# Version 1
# Draw the problem
LaunchModeler "modify"
Select { "*" }
SelClear
SetUnits "mm" 0
GlobalCS
NewObjColor 0 255 0
Circle [0, 0, 0] 2 177.8 "Mirror1" 1 12 [177.8, 0, 0]
FitAllViews
SweepVec { "Mirror1" } <0, 0, 45>
Shaded "smooth"
Shaded "smooth"
NewObjColor 128 128 128
Box [-177.8, -1, 0] 177.8 2 45 "gap0"
Box [-177.8, -1, 0] 177.8 2 45 "gap1"
Select { "+gap1" }
Rotate 2 120
DeSelect { "*" }
Box [-177.8, -1, 0] 177.8 2 45 "gap2"
Select { "+gap2" }
Rotate 2 -120
Subtract { "Mirror1" } { "gap0" "gap1" "gap2"}


Assign skinw -.1
EditPline "SkinL"
AddVert [-25, -1, 0]
AddVert [-25, -21, 0]
AddVert [-25, -21, -3]
AddVert [-25, -21, -45]
AddVert [-25, -1, -45]
AddVert [-25, -1, 0]
NewObjColor 255 255 0
EndPline 1
SweepVec { "SkinL" } <50, 0, 0>
EditPline "BaseL1"
AddVert [-24.9, -1.1, -.1]
AddVert [-24.9, -20.9, -.1]
AddVert [-24.9, -20.9, -2.95]
AddVert [-24.9, -20.9, -44.9]
AddVert [-24.9, -1.1, -44.9]
AddVert [-24.9, -1.1, -.1]
NewObjColor 0 255 0
EndPline 1
SweepVec { "BaseL1" } <49.8, 0, 0>
Select {"+SkinL" "+BaseL1"}
Move <0,0,-7>
DeSelect { "*" }
Select {"BaseL1"}
DupLine <0, 0, 0> 2
Subtract { "SkinL" } { "BaseL2" }

# add feet 4x4x7
Box [-2,-4,0] 4 -4 -7  "Foot1"
Box [-25,-16,0] 4 -4 -7  "Foot2"
Box [21,-16,0] 4 -4 -7  "Foot3"

Select {"+SkinL" "+BaseL1" "+Foot1" "+Foot2" "+Foot3"}
DupMirror [0, 0, 0] [0, -1, 0] 
ReName "SkinL"  "SkinLA"
ReName "SkinL1"  "SkinRA"
ReName "BaseL1" "BaseLA"
ReName "BaseL2" "BaseRA"
ReName "Mirror1" "MirrorR"
ReName "Mirror2" "MirrorL"
ReName "Foot1" "Foot1A"
ReName "Foot2" "Foot2A"
ReName "Foot3" "Foot3A"
ReName "Foot4" "Foot4A"
ReName "Foot5" "Foot5A"
ReName "Foot6" "Foot6A"
# Draw drive and sense pads and subtract from skin 
# Add 1mm gap to drive and sense to get masks
NewObjColor 0 0 0
Box [-20, -1.1, -10] 40 0.1 -17.5 "Drive1A"
Box [-21, -1.1, -9] 42 0.1 -19.5 "Drive1mask"
Subtract { "SkinLA" } { "Drive1mask" }
Box [-20, -1.1, -31.5] 40 0.1 -17.5 "Drive2A"
Box [-21, -1.1, -30.5] 42 0.1 -19.5 "Drive2mask"
Subtract { "SkinLA" } { "Drive2mask" }
Box [-15, 1, -14.5] 30 0.1 -30 "SenseA"
Box [-16, 1, -13.5] 32 0.1 -32 "Sensemask"
Subtract { "SkinRA" } { "Sensemask" }
FitRegion 2000 "n"

Select { "+SenseA" "+Drive1A" "+Drive2A" "+BaseRA" "+SkinRA" "+BaseLA" "+SkinLA" "Foot1A" "Foot2A" "Foot3A" "Foot4A" "Foot5A" "Foot6A"}
Move Vec3 -50 0 0

SelCopy
SelPaste
DeSelect { "*" }

Select { "+SenseA1" "+Drive1A1" "+Drive2A1" "+BaseRA1" "+SkinRA1" "+BaseLA1" "+SkinLA1" "Foot1A1" "Foot2A1" "Foot3A1" "Foot4A1" "Foot5A1" "Foot6A1"}
Rotate 2 120
DeSelect { "*" }

Select { "+SenseA" "+Drive1A" "+Drive2A" "+BaseRA" "+SkinRA" "+BaseLA" "+SkinLA" "Foot1A" "Foot2A" "Foot3A" "Foot4A" "Foot5A" "Foot6A"}
SelCopy
SelPaste
DeSelect { "*" }

Select { "+SenseA2" "+Drive1A2" "+Drive2A2" "+BaseRA2" "+SkinRA2" "+BaseLA2" "+SkinLA2" "Foot1A2" "Foot2A2" "Foot3A2" "Foot4A2" "Foot5A2" "Foot6A2"}
Rotate 2 240
DeSelect { "*" }

Select { "+MirrorRA" "+SenseA" "+BaseRA" "+SkinRA" "Foot4A" "Foot5A" "Foot6A"}
Move Vec3 deltaX deltaY deltaZ
Shaded "smooth"
DeSelect { "*" }
Select { "+MirrorRA" "+SenseA" "+BaseRA" "+SkinRA" "Foot4A" "Foot5A" "Foot6A"}
origin [0, -1, -29.5]
Rotate 0 alfaX
Rotate 2 alfaZ
Rotate 1 alfaY
DeSelect { "*" }
Save3d "*" "?v"
Exit