375e+00 9.7306394577026367e+00 2.5000000000000000e+00 3.1110999584197998e+00 1.2622200012207031e+01 2.5000000000000000e+00 8.6205902099609375e+00 9.7306394577026367e+00 2.5000000000000000e+00 -1.2155200004577637e+01 4.6098599433898926e+00 2.5000000000000000e+00 -1.2905200004577637e+01 -1.5669800043106079e+00 2.5000000000000000e+00 -1.0698800086975098e+01 -7.3848400115966797e+00 2.5000000000000000e+00 -6.0413999557495117e+00 -1.1510900497436523e+01 2.5000000000000000e+00 0.0000000000000000e+00 -1.3000000000000000e+01 2.5000000000000000e+00 6.0413999557495117e+00 -1.1510900497436523e+01 2.5000000000000000e+00 1.0698800086975098e+01 -7.3848400115966797e+00 2.5000000000000000e+00 1.2905200004577637e+01 -1.5669800043106079e+00 2.5000000000000000e+00 1.2155200004577637e+01 4.6098599433898926e+00 4.3000001907348633e+00 0.0000000000000000e+00 -1.3000000000000000e+01 4.3000001907348633e+00 6.0413999557495117e+00 -1.1510900497436523e+01 4.3000001907348633e+00 1.0698800086975098e+01 -7.3848400115966797e+00 4.3000001907348633e+00 1.2905200004577637e+01 -1.5669800043106079e+00 4.3000001907348633e+00 1.2155200004577637e+01 4.6098599433898926e+00 4.3000001907348633e+00 8.6205902099609375e+00 9.7306394577026367e+00 4.3000001907348633e+00 3.1110999584197998e+00 1.2622200012207031e+01 4.3000001907348633e+00 -3.1110999584197998e+00 1.2622200012207031e+01 4.3000001907348633e+00 -8.6205902099609375e+00 9.7306394577026367e+00 4.3000001907348633e+00 -1.2155200004577637e+01 4.6098599433898926e+00 4.3000001907348633e+00 -1.2905200004577637e+01 -1.5669800043106079e+00 4.3000001907348633e+00 -1.0698800086975098e+01 -7.3848400115966797e+00 4.3000001907348633e+00 -6.0413999557495117e+00 -1.1510900497436523e+01 4.3000001907348633e+00 -4.1250000000000000e+00 -7.1447100639343262e+00 4.3000001907348633e+00 0.0000000000000000e+00 -8.2500000000000000e+00 4.3000001907348633e+00 -7.1447100639343262e+00 -4.1250000000000000e+00 4.3000001907348633e+00 -8.2500000000000000e+00 1.5301099620733220e-14 4.3000001907348633e+00 4.1250000000000000e+00 -7.1447100639343262e+00 4.3000001907348633e+00 7.1447100639343262e+00 -4.1250000000000000e+00 4.3000001907348633e+00 8.2500000000000000e+00 -5.1269993736884501e-15 4.3000001907348633e+00 7.1447100639343262e+00 4.1250000000000000e+00 4.3000001907348633e+00 4.1250000000000000e+00 7.1447100639343262e+00 4.3000001907348633e+00 1.0214100107429434e-14 8.2500000000000000e+00 4.3000001907348633e+00 -4.1250000000000000e+00 7.1447100639343262e+00 4.3000001907348633e+00 -7.1447100639343262e+00 4.1250000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00 -8.2500000000000000e+00 1.0000000000000000e+00 4.1250000000000000e+00 -7.1447100639343262e+00 1.0000000000000000e+00 7.1447100639343262e+00 -4.1250000000000000e+00 1.0000000000000000e+00 8.2500000000000000e+00 -5.3290696711678041e-15 1.0000000000000000e+00 7.1447100639343262e+00 4.1250000000000000e+00 1.0000000000000000e+00 4.1250000000000000e+00 7.1447100639343262e+00 1.0000000000000000e+00 1.0214100107429434e-14 8.2500000000000000e+00 1.0000000000000000e+00 -4.1250000000000000e+00 7.1447100639343262e+00 1.0000000000000000e+00 -7.1447100639343262e+00 4.1250000000000000e+00 1.0000000000000000e+00 -8.2500000000000000e+00 1.5098999253584239e-14 1.0000000000000000e+00 -7.1447100639343262e+00 -4.1250000000000000e+00 1.0000000000000000e+00 -4.1250000000000000e+00 -7.1447100639343262e+00 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 -6.3000000081956387e+00 1.0259799897361633e-14) (float-vector 1.0000000474974513e+00 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -6.3000000081956387e+00 1.0259799897361633e-14) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00))))
(instance face :init :vertices
