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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass drcbox-valve-small-object
:super cascaded-link
:slots (sensors
handle0
joint0 ))
(defmethod drcbox-valve-small-object
(:init
(&rest args &key (name "drcbox-valve-small") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1
)
(send-super* :init :name name args)
;; definition of link
;; definition of :crank-root-link
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 52.6 0.0 120.0) (float-vector 48.5961 -20.1291 120.0) (float-vector 37.1938 -37.1938 120.0) (float-vector 20.1291 -48.5961 120.0) (float-vector -4.547474e-13 -52.6 120.0) (float-vector -20.1291 -48.5961 120.0) (float-vector -37.1938 -37.1938 120.0) (float-vector -48.5961 -20.1291 120.0) (float-vector -52.6 2.842171e-13 120.0) (float-vector -48.5961 20.1291 120.0) (float-vector -37.1938 37.1938 120.0) (float-vector -20.1291 48.5961 120.0) (float-vector 0.0 52.6 120.0) (float-vector 20.1291 48.5961 120.0) (float-vector 37.1938 37.1938 120.0) (float-vector 48.5961 20.1291 120.0)))
(instance face :init :vertices (list (float-vector 68.0345 -28.1808 172.6) (float-vector 48.5961 -20.1291 120.0) (float-vector 52.6 0.0 120.0) (float-vector 73.64 0.0 172.6)))
(instance face :init :vertices (list (float-vector 52.0713 -52.0713 172.6) (float-vector 37.1938 -37.1938 120.0) (float-vector 48.5961 -20.1291 120.0) (float-vector 68.0345 -28.1808 172.6)))
(instance face :init :vertices (list (float-vector 28.1808 -68.0345 172.6) (float-vector 20.1291 -48.5961 120.0) (float-vector 37.1938 -37.1938 120.0) (float-vector 52.0713 -52.0713 172.6)))
(instance face :init :vertices (list (float-vector -6.821210e-13 -73.64 172.6) (float-vector -4.547474e-13 -52.6 120.0) (float-vector 20.1291 -48.5961 120.0) (float-vector 28.1808 -68.0345 172.6)))
(instance face :init :vertices (list (float-vector -28.1808 -68.0345 172.6) (float-vector -20.1291 -48.5961 120.0) (float-vector -4.547474e-13 -52.6 120.0) (float-vector -6.821210e-13 -73.64 172.6)))
(instance face :init :vertices (list (float-vector -52.0713 -52.0713 172.6) (float-vector -37.1938 -37.1938 120.0) (float-vector -20.1291 -48.5961 120.0) (float-vector -28.1808 -68.0345 172.6)))
(instance face :init :vertices (list (float-vector -68.0345 -28.1808 172.6) (float-vector -48.5961 -20.1291 120.0) (float-vector -37.1938 -37.1938 120.0) (float-vector -52.0713 -52.0713 172.6)))
(instance face :init :vertices (list (float-vector -73.64 3.979039e-13 172.6) (float-vector -52.6 2.842171e-13 120.0) (float-vector -48.5961 -20.1291 120.0) (float-vector -68.0345 -28.1808 172.6)))
(instance face :init :vertices (list (float-vector -68.0345 28.1808 172.6) (float-vector -48.5961 20.1291 120.0) (float-vector -52.6 2.842171e-13 120.0) (float-vector -73.64 3.979039e-13 172.6)))
(instance face :init :vertices (list (float-vector -52.0713 52.0713 172.6) (float-vector -37.1938 37.1938 120.0) (float-vector -48.5961 20.1291 120.0) (float-vector -68.0345 28.1808 172.6)))
(instance face :init :vertices (list (float-vector -28.1808 68.0345 172.6) (float-vector -20.1291 48.5961 120.0) (float-vector -37.1938 37.1938 120.0) (float-vector -52.0713 52.0713 172.6)))
(instance face :init :vertices (list (float-vector 0.0 73.64 172.6) (float-vector 0.0 52.6 120.0) (float-vector -20.1291 48.5961 120.0) (float-vector -28.1808 68.0345 172.6)))
(instance face :init :vertices (list (float-vector 28.1808 68.0345 172.6) (float-vector 20.1291 48.5961 120.0) (float-vector 0.0 52.6 120.0) (float-vector 0.0 73.64 172.6)))
(instance face :init :vertices (list (float-vector 52.0713 52.0713 172.6) (float-vector 37.1938 37.1938 120.0) (float-vector 20.1291 48.5961 120.0) (float-vector 28.1808 68.0345 172.6)))