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(list (float-vector 2.4999999441206455e+00 1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 4.3000001460313797e+00 8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 1.2155200354754925e+01 4.6098600141704082e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 2.4999999441206455e+00 1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 2.4999999441206455e+00 8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 2.4999999441206455e+00 8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 2.4999999441206455e+00 3.1111000571399927e+00 1.2622199952602386e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 3.1111000571399927e+00 1.2622199952602386e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 2.4999999441206455e+00 3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 2.4999999441206455e+00 -3.1111000571399927e+00 1.2622199952602386e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 3.1111000571399927e+00 1.2622199952602386e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 4.3000001460313797e+00 8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 -8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 4.3000001460313797e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 4.3000001460313797e+00 -8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 2.4999999441206455e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 2.4999999441206455e+00 -8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 -1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 4.3000001460313797e+00 -8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 4.3000001460313797e+00 -8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 4.3000001460313797e+00 -1.2155200354754925e+01 4.6098600141704082e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 4.3000001460313797e+00 -1.2155200354754925e+01 4.6098600141704082e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 2.4999999441206455e+00 -1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 4.3000001460313797e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 0.0000000000000000e+00 -1.3000000268220901e+01) (float-vector 4.3000001460313797e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 4.3000001460313797e+00 -1.0698799975216389e+01 -7.3848399333655834e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 2.4999999441206455e+00 -8.6205899715423584e+00 9.7306398674845695e+00) (float-vector 2.4999999441206455e+00 -1.2155200354754925e+01 4.6098600141704082e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -3.1111000571399927e+00 1.2622199952602386e+01) (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 1.5250000171363354e+01) (float-vector 2.4999999441206455e+00 -8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 1.5250000171363354e+01) (float-vector 2.4999999441206455e+00 -1.2155200354754925e+01 4.6098600141704082e+00) (float-vector 2.4999999441206455e+00 -8.6205899715423584e+00 9.7306398674845695e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 1.5250000171363354e+01) (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 2.4999999441206455e+00 -1.2155200354754925e+01 4.6098600141704082e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 1.5250000171363354e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 2.4999999441206455e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 2.4999999441206455e+00 -1.2905200012028217e+01 -1.5669800341129303e+00) (float-vector 2.4999999441206455e+00 -1.0698799975216389e+01 -7.3848399333655834e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 4.3000001460313797e+00 -6.0414001345634460e+00 -1.1510900221765041e+01) (float-vector 4.3000001460313797e+00 -1.0698799975216389e+01 -7.3848399333655834e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 0.0000000000000000e+00 -1.3000000268220901e+01) (float-vector 4.3000001460313797e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 4.3000001460313797e+00 -6.0414001345634460e+00 -1.1510900221765041e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -6.0414001345634460e+00 -1.1510900221765041e+01) (float-vector 4.3000001460313797e+00 0.0000000000000000e+00 -1.3000000268220901e+01) (float-vector 4.3000001460313797e+00 -6.0414001345634460e+00 -1.1510900221765041e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 0.0000000000000000e+00 -1.3000000268220901e+01) (float-vector 2.4999999441206455e+00 -6.0414001345634460e+00 -1.1510900221765041e+01) (float-vector 2.4999999441206455e+00 0.0000000000000000e+00 -1.3000000268220901e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 4.3000001460313797e+00 -6.0414001345634460e+00 -1.1510900221765041e+01) (float-vector 2.4999999441206455e+00 -1.0698799975216389e+01 -7.3848399333655834e+00) (float-vector 2.4999999441206455e+00 -6.0414001345634460e+00 -1.1510900221765041e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 2.4999999441206455e+00 -6.0414001345634460e+00 -1.1510900221765041e+01) (float-vector 2.4999999441206455e+00 -1.0698799975216389e+01 -7.3848399333655834e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -2.9750000685453415e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 2.4999999441206455e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 2.4999999441206455e+00 0.0000000000000000e+00 -1.3000000268220901e+01) (float-vector 2.4999999441206455e+00 -6.0414001345634460e+00 -1.1510900221765041e+01))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_ARM-SUPPORTER-A.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom14 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector -7.2500000000000000e+00 -3.3000000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector 7.0710678005337235e-01 7.0710678231972268e-01 -0.0000000000000000e+00 0.0000000000000000e+00)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.200000 0.200000 0.200000 1.000000))
(list :diffuse (float-vector 0.200000 0.200000 0.200000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 6 3 0 0 4 6 4 0 2 1 4 2 4 1 5 138 1 3 138 5 1 3 6 7 138 3 139 7 139 3 5 6 4 6 5 7 136 5 138 5 128 7 5 135 128 136 135 5 67 138 64 138 67 136 139 64 138 7 137 139 137 65 139 64 139 65 7 128 137 136 68 137 128 136 137 65 137 68 65 62 64 68 62 65 64 62 63 66 64 63 66 67 64 66 68 67 68 136 67 69 68 66 62 68 69 66 70 69 70 66 71 63 92 66 103 66 92 103 71 66 70 80 69 91 69 80 91 62 69 70 81 80 110 91 80 80 112 110 112 80 81 91 57 62 57 91 90 108 90 91 91 110 108 112 108 110 90 108 105 108 104 105 53 104 108 112 53 108 57 90 89 90 104 89 104 90 105 57 89 88 104 88 89 57 88 87 126 87 88 88 104 126 74 87 86 57 87 74 124 86 87 87 126 124 104 124 126 86 124 122 104 122 124 74 86 85 122 85 86 85 122 120 104 120 122 74 85 84 120 84 85 74 84 83 118 83 84 84 120 118 70 83 82 74 83 70 116 82 83 83 118 116 120 116 118 82 116 114 120 114 116 70 82 81 114 81 82 71 72 70 74 70 72 72 71 73 103 73 71 73 74 72 74 73 75 102 73 103 75 73 102 92 113 103 103 115 102 115 103 113 75 102 101 102 117 101 117 102 115 111 115 113 111 117 115 113 92 111 63 93 92 93 111 92 63 94 93 94 109 93 111 93 109 63 95 94 95 106 94 109 94 106 127 109 106 127 111 109 106 95 107 127 106 107 63 96 95 95 127 107 127 95 96 79 96 63 79 97 96 97 127 96 79 98 97 98 125 97 127 97 125 79 99 98 99 123 98 125 98 123 123 127 125 123 99 121 121 127 123 79 100 99 100 121 99 121 100 119 119 40 121 38 121 40 38 127 121 75 100 79 75 101 100 101 119 100 75 76 74 76 75 77 75 79 77 77 78 76 61 76 78 61 74 76 57 74 61 60 57 61 61 79 60 79 61 78 78 77 79 79 58 60 79 56 58 79 63 56 57 60 58 56 57 58 57 56 59 62 57 59 56 62 59 62 56 63 119 101 117 111 119 117 119 42 40 119 44 42 119 46 44 111 46 119 18 42 17 42 18 40 44 17 42 19 40 18 40 19 38 8 18 17 18 8 19 8 17 16 17 44 16 46 16 44 8 16 15 16 46 15 48 15 46 111 48 46 8 15 14 15 48 14 50 14 48 111 50 48 111 52 50 111 54 52 127 54 111 14 50 13 52 13 50 8 14 13 8 13 12 13 52 12 54 12 52 12 54 11 9 54 21 54 9 11 127 21 54 127 20 21 127 36 20 127 38 36 20 9 21 8 9 10 8 11 9 9 