(instance face :init :vertices (list (float-vector 68.0345 28.1808 172.6) (float-vector 48.5961 20.1291 120.0) (float-vector 37.1938 37.1938 120.0) (float-vector 52.0713 52.0713 172.6)))
(instance face :init :vertices (list (float-vector 73.64 0.0 172.6) (float-vector 52.6 0.0 120.0) (float-vector 48.5961 20.1291 120.0) (float-vector 68.0345 28.1808 172.6)))
(instance face :init :vertices (list (float-vector 48.5961 -20.1291 225.2) (float-vector 68.0345 -28.1808 172.6) (float-vector 73.64 0.0 172.6) (float-vector 52.6 0.0 225.2)))
(instance face :init :vertices (list (float-vector 37.1938 -37.1938 225.2) (float-vector 52.0713 -52.0713 172.6) (float-vector 68.0345 -28.1808 172.6) (float-vector 48.5961 -20.1291 225.2)))
(instance face :init :vertices (list (float-vector 20.1291 -48.5961 225.2) (float-vector 28.1808 -68.0345 172.6) (float-vector 52.0713 -52.0713 172.6) (float-vector 37.1938 -37.1938 225.2)))
(instance face :init :vertices (list (float-vector -4.547474e-13 -52.6 225.2) (float-vector -6.821210e-13 -73.64 172.6) (float-vector 28.1808 -68.0345 172.6) (float-vector 20.1291 -48.5961 225.2)))
(instance face :init :vertices (list (float-vector -20.1291 -48.5961 225.2) (float-vector -28.1808 -68.0345 172.6) (float-vector -6.821210e-13 -73.64 172.6) (float-vector -4.547474e-13 -52.6 225.2)))
(instance face :init :vertices (list (float-vector -37.1938 -37.1938 225.2) (float-vector -52.0713 -52.0713 172.6) (float-vector -28.1808 -68.0345 172.6) (float-vector -20.1291 -48.5961 225.2)))
(instance face :init :vertices (list (float-vector -48.5961 -20.1291 225.2) (float-vector -68.0345 -28.1808 172.6) (float-vector -52.0713 -52.0713 172.6) (float-vector -37.1938 -37.1938 225.2)))
(instance face :init :vertices (list (float-vector -52.6 2.842171e-13 225.2) (float-vector -73.64 3.979039e-13 172.6) (float-vector -68.0345 -28.1808 172.6) (float-vector -48.5961 -20.1291 225.2)))
(instance face :init :vertices (list (float-vector -48.5961 20.1291 225.2) (float-vector -68.0345 28.1808 172.6) (float-vector -73.64 3.979039e-13 172.6) (float-vector -52.6 2.842171e-13 225.2)))
(instance face :init :vertices (list (float-vector -37.1938 37.1938 225.2) (float-vector -52.0713 52.0713 172.6) (float-vector -68.0345 28.1808 172.6) (float-vector -48.5961 20.1291 225.2)))
(instance face :init :vertices (list (float-vector -20.1291 48.5961 225.2) (float-vector -28.1808 68.0345 172.6) (float-vector -52.0713 52.0713 172.6) (float-vector -37.1938 37.1938 225.2)))
(instance face :init :vertices (list (float-vector 0.0 52.6 225.2) (float-vector 0.0 73.64 172.6) (float-vector -28.1808 68.0345 172.6) (float-vector -20.1291 48.5961 225.2)))
(instance face :init :vertices (list (float-vector 20.1291 48.5961 225.2) (float-vector 28.1808 68.0345 172.6) (float-vector 0.0 73.64 172.6) (float-vector 0.0 52.6 225.2)))
(instance face :init :vertices (list (float-vector 37.1938 37.1938 225.2) (float-vector 52.0713 52.0713 172.6) (float-vector 28.1808 68.0345 172.6) (float-vector 20.1291 48.5961 225.2)))
(instance face :init :vertices (list (float-vector 48.5961 20.1291 225.2) (float-vector 68.0345 28.1808 172.6) (float-vector 52.0713 52.0713 172.6) (float-vector 37.1938 37.1938 225.2)))
(instance face :init :vertices (list (float-vector 52.6 0.0 225.2) (float-vector 73.64 0.0 172.6) (float-vector 68.0345 28.1808 172.6) (float-vector 48.5961 20.1291 225.2)))
(instance face :init :vertices (list (float-vector 29.1576 -12.0775 277.8) (float-vector 48.5961 -20.1291 225.2) (float-vector 52.6 0.0 225.2) (float-vector 31.56 0.0 277.8)))