20 10 8 12 11 10 36 8 8 38 19 38 8 36 36 10 20 81 114 112 120 112 114 112 51 53 112 49 51 112 47 49 112 45 47 120 45 112 32 51 49 51 32 33 33 53 51 53 33 34 34 55 53 55 104 53 23 33 32 23 34 33 23 32 31 49 31 32 31 49 47 23 31 30 47 30 31 30 47 45 23 30 29 45 29 30 23 29 28 43 28 29 29 45 43 23 28 27 41 27 28 28 43 41 120 43 45 120 41 43 27 41 39 120 39 41 23 27 26 39 26 27 26 39 37 120 37 39 104 37 120 24 37 22 37 24 26 104 22 37 23 26 24 22 23 24 23 22 25 104 25 22 104 55 25 35 25 55 25 35 23 34 23 35 55 34 35 130 136 128 136 130 135 128 129 130 130 132 135 132 130 129 129 128 131 134 131 128 128 135 134 133 135 132 135 133 134 131 132 129 132 131 133 131 134 133))
(list :vertices (let ((mat (make-matrix 140 3))) (fvector-replace (array-entity mat) #f(1.7500000000000000e+01 9.0000000000000000e+00 -4.5000000000000000e+00 1.7500000000000000e+01 1.2000000000000000e+01 -7.5000000000000000e+00 1.7500000000000000e+01 9.0000000000000000e+00 -7.5000000000000000e+00 1.7500000000000000e+01 1.2000000000000000e+01 -4.5000000000000000e+00 1.2500000000000000e+01 9.0000000000000000e+00 -7.5000000000000000e+00 1.2500000000000000e+01 1.2000000000000000e+01 -7.5000000000000000e+00 1.2500000000000000e+01 9.0000000000000000e+00 -4.5000000000000000e+00 1.2500000000000000e+01 1.2000000000000000e+01 -4.5000000000000000e+00 1.5000000000000000e+00 -2.5980801582336426e+00 -1.6000000000000000e+01 3.0000000000000000e+00 0.0000000000000000e+00 -1.6000000000000000e+01 2.5980801582336426e+00 -1.5000000000000000e+00 -1.6000000000000000e+01 2.5980801582336426e+00 1.5000000000000000e+00 -1.6000000000000000e+01 1.5000000000000000e+00 2.5980801582336426e+00 -1.6000000000000000e+01 1.3322699588907928e-15 3.0000000000000000e+00 -1.6000000000000000e+01 -1.5000000000000000e+00 2.5980801582336426e+00 -1.6000000000000000e+01 -2.5980801582336426e+00 1.5000000000000000e+00 -1.6000000000000000e+01 -3.0000000000000000e+00 2.4424900189006339e-15 -1.6000000000000000e+01 -2.5980801582336426e+00 -1.5000000000000000e+00 -1.6000000000000000e+01 -1.5000000000000000e+00 -2.5980801582336426e+00 -1.6000000000000000e+01 -4.2188500346744366e-15 -3.0000000000000000e+00 -1.6000000000000000e+01 2.5980801582336426e+00 -1.5000000000000000e+00 -1.4000000000000000e+01 3.0000000000000000e+00 0.0000000000000000e+00 -1.4000000000000000e+01 2.5980801582336426e+00 -1.5000000000000000e+00 1.4000000000000000e+01 3.0000000000000000e+00 0.0000000000000000e+00 1.7500000000000000e+01 2.5980801582336426e+00 -1.5000000000000000e+00 1.7500000000000000e+01 3.0000000000000000e+00 0.0000000000000000e+00 1.4000000000000000e+01 1.5000000000000000e+00 -2.5980801582336426e+00 1.7500000000000000e+01 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2.5980801582336426e+00 1.5000000000000000e+00 1.4000000000000000e+01 2.3500000000000000e+01 1.1000000000000000e+01 -1.3000000000000000e+01 2.3500000000000000e+01 -1.1000000000000000e+01 1.3000000000000000e+01 2.3500000000000000e+01 -1.1000000000000000e+01 -1.3000000000000000e+01 2.3500000000000000e+01 1.1000000000000000e+01 1.3000000000000000e+01 2.1500000000000000e+01 -1.3000000000000000e+01 -1.3000000000000000e+01 2.1500000000000000e+01 -1.3000000000000000e+01 1.3000000000000000e+01 2.1500000000000000e+01 1.3000000000000000e+01 1.3000000000000000e+01 2.1500000000000000e+01 1.3000000000000000e+01 -1.3000000000000000e+01 1.8500000000000000e+01 1.3000000000000000e+01 -8.7500000000000000e+00 1.8500000000000000e+01 1.3000000000000000e+01 -3.2500000000000000e+00 0.0000000000000000e+00 1.3000000000000000e+01 -1.3000000000000000e+01 5.5000000000000000e+00 1.3000000000000000e+01 -8.7500000000000000e+00 5.5000000000000000e+00 1.3000000000000000e+01 -3.2500000000000000e+00 0.0000000000000000e+00 1.3000000000000000e+01 1.3000000000000000e+01 -5.5000000000000000e+00 1.2000000000000000e+01 1.3000000000000000e+01 -5.5000000000000000e+00 1.2000000000000000e+01 -1.3000000000000000e+01 -9.0000000000000000e+00 9.0000000000000000e+00 1.3000000000000000e+01 -9.0000000000000000e+00 9.0000000000000000e+00 -1.3000000000000000e+01 -9.0000000000000000e+00 -9.0000000000000000e+00 1.3000000000000000e+01 -9.0000000000000000e+00 -9.0000000000000000e+00 -1.3000000000000000e+01 -5.5000000000000000e+00 -1.2000000000000000e+01 1.3000000000000000e+01 -5.5000000000000000e+00 -1.2000000000000000e+01 -1.3000000000000000e+01 0.0000000000000000e+00 -1.3000000000000000e+01 1.3000000000000000e+01 0.0000000000000000e+00 -1.3000000000000000e+01 -1.3000000000000000e+01 3.1086198102692284e-15 6.2500000000000000e+00 1.3000000000000000e+01 -3.1250000000000000e+00 5.4126601219177246e+00 1.3000000000000000e+01 -5.4126601219177246e+00 3.1250000000000000e+00 1.3000000000000000e+01 -6.2500000000000000e+00 6.6613394183003601e-15 1.3000000000000000e+01 -5.4126601219177246e+00 -3.1250000000000000e+00 1.3000000000000000e+01 -3.1250000000000000e+00 -5.4126601219177246e+00 1.3000000000000000e+01 -1.0214100107429434e-14 -6.2500000000000000e+00 1.3000000000000000e+01 3.1250000000000000e+00 -5.4126601219177246e+00 1.3000000000000000e+01 5.4126601219177246e+00 -3.1250000000000000e+00 1.3000000000000000e+01 6.2500000000000000e+00 0.0000000000000000e+00 1.3000000000000000e+01 5.4126601219177246e+00 3.1250000000000000e+00 1.3000000000000000e+01 3.1250000000000000e+00 5.4126601219177246e+00 1.3000000000000000e+01 3.1086198102692284e-15 6.2500000000000000e+00 -1.3000000000000000e+01 3.1250000000000000e+00 5.4126601219177246e+00 -1.3000000000000000e+01 5.4126601219177246e+00 3.1250000000000000e+00 -1.3000000000000000e+01 6.2500000000000000e+00 0.0000000000000000e+00 -1.3000000000000000e+01 5.4126601219177246e+00 -3.1250000000000000e+00 -1.3000000000000000e+01 3.1250000000000000e+00 -5.4126601219177246e+00 -1.3000000000000000e+01 -1.0214100107429434e-14 -6.2500000000000000e+00 -1.3000000000000000e+01 -3.1250000000000000e+00 -5.4126601219177246e+00 -1.3000000000000000e+01 -5.4126601219177246e+00 -3.1250000000000000e+00 -1.3000000000000000e+01 -6.2500000000000000e+00 6.6613394183003601e-15 -1.3000000000000000e+01 -5.4126601219177246e+00 3.1250000000000000e+00 -1.3000000000000000e+01 -3.1250000000000000e+00 5.4126601219177246e+00 -1.3000000000000000e+01 6.2500000000000000e+00 0.0000000000000000e+00 1.4000000000000000e+01 5.4126601219177246e+00 3.1250000000000000e+00 1.4000000000000000e+01 5.4126601219177246e+00 3.1250000000000000e+00 -1.4000000000000000e+01 6.2500000000000000e+00 0.0000000000000000e+00 -1.4000000000000000e+01 3.1250000000000000e+00 5.4126601219177246e+00 1.4000000000000000e+01 3.1250000000000000e+00 5.4126601219177246e+00 -1.4000000000000000e+01 3.1086198102692284e-15 6.2500000000000000e+00 1.4000000000000000e+01 3.1086198102692284e-15 6.2500000000000000e+00 -1.4000000000000000e+01 -3.1250000000000000e+00 5.4126601219177246e+00 1.4000000000000000e+01 -3.1250000000000000e+00 5.4126601219177246e+00 -1.4000000000000000e+01 -5.4126601219177246e+00 3.1250000000000000e+00 1.4000000000000000e+01 -5.4126601219177246e+00 3.1250000000000000e+00 -1.4000000000000000e+01 -6.2500000000000000e+00 6.6613394183003601e-15 1.4000000000000000e+01 -6.2500000000000000e+00 6.6613394183003601e-15 -1.4000000000000000e+01 -5.4126601219177246e+00 -3.1250000000000000e+00 1.4000000000000000e+01 -5.4126601219177246e+00 -3.1250000000000000e+00 -1.4000000000000000e+01 -3.1250000000000000e+00 -5.4126601219177246e+00 1.4000000000000000e+01 -3.1250000000000000e+00 -5.4126601219177246e+00 -1.4000000000000000e+01 -1.0214100107429434e-14 -6.2500000000000000e+00 1.4000000000000000e+01 -1.0214100107429434e-14 -6.2500000000000000e+00 -1.4000000000000000e+01 3.1250000000000000e+00 -5.4126601219177246e+00 1.4000000000000000e+01 3.1250000000000000e+00 -5.4126601219177246e+00 -1.4000000000000000e+01 5.4126601219177246e+00 -3.1250000000000000e+00 1.4000000000000000e+01 