(instance face :init :vertices (list (float-vector 22.3163 -22.3163 277.8) (float-vector 37.1938 -37.1938 225.2) (float-vector 48.5961 -20.1291 225.2) (float-vector 29.1576 -12.0775 277.8)))
(instance face :init :vertices (list (float-vector 12.0775 -29.1576 277.8) (float-vector 20.1291 -48.5961 225.2) (float-vector 37.1938 -37.1938 225.2) (float-vector 22.3163 -22.3163 277.8)))
(instance face :init :vertices (list (float-vector -2.273737e-13 -31.56 277.8) (float-vector -4.547474e-13 -52.6 225.2) (float-vector 20.1291 -48.5961 225.2) (float-vector 12.0775 -29.1576 277.8)))
(instance face :init :vertices (list (float-vector -12.0775 -29.1576 277.8) (float-vector -20.1291 -48.5961 225.2) (float-vector -4.547474e-13 -52.6 225.2) (float-vector -2.273737e-13 -31.56 277.8)))
(instance face :init :vertices (list (float-vector -22.3163 -22.3163 277.8) (float-vector -37.1938 -37.1938 225.2) (float-vector -20.1291 -48.5961 225.2) (float-vector -12.0775 -29.1576 277.8)))
(instance face :init :vertices (list (float-vector -29.1576 -12.0775 277.8) (float-vector -48.5961 -20.1291 225.2) (float-vector -37.1938 -37.1938 225.2) (float-vector -22.3163 -22.3163 277.8)))
(instance face :init :vertices (list (float-vector -31.56 1.705303e-13 277.8) (float-vector -52.6 2.842171e-13 225.2) (float-vector -48.5961 -20.1291 225.2) (float-vector -29.1576 -12.0775 277.8)))
(instance face :init :vertices (list (float-vector -29.1576 12.0775 277.8) (float-vector -48.5961 20.1291 225.2) (float-vector -52.6 2.842171e-13 225.2) (float-vector -31.56 1.705303e-13 277.8)))
(instance face :init :vertices (list (float-vector -22.3163 22.3163 277.8) (float-vector -37.1938 37.1938 225.2) (float-vector -48.5961 20.1291 225.2) (float-vector -29.1576 12.0775 277.8)))
(instance face :init :vertices (list (float-vector -12.0775 29.1576 277.8) (float-vector -20.1291 48.5961 225.2) (float-vector -37.1938 37.1938 225.2) (float-vector -22.3163 22.3163 277.8)))
(instance face :init :vertices (list (float-vector 0.0 31.56 277.8) (float-vector 0.0 52.6 225.2) (float-vector -20.1291 48.5961 225.2) (float-vector -12.0775 29.1576 277.8)))
(instance face :init :vertices (list (float-vector 12.0775 29.1576 277.8) (float-vector 20.1291 48.5961 225.2) (float-vector 0.0 52.6 225.2) (float-vector 0.0 31.56 277.8)))
(instance face :init :vertices (list (float-vector 22.3163 22.3163 277.8) (float-vector 37.1938 37.1938 225.2) (float-vector 20.1291 48.5961 225.2) (float-vector 12.0775 29.1576 277.8)))
(instance face :init :vertices (list (float-vector 29.1576 12.0775 277.8) (float-vector 48.5961 20.1291 225.2) (float-vector 37.1938 37.1938 225.2) (float-vector 22.3163 22.3163 277.8)))
(instance face :init :vertices (list (float-vector 31.56 0.0 277.8) (float-vector 52.6 0.0 225.2) (float-vector 48.5961 20.1291 225.2) (float-vector 29.1576 12.0775 277.8)))
(instance face :init :vertices (list (float-vector 29.1576 -12.0775 277.8) (float-vector 31.56 0.0 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 31.56 0.0 277.8) (float-vector 29.1576 12.0775 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 29.1576 12.0775 277.8) (float-vector 22.3163 22.3163 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 22.3163 22.3163 277.8) (float-vector 12.0775 29.1576 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 12.0775 29.1576 277.8) (float-vector 0.0 31.56 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 0.0 31.56 277.8) (float-vector -12.0775 29.1576 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -12.0775 29.1576 277.8) (float-vector -22.3163 22.3163 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -22.3163 22.3163 277.8) (float-vector -29.1576 12.0775 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -29.1576 12.0775 277.8) (float-vector -31.56 1.705303e-13 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -31.56 1.705303e-13 277.8) (float-vector -29.1576 -12.0775 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -29.1576 -12.0775 277.8) (float-vector -22.3163 -22.3163 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -22.3163 -22.3163 277.8) (float-vector -12.0775 -29.1576 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -12.0775 -29.1576 277.8) (float-vector -2.273737e-13 -31.56 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector -2.273737e-13 -31.56 277.8) (float-vector 12.0775 -29.1576 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 12.0775 -29.1576 277.8) (float-vector 22.3163 -22.3163 277.8) (float-vector 0.0 0.0 304.1)))
(instance face :init :vertices (list (float-vector 22.3163 -22.3163 277.8) (float-vector 29.1576 -12.0775 277.8) (float-vector 0.0 0.0 304.1)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 17.3205 -10.0 353.0) (float-vector 20.0 0.0 353.0) (float-vector 17.3205 10.0 353.0) (float-vector 10.0 17.3205 353.0) (float-vector 0.0 20.0 353.0) (float-vector -10.0 17.3205 353.0) (float-vector -17.3205 10.0 353.0) (float-vector -20.0 0.0 353.0) (float-vector -17.3205 -10.0 353.0) (float-vector -10.0 -17.3205 353.0) (float-vector 0.0 -20.0 353.0) (float-vector 10.0 -17.3205 353.0)))
(instance face :init :vertices (list (float-vector 20.0 0.0 0.0) (float-vector 17.3205 -10.0 0.0) (float-vector 10.0 -17.3205 0.0) (float-vector 0.0 -20.0 0.0) (float-vector -10.0 -17.3205 0.0) (float-vector -17.3205 -10.0 0.0) (float-vector -20.0 0.0 0.0) (float-vector -17.3205 10.0 0.0) (float-vector -10.0 17.3205 0.0) (float-vector 0.0 20.0 0.0) (float-vector 10.0 17.3205 0.0) (float-vector 17.3205 10.0 0.0)))
(instance face :init :vertices (list (float-vector 17.3205 -10.0 353.0) (float-vector 17.3205 -10.0 0.0) (float-vector 20.0 0.0 0.0) (float-vector 20.0 0.0 353.0)))
(instance face :init :vertices (list (float-vector 10.0 -17.3205 353.0) (float-vector 10.0 -17.3205 0.0) (float-vector 17.3205 -10.0 0.0) (float-vector 17.3205 -10.0 353.0)))
(instance face :init :vertices (list (float-vector 0.0 -20.0 353.0) (float-vector 0.0 -20.0 0.0) (float-vector 10.0 -17.3205 0.0) (float-vector 10.0 -17.3205 353.0)))
(instance face :init :vertices (list (float-vector -10.0 -17.3205 353.0) (float-vector -10.0 -17.3205 0.0) (float-vector 0.0 -20.0 0.0) (float-vector 0.0 -20.0 353.0)))
(instance face :init :vertices (list (float-vector -17.3205 -10.0 353.0) (float-vector -17.3205 -10.0 0.0) (float-vector -10.0 -17.3205 0.0) (float-vector -10.0 -17.3205 353.0)))
(instance face :init :vertices (list (float-vector -20.0 0.0 353.0) (float-vector -20.0 0.0 0.0) (float-vector -17.3205 -10.0 0.0) (float-vector -17.3205 -10.0 353.0)))
(instance face :init :vertices (list (float-vector -17.3205 10.0 353.0) (float-vector -17.3205 10.0 0.0) (float-vector -20.0 0.0 0.0) (float-vector -20.0 0.0 353.0)))
(instance face :init :vertices (list (float-vector -10.0 17.3205 353.0) (float-vector -10.0 17.3205 0.0) (float-vector -17.3205 10.0 0.0) (float-vector -17.3205 10.0 353.0)))
(instance face :init :vertices (list (float-vector 0.0 20.0 353.0) (float-vector 0.0 20.0 0.0) (float-vector -10.0 17.3205 0.0) (float-vector -10.0 17.3205 353.0)))
(instance face :init :vertices (list (float-vector 10.0 17.3205 353.0) (float-vector 10.0 17.3205 0.0) (float-vector 0.0 20.0 0.0) (float-vector 0.0 20.0 353.0)))
(instance face :init :vertices (list (float-vector 17.3205 10.0 353.0) (float-vector 17.3205 10.0 0.0) (float-vector 10.0 17.3205 0.0) (float-vector 10.0 17.3205 353.0)))