5.4126601219177246e+00 -3.1250000000000000e+00 -1.4000000000000000e+01 6.5000000000000000e+00 1.2000000000000000e+01 -4.5000000000000000e+00 6.5000000000000000e+00 9.0000000000000000e+00 -7.5000000000000000e+00 6.5000000000000000e+00 1.2000000000000000e+01 -7.5000000000000000e+00 6.5000000000000000e+00 9.0000000000000000e+00 -4.5000000000000000e+00 1.1500000000000000e+01 9.0000000000000000e+00 -7.5000000000000000e+00 1.1500000000000000e+01 9.0000000000000000e+00 -4.5000000000000000e+00 1.1500000000000000e+01 1.2000000000000000e+01 -4.5000000000000000e+00 1.1500000000000000e+01 1.2000000000000000e+01 -7.5000000000000000e+00 5.5000000000000000e+00 1.2000000000000000e+01 -8.7500000000000000e+00 5.5000000000000000e+00 1.2000000000000000e+01 -3.2500000000000000e+00 1.8500000000000000e+01 1.2000000000000000e+01 -8.7500000000000000e+00 1.8500000000000000e+01 1.2000000000000000e+01 -3.2500000000000000e+00 )) mat)))
)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
;; qhull 828 -> 15 faces
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 -1.3000000268220901e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 1.3000000268220901e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 1.3000000268220901e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector 5.4999999701976776e+00 1.3000000268220901e+01 -8.7500000372529030e+00)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 -1.3000000268220901e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 1.3000000268220901e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 5.4999999701976776e+00 1.3000000268220901e+01 -8.7500000372529030e+00) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 1.3000000268220901e+01) (float-vector -5.4999999701976776e+00 1.2000000104308128e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -4.2188498394598121e-15 -3.0000000260770321e+00 1.7500000074505806e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 1.3000000268220901e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -4.2188498394598121e-15 -3.0000000260770321e+00 1.7500000074505806e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 1.3000000268220901e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -4.2188498394598121e-15 -3.0000000260770321e+00 1.7500000074505806e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -4.2188498394598121e-15 -3.0000000260770321e+00 1.7500000074505806e+01) (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -5.4999999701976776e+00 1.2000000104308128e+01 1.3000000268220901e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 -1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector 5.4999999701976776e+00 1.3000000268220901e+01 -8.7500000372529030e+00) (float-vector -5.4999999701976776e+00 1.2000000104308128e+01 1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector -1.5000000130385160e+00 -2.5980800855904818e+00 -1.6000000759959221e+01) (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 -1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector -1.5000000130385160e+00 -2.5980800855904818e+00 -1.6000000759959221e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 -1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.5000000130385160e+00 -2.5980800855904818e+00 -1.6000000759959221e+01) (float-vector 2.1500000730156898e+01 1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector -8.9999996125698090e+00 8.9999996125698090e+00 -1.3000000268220901e+01)))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(nreverse (list (float-vector -1.5000000130385160e+00 -2.5980800855904818e+00 -1.6000000759959221e+01) (float-vector -8.9999996125698090e+00 -8.9999996125698090e+00 -1.3000000268220901e+01) (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -1.3000000268220901e+01) (float-vector 2.3499999195337296e+01 -1.0999999940395355e+01 -1.3000000268220901e+01)))))
))
)