(instance face :init :vertices (list (float-vector 20.0 0.0 353.0) (float-vector 20.0 0.0 0.0) (float-vector 17.3205 10.0 0.0) (float-vector 17.3205 10.0 353.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :red)
(send (elt bc 1) :set-color :red)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :crank-root-link :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of :valve-handle-link
(setq bc (list
(instance faceset :init :faces (list
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))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 6.5 83.0 6.5) (float-vector -6.5 83.0 6.5) (float-vector -6.5 -83.0 6.5) (float-vector 6.5 -83.0 6.5)))
(instance face :init :vertices (list (float-vector -6.5 83.0 -6.5) (float-vector 6.5 83.0 -6.5) (float-vector 6.5 -83.0 -6.5) (float-vector -6.5 -83.0 -6.5)))
(instance face :init :vertices (list (float-vector 6.5 83.0 6.5) (float-vector 6.5 83.0 -6.5) (float-vector -6.5 83.0 -6.5) (float-vector -6.5 83.0 6.5)))
(instance face :init :vertices (list (float-vector 6.5 -83.0 6.5) (float-vector 6.5 -83.0 -6.5) (float-vector 6.5 83.0 -6.5) (float-vector 6.5 83.0 6.5)))
(instance face :init :vertices (list (float-vector -6.5 -83.0 6.5) (float-vector -6.5 -83.0 -6.5) (float-vector 6.5 -83.0 -6.5) (float-vector 6.5 -83.0 6.5)))
(instance face :init :vertices (list (float-vector -6.5 83.0 6.5) (float-vector -6.5 83.0 -6.5) (float-vector -6.5 -83.0 -6.5) (float-vector -6.5 -83.0 6.5)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 83.0 6.5 6.5) (float-vector -83.0 6.5 6.5) (float-vector -83.0 -6.5 6.5) (float-vector 83.0 -6.5 6.5)))
(instance face :init :vertices (list (float-vector -83.0 6.5 -6.5) (float-vector 83.0 6.5 -6.5) (float-vector 83.0 -6.5 -6.5) (float-vector -83.0 -6.5 -6.5)))
(instance face :init :vertices (list (float-vector 83.0 6.5 6.5) (float-vector 83.0 6.5 -6.5) (float-vector -83.0 6.5 -6.5) (float-vector -83.0 6.5 6.5)))
(instance face :init :vertices (list (float-vector 83.0 -6.5 6.5) (float-vector 83.0 -6.5 -6.5) (float-vector 83.0 6.5 -6.5) (float-vector 83.0 6.5 6.5)))
(instance face :init :vertices (list (float-vector -83.0 -6.5 6.5) (float-vector -83.0 -6.5 -6.5) (float-vector 83.0 -6.5 -6.5) (float-vector 83.0 -6.5 6.5)))
(instance face :init :vertices (list (float-vector -83.0 6.5 6.5) (float-vector -83.0 6.5 -6.5) (float-vector -83.0 -6.5 -6.5) (float-vector -83.0 -6.5 6.5)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :black)
(send (elt bc 1) :set-color :black)
(send (elt bc 2) :set-color :black)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :valve-handle-link :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 353.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :crank-joint
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :crank-joint :axis :z
:min -3600.0 :max 3600.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 -83.0 353.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name ":valve-handle"))
(send blink1 :assoc handle0)
;; init-ending
(setq links (list blink0 blink1))
(setq joint-list (list joint0))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:crank-joint (&rest args) (forward-message-to joint0 args))
(:handle (&rest args) (forward-message-to-all (list handle0) args))
(:handle-valve-handle (&rest args) (forward-message-to handle0 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun drcbox-valve-small (&rest args) (instance* drcbox-valve-small-object :init args))
;; (format *error-output* "(instance drcbox-valve-small-object :init) for generating model~%")
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