(setq geom (instance collada-body :init :replace-obj qhull :name "package://robot_assembler/meshes/mesh_SERVO-S3301.dae"))
(when glv
(setq (geom . gl::aglvertices) glv)
(send geom :assoc glv))
geom))
(:_make_instance_BASE_geom15 ()
(let (geom glv qhull
(local-cds (make-coords :pos (float-vector -7.2500000000000000e+00 -1.9500000000000000e+01 4.3500000000000000e+01)
:rot (quaternion2matrix (float-vector 4.9999999839744830e-01 -5.0000000000000000e-01 -5.0000000160255165e-01 5.0000000000000000e-01)))))
(setq glv
(instance gl::glvertices :init
(list ;; mesh list
(list ;; mesh description
(list :type :triangles)
(list :material (list
(list :ambient (float-vector 0.500000 0.500000 0.500000 1.000000))
(list :diffuse (float-vector 0.500000 0.500000 0.500000 1.000000))))
(list :indices #i( 0 1 2 1 0 3 6 3 0 24 0 2 26 0 24 26 6 0 1 4 2 24 2 4 4 1 5 5 22 4 24 4 22 22 5 23 70 5 1 70 23 5 21 22 23 22 21 20 24 22 20 72 23 70 72 21 23 19 20 21 21 72 19 20 19 18 31 20 18 24 20 31 17 18 19 19 74 17 19 72 74 18 17 16 31 18 16 15 16 17 17 74 15 16 15 14 31 16 14 13 14 15 15 74 75 76 15 75 76 13 15 14 13 12 31 14 12 11 12 13 76 11 13 12 11 10 31 12 10 9 10 11 78 11 76 78 9 11 10 9 8 31 10 28 8 28 10 30 24 31 29 31 28 31 29 30 25 28 26 28 25 29 6 28 8 26 28 6 7 8 9 8 7 6 3 6 7 78 7 9 80 7 78 80 3 7 80 1 3 70 1 80 62 70 59 70 62 71 70 80 81 72 70 71 58 70 81 70 58 59 58 45 59 46 59 45 46 62 59 58 55 45 60 55 58 81 60 58 60 81 80 61 55 60 80 61 60 61 80 79 80 78 79 69 55 61 79 69 61 69 79 78 68 78 77 78 68 69 78 76 77 69 52 55 52 69 68 52 68 67 77 67 68 67 77 76 66 76 75 76 66 67 52 67 66 49 66 65 52 66 49 75 65 66 65 75 74 49 65 64 74 64 65 64 74 73 74 72 73 46 64 63 49 64 46 73 63 64 63 73 72 62 72 71 72 62 63 46 63 62 45 41 46 41 47 46 49 46 47 25 41 40 25 42 41 41 45 40 47 41 42 42 48 47 49 47 48 27 42 25 27 43 42 48 42 43 43 49 48 43 30 44 27 30 43 49 43 44 25 24 27 24 30 27 32 30 29 34 30 32 35 30 34 44 30 35 44 50 49 50 44 35 35 51 50 51 35 34 34 52 51 52 34 32 52 50 51 52 49 50 32 53 52 55 52 53 53 32 33 33 54 53 55 53 54 36 55 54 55 36 37 37 56 55 45 55 56 54 33 36 32 29 33 29 36 33 29 37 36 25 37 29 25 38 37 56 37 38 38 57 56 45 56 57 39 45 57 45 39 40 57 38 39 25 39 38 24 25 26 25 40 39))
(list :vertices (let ((mat (make-matrix 82 3))) (fvector-replace (array-entity mat) #f(-1.7763600157738027e-15 -5.4559602737426758e+00 -3.1500000953674316e+00 1.0000000000000000e+00 -3.1500000953674316e+00 -5.4559602737426758e+00 -1.7763600157738027e-15 -3.1500000953674316e+00 -5.4559602737426758e+00 1.0000000000000000e+00 -5.4559602737426758e+00 -3.1500000953674316e+00 7.1054290516668964e-15 0.0000000000000000e+00 -6.3000001907348633e+00 1.0000000000000000e+00 0.0000000000000000e+00 -6.3000001907348633e+00 -1.7763600157738027e-15 -6.3000001907348633e+00 1.0259800076032645e-14 1.0000000000000000e+00 -6.3000001907348633e+00 1.0321099850425439e-14 -1.7763600157738027e-15 -5.4559602737426758e+00 3.1500000953674316e+00 1.0000000000000000e+00 -5.4559602737426758e+00 3.1500000953674316e+00 -1.7763600157738027e-15 -3.1500000953674316e+00 5.4559602737426758e+00 1.0000000000000000e+00 -3.1500000953674316e+00 5.4559602737426758e+00 -1.7763600157738027e-15 6.6613394183003601e-15 6.3000001907348633e+00 1.0000000000000000e+00 6.6613394183003601e-15 6.3000001907348633e+00 -1.7763600157738027e-15 3.1500000953674316e+00 5.4559602737426758e+00 1.0000000000000000e+00 3.1500000953674316e+00 5.4559602737426758e+00 -1.7763600157738027e-15 5.4559602737426758e+00 3.1500000953674316e+00 1.0000000000000000e+00 5.4559602737426758e+00 3.1500000953674316e+00 -1.7763600157738027e-15 6.3000001907348633e+00 -3.0628597023267621e-15 1.0000000000000000e+00 6.3000001907348633e+00 -3.0016198555149866e-15 -1.7763600157738027e-15 5.4559602737426758e+00 -3.1500000953674316e+00 1.0000000000000000e+00 5.4559602737426758e+00 -3.1500000953674316e+00 -1.7763600157738027e-15 3.1500000953674316e+00 -5.4559602737426758e+00 1.0000000000000000e+00 3.1500000953674316e+00 -5.4559602737426758e+00 0.0000000000000000e+00 1.3000000000000000e+01 -2.9750000000000000e+01 2.5000000000000000e+00 -1.3000000000000000e+01 -2.9750000000000000e+01 0.0000000000000000e+00 -1.3000000000000000e+01 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)
))
(send glv :transform local-cds)
(send glv :calc-normals)
(setq qhull
(instance faceset :init :faces (list
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 -6.3000000081956387e+00 1.0259799897361633e-14) (float-vector 1.0000000474974513e+00 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 -1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -6.3000000081956387e+00 1.0259799897361633e-14) (float-vector -1.7763600256999700e-15 -5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector 7.1054293494519169e-15 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 0.0000000000000000e+00 -8.2499999552965164e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 -5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 -2.9750000685453415e+01) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 -3.1500000040978193e+00) (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15) (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.3000000081956387e+00 -3.0016198604780703e-15) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 -4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 4.1249999776482582e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01) (float-vector -1.7763600256999700e-15 6.3000000081956387e+00 -3.0628597635381274e-15) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01) (float-vector -1.7763600256999700e-15 5.4559600539505482e+00 3.1500000040978193e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 6.6613392396293478e-15 6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 7.1447100490331650e+00 4.1249999776482582e+00) (float-vector 1.0000000474974513e+00 4.1249999776482582e+00 7.1447100490331650e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 1.0214099822879303e-14 8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 4.1249999776482582e+00 7.1447100490331650e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 1.0214099822879303e-14 8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 6.6613392396293478e-15 6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 3.1500000040978193e+00 5.4559600539505482e+00))))
(instance face :init :vertices
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(list (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 6.6613392396293478e-15 6.3000000081956387e+00) (float-vector -1.7763600256999700e-15 6.6613392396293478e-15 6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 0.0000000000000000e+00 1.3000000268220901e+01 1.5250000171363354e+01) (float-vector -1.7763600256999700e-15 3.1500000040978193e+00 5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 6.6613392396293478e-15 6.3000000081956387e+00))))
(instance face :init :vertices
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(list (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 6.6613392396293478e-15 6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 6.6613392396293478e-15 6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector 1.0000000474974513e+00 1.0214099822879303e-14 8.2499999552965164e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 5.4559600539505482e+00) (float-vector 1.0000000474974513e+00 6.6613392396293478e-15 6.3000000081956387e+00))))
(instance face :init :vertices
(mapcar #'(lambda (v) (send local-cds :transform-vector v))
(list (float-vector -1.7763600256999700e-15 6.6613392396293478e-15 6.3000000081956387e+00) (float-vector 1.0000000474974513e+00 -3.1500000040978193e+00 5.4559600539505482e+00) (float-vector -1.7763600256999700e-15 -3.1500000040978193e+00 5.4559600539505482e+00))